X-Git-Url: https://git.creatis.insa-lyon.fr/pubgit/?p=CreaPhase.git;a=blobdiff_plain;f=octave_packages%2Fcontrol-2.3.52%2Fbstmodred.m;fp=octave_packages%2Fcontrol-2.3.52%2Fbstmodred.m;h=1bf19386436889ffa4fe6dafa6a0995968ee51ac;hp=0000000000000000000000000000000000000000;hb=f5f7a74bd8a4900f0b797da6783be80e11a68d86;hpb=1705066eceaaea976f010f669ce8e972f3734b05
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+## Copyright (C) 2011 Lukas F. Reichlin
+##
+## This file is part of LTI Syncope.
+##
+## LTI Syncope is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## LTI Syncope is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with LTI Syncope. If not, see .
+
+## -*- texinfo -*-
+## @deftypefn{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @dots{})
+## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @var{nr}, @dots{})
+## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @var{opt}, @dots{})
+## @deftypefnx{Function File} {[@var{Gr}, @var{info}] =} bstmodred (@var{G}, @var{nr}, @var{opt}, @dots{})
+##
+## Model order reduction by Balanced Stochastic Truncation (BST) method.
+## The aim of model reduction is to find an LTI system @var{Gr} of order
+## @var{nr} (nr < n) such that the input-output behaviour of @var{Gr}
+## approximates the one from original system @var{G}.
+##
+## BST is a relative error method which tries to minimize
+## @iftex
+## @tex
+## $$ || G^{-1} (G-G_r) ||_{\\infty} = min $$
+## @end tex
+## @end iftex
+## @ifnottex
+## @example
+## -1
+## ||G (G-Gr)|| = min
+## inf
+## @end example
+## @end ifnottex
+##
+##
+##
+## @strong{Inputs}
+## @table @var
+## @item G
+## LTI model to be reduced.
+## @item nr
+## The desired order of the resulting reduced order system @var{Gr}.
+## If not specified, @var{nr} is chosen automatically according
+## to the description of key @var{'order'}.
+## @item @dots{}
+## Optional pairs of keys and values. @code{"key1", value1, "key2", value2}.
+## @item opt
+## Optional struct with keys as field names.
+## Struct @var{opt} can be created directly or
+## by command @command{options}. @code{opt.key1 = value1, opt.key2 = value2}.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item Gr
+## Reduced order state-space model.
+## @item info
+## Struct containing additional information.
+## @table @var
+## @item info.n
+## The order of the original system @var{G}.
+## @item info.ns
+## The order of the @var{alpha}-stable subsystem of the original system @var{G}.
+## @item info.hsv
+## The Hankel singular values of the phase system corresponding
+## to the @var{alpha}-stable part of the original system @var{G}.
+## The @var{ns} Hankel singular values are ordered decreasingly.
+## @item info.nu
+## The order of the @var{alpha}-unstable subsystem of both the original
+## system @var{G} and the reduced-order system @var{Gr}.
+## @item info.nr
+## The order of the obtained reduced order system @var{Gr}.
+## @end table
+## @end table
+##
+## @strong{Option Keys and Values}
+## @table @var
+## @item 'order', 'nr'
+## The desired order of the resulting reduced order system @var{Gr}.
+## If not specified, @var{nr} is the sum of NU and the number of
+## Hankel singular values greater than @code{MAX(TOL1,NS*EPS)};
+## @var{nr} can be further reduced to ensure that
+## @code{HSV(NR-NU) > HSV(NR+1-NU)}.
+##
+## @item 'method'
+## Approximation method for the H-infinity norm.
+## Valid values corresponding to this key are:
+## @table @var
+## @item 'sr-bta', 'b'
+## Use the square-root Balance & Truncate method.
+## @item 'bfsr-bta', 'f'
+## Use the balancing-free square-root Balance & Truncate method. Default method.
+## @item 'sr-spa', 's'
+## Use the square-root Singular Perturbation Approximation method.
+## @item 'bfsr-spa', 'p'
+## Use the balancing-free square-root Singular Perturbation Approximation method.
+## @end table
+##
+## @item 'alpha'
+## Specifies the ALPHA-stability boundary for the eigenvalues
+## of the state dynamics matrix @var{G.A}. For a continuous-time
+## system, ALPHA <= 0 is the boundary value for
+## the real parts of eigenvalues, while for a discrete-time
+## system, 0 <= ALPHA <= 1 represents the
+## boundary value for the moduli of eigenvalues.
+## The ALPHA-stability domain does not include the boundary.
+## Default value is 0 for continuous-time systems and
+## 1 for discrete-time systems.
+##
+## @item 'beta'
+## Use @code{[G, beta*I]} as new system @var{G} to combine
+## absolute and relative error methods.
+## BETA > 0 specifies the absolute/relative error weighting
+## parameter. A large positive value of BETA favours the
+## minimization of the absolute approximation error, while a
+## small value of BETA is appropriate for the minimization
+## of the relative error.
+## BETA = 0 means a pure relative error method and can be
+## used only if rank(G.D) = rows(G.D) which means that
+## the feedthrough matrice must not be rank-deficient.
+## Default value is 0.
+##
+## @item 'tol1'
+## If @var{'order'} is not specified, @var{tol1} contains the tolerance for
+## determining the order of reduced system.
+## For model reduction, the recommended value of @var{tol1} lies
+## in the interval [0.00001, 0.001]. @var{tol1} < 1.
+## If @var{tol1} <= 0 on entry, the used default value is
+## @var{tol1} = NS*EPS, where NS is the number of
+## ALPHA-stable eigenvalues of A and EPS is the machine
+## precision.
+## If @var{'order'} is specified, the value of @var{tol1} is ignored.
+##
+## @item 'tol2'
+## The tolerance for determining the order of a minimal
+## realization of the phase system (see METHOD) corresponding
+## to the ALPHA-stable part of the given system.
+## The recommended value is TOL2 = NS*EPS. TOL2 <= TOL1 < 1.
+## This value is used by default if @var{'tol2'} is not specified
+## or if TOL2 <= 0 on entry.
+##
+## @item 'equil', 'scale'
+## Boolean indicating whether equilibration (scaling) should be
+## performed on system @var{G} prior to order reduction.
+## Default value is true if @code{G.scaled == false} and
+## false if @code{G.scaled == true}.
+## Note that for @acronym{MIMO} models, proper scaling of both inputs and outputs
+## is of utmost importance. The input and output scaling can @strong{not}
+## be done by the equilibration option or the @command{prescale} command
+## because these functions perform state transformations only.
+## Furthermore, signals should not be scaled simply to a certain range.
+## For all inputs (or outputs), a certain change should be of the same
+## importance for the model.
+## @end table
+##
+##
+## BST is often suitable to perform model reduction in order to obtain
+## low order design models for controller synthesis.
+##
+## Approximation Properties:
+## @itemize @bullet
+## @item
+## Guaranteed stability of reduced models
+## @item
+## Approximates simultaneously gain and phase
+## @item
+## Preserves non-minimum phase zeros
+## @item
+## Guaranteed a priori error bound
+## @iftex
+## @tex
+## $$ || G^{-1} (G-G_r) ||_{\\infty} \\leq 2 \\sum_{j=r+1}^{n} \\frac{1+\\sigma_j}{1-\\sigma_j} - 1 $$
+## @end tex
+## @end iftex
+## @end itemize
+##
+## @strong{Algorithm}@*
+## Uses SLICOT AB09HD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
+## @end deftypefn
+
+## Author: Lukas Reichlin
+## Created: October 2011
+## Version: 0.1
+
+function [Gr, info] = bstmodred (G, varargin)
+
+ if (nargin == 0)
+ print_usage ();
+ endif
+
+ if (! isa (G, "lti"))
+ error ("bstmodred: first argument must be an LTI system");
+ endif
+
+ if (nargin > 1) # bstmodred (G, ...)
+ if (is_real_scalar (varargin{1})) # bstmodred (G, nr)
+ varargin = horzcat (varargin(2:end), {"order"}, varargin(1));
+ endif
+ if (isstruct (varargin{1})) # bstmodred (G, opt, ...), bstmodred (G, nr, opt, ...)
+ varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end));
+ endif
+ ## order placed at the end such that nr from bstmodred (G, nr, ...)
+ ## and bstmodred (G, nr, opt, ...) overrides possible nr's from
+ ## key/value-pairs and inside opt struct (later keys override former keys,
+ ## nr > key/value > opt)
+ endif
+
+ nkv = numel (varargin); # number of keys and values
+
+ if (rem (nkv, 2))
+ error ("bstmodred: keys and values must come in pairs");
+ endif
+
+ [a, b, c, d, tsam, scaled] = ssdata (G);
+ dt = isdt (G);
+
+ ## default arguments
+ alpha = __modred_default_alpha__ (dt);
+ beta = 0;
+ tol1 = 0;
+ tol2 = 0;
+ ordsel = 1;
+ nr = 0;
+ job = 1;
+
+ ## handle keys and values
+ for k = 1 : 2 : nkv
+ key = lower (varargin{k});
+ val = varargin{k+1};
+ switch (key)
+ case {"order", "nr"}
+ [nr, ordsel] = __modred_check_order__ (val, rows (a));
+
+ case "tol1"
+ tol1 = __modred_check_tol__ (val, "tol1");
+
+ case "tol2"
+ tol2 = __modred_check_tol__ (val, "tol2");
+
+ case "alpha"
+ alpha = __modred_check_alpha__ (val, dt);
+
+ case "beta"
+ if (! issample (val, 0))
+ error ("bstmodred: argument %s must be BETA >= 0", varargin{k});
+ endif
+ beta = val;
+
+ case "method" # approximation method
+ switch (tolower (val))
+ case {"sr-bta", "b"} # 'B': use the square-root Balance & Truncate method
+ job = 0;
+ case {"bfsr-bta", "f"} # 'F': use the balancing-free square-root Balance & Truncate method
+ job = 1;
+ case {"sr-spa", "s"} # 'S': use the square-root Singular Perturbation Approximation method
+ job = 2;
+ case {"bfsr-spa", "p"} # 'P': use the balancing-free square-root Singular Perturbation Approximation method
+ job = 3;
+ otherwise
+ error ("bstmodred: '%s' is an invalid approximation method", val);
+ endswitch
+
+ case {"equil", "equilibrate", "equilibration", "scale", "scaling"}
+ scaled = __modred_check_equil__ (val);
+
+ otherwise
+ warning ("bstmodred: invalid property name '%s' ignored", key);
+ endswitch
+ endfor
+
+ ## perform model order reduction
+ [ar, br, cr, dr, nr, hsv, ns] = slab09hd (a, b, c, d, dt, scaled, job, nr, ordsel, alpha, beta, \
+ tol1, tol2);
+
+ ## assemble reduced order model
+ Gr = ss (ar, br, cr, dr, tsam);
+
+ ## assemble info struct
+ n = rows (a);
+ nu = n - ns;
+ info = struct ("n", n, "ns", ns, "hsv", hsv, "nu", nu, "nr", nr);
+
+endfunction
+
+
+%!shared Mo, Me, Info, HSVe
+%! A = [ -0.04165 0.0000 4.9200 -4.9200 0.0000 0.0000 0.0000
+%! -5.2100 -12.500 0.0000 0.0000 0.0000 0.0000 0.0000
+%! 0.0000 3.3300 -3.3300 0.0000 0.0000 0.0000 0.0000
+%! 0.5450 0.0000 0.0000 0.0000 -0.5450 0.0000 0.0000
+%! 0.0000 0.0000 0.0000 4.9200 -0.04165 0.0000 4.9200
+%! 0.0000 0.0000 0.0000 0.0000 -5.2100 -12.500 0.0000
+%! 0.0000 0.0000 0.0000 0.0000 0.0000 3.3300 -3.3300 ];
+%!
+%! B = [ 0.0000 0.0000
+%! 12.500 0.0000
+%! 0.0000 0.0000
+%! 0.0000 0.0000
+%! 0.0000 0.0000
+%! 0.0000 12.500
+%! 0.0000 0.0000 ];
+%!
+%! C = [ 1.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000
+%! 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000 0.0000
+%! 0.0000 0.0000 0.0000 0.0000 1.0000 0.0000 0.0000 ];
+%!
+%! D = [ 0.0000 0.0000
+%! 0.0000 0.0000
+%! 0.0000 0.0000 ];
+%!
+%! G = ss (A, B, C, D, "scaled", true);
+%!
+%! [Gr, Info] = bstmodred (G, "beta", 1.0, "tol1", 0.1, "tol2", 0.0);
+%! [Ao, Bo, Co, Do] = ssdata (Gr);
+%!
+%! Ae = [ 1.2729 0.0000 6.5947 0.0000 -3.4229
+%! 0.0000 0.8169 0.0000 2.4821 0.0000
+%! -2.9889 0.0000 -2.9028 0.0000 -0.3692
+%! 0.0000 -3.3921 0.0000 -3.1126 0.0000
+%! -1.4767 0.0000 -2.0339 0.0000 -0.6107 ];
+%!
+%! Be = [ 0.1331 -0.1331
+%! -0.0862 -0.0862
+%! -2.6777 2.6777
+%! -3.5767 -3.5767
+%! -2.3033 2.3033 ];
+%!
+%! Ce = [ -0.6907 -0.6882 0.0779 0.0958 -0.0038
+%! 0.0676 0.0000 0.6532 0.0000 -0.7522
+%! 0.6907 -0.6882 -0.0779 0.0958 0.0038 ];
+%!
+%! De = [ 0.0000 0.0000
+%! 0.0000 0.0000
+%! 0.0000 0.0000 ];
+%!
+%! HSVe = [ 0.8803 0.8506 0.8038 0.4494 0.3973 0.0214 0.0209 ].';
+%!
+%! Mo = [Ao, Bo; Co, Do];
+%! Me = [Ae, Be; Ce, De];
+%!
+%!assert (Mo, Me, 1e-4);
+%!assert (Info.hsv, HSVe, 1e-4);