X-Git-Url: https://git.creatis.insa-lyon.fr/pubgit/?p=CreaPhase.git;a=blobdiff_plain;f=octave_packages%2Fcontrol-2.3.52%2Flsim.m;fp=octave_packages%2Fcontrol-2.3.52%2Flsim.m;h=352a29845a57f8d081dfb2a7d7a232306d7d7fad;hp=0000000000000000000000000000000000000000;hb=f5f7a74bd8a4900f0b797da6783be80e11a68d86;hpb=1705066eceaaea976f010f669ce8e972f3734b05
diff --git a/octave_packages/control-2.3.52/lsim.m b/octave_packages/control-2.3.52/lsim.m
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+## Copyright (C) 2009, 2010, 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{y}, @var{t}, @var{x}] =} lsim (@var{sys}, @var{u})
+## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} lsim (@var{sys}, @var{u}, @var{t})
+## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} lsim (@var{sys}, @var{u}, @var{t}, @var{x0})
+## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} lsim (@var{sys}, @var{u}, @var{t}, @var{[]}, @var{method})
+## @deftypefnx{Function File} {[@var{y}, @var{t}, @var{x}] =} lsim (@var{sys}, @var{u}, @var{t}, @var{x0}, @var{method})
+## Simulate LTI model response to arbitrary inputs. If no output arguments are given,
+## the system response is plotted on the screen.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## LTI model. System must be proper, i.e. it must not have more zeros than poles.
+## @item u
+## Vector or array of input signal. Needs @code{length(t)} rows and as many columns
+## as there are inputs. If @var{sys} is a single-input system, row vectors @var{u}
+## of length @code{length(t)} are accepted as well.
+## @item t
+## Time vector. Should be evenly spaced. If @var{sys} is a continuous-time system
+## and @var{t} is a real scalar, @var{sys} is discretized with sampling time
+## @code{tsam = t/(rows(u)-1)}. If @var{sys} is a discrete-time system and @var{t}
+## is not specified, vector @var{t} is assumed to be @code{0 : tsam : tsam*(rows(u)-1)}.
+## @item x0
+## Vector of initial conditions for each state. If not specified, a zero vector is assumed.
+## @item method
+## Discretization method for continuous-time models. Default value is zoh
+## (zero-order hold). All methods from @code{c2d} are supported.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item y
+## Output response array. Has as many rows as time samples (length of t)
+## and as many columns as outputs.
+## @item t
+## Time row vector. It is always evenly spaced.
+## @item x
+## State trajectories array. Has @code{length (t)} rows and as many columns as states.
+## @end table
+##
+## @seealso{impulse, initial, step}
+## @end deftypefn
+
+## Author: Lukas Reichlin
+## Created: October 2009
+## Version: 0.3
+
+function [y_r, t_r, x_r] = lsim (sys, u, t = [], x0 = [], method = "zoh")
+
+ ## TODO: multiplot feature: lsim (sys1, "b", sys2, "r", ..., u, t)
+
+ if (nargin < 2 || nargin > 5)
+ print_usage ();
+ endif
+
+ if (! isa (sys, "ss"))
+ sys = ss (sys); # sys must be proper
+ endif
+
+ if (is_real_vector (u))
+ u = reshape (u, [], 1); # allow row vectors for single-input systems
+ elseif (! is_real_matrix (u))
+ error ("lsim: input signal u must be an array of real numbers");
+ endif
+
+ if (! is_real_vector (t) && ! isempty (t))
+ error ("lsim: time vector t must be real or empty");
+ endif
+
+ discrete = ! isct (sys); # static gains are treated as continuous-time systems
+ tsam = abs (get (sys, "tsam")); # use 1 second as default if tsam is unspecified (-1)
+ urows = rows (u);
+ ucols = columns (u);
+
+ if (discrete) # discrete system
+ if (isempty (t)) # lsim (sys, u)
+ dt = tsam;
+ tinitial = 0;
+ tfinal = tsam * (urows - 1);
+ elseif (length (t) == 1) # lsim (sys, u, tfinal)
+ dt = tsam;
+ tinitial = 0;
+ tfinal = t;
+ else # lsim (sys, u, t, ...)
+ warning ("lsim: spacing of time vector has no effect on sampling time of discrete system");
+ dt = tsam;
+ tinitial = t(1);
+ tfinal = t(end);
+ endif
+ else # continuous system
+ if (isempty (t)) # lsim (sys, u, [], ...)
+ error ("lsim: invalid time vector");
+ elseif (length (t) == 1) # lsim (sys, u, tfinal, ...)
+ dt = t / (urows - 1);
+ tinitial = 0;
+ tfinal = t;
+ else # lsim (sys, u, t, ...)
+ dt = t(2) - t(1); # assume that t is regularly spaced
+ tinitial = t(1);
+ tfinal = t(end);
+ endif
+ sys = c2d (sys, dt, method); # convert to discrete-time model
+ endif
+
+ [A, B, C, D] = ssdata (sys);
+
+ n = rows (A); # number of states
+ m = columns (B); # number of inputs
+ p = rows (C); # number of outputs
+
+ t = reshape (tinitial : dt : tfinal, [], 1); # time vector
+ trows = length (t);
+
+ if (urows != trows)
+ error ("lsim: input vector u must have %d rows", trows);
+ endif
+
+ if (ucols != m)
+ error ("lsim: input vector u must have %d columns", m);
+ endif
+
+ ## preallocate memory
+ y = zeros (trows, p);
+ x_arr = zeros (trows, n);
+
+ ## initial conditions
+ if (isempty (x0))
+ x0 = zeros (n, 1);
+ elseif (n != length (x0) || ! is_real_vector (x0))
+ error ("initial: x0 must be a vector with %d elements", n);
+ endif
+
+ x = reshape (x0, [], 1); # make sure that x is a column vector
+
+ ## simulation
+ for k = 1 : trows
+ y(k, :) = C * x + D * u(k, :).';
+ x_arr(k, :) = x;
+ x = A * x + B * u(k, :).';
+ endfor
+
+ if (nargout == 0) # plot information
+ str = ["Linear Simulation Results of ", inputname(1)];
+ outname = get (sys, "outname");
+ outname = __labels__ (outname, "y_");
+ if (discrete) # discrete system
+ for k = 1 : p
+ subplot (p, 1, k);
+ stairs (t, y(:, k));
+ grid ("on");
+ if (k == 1)
+ title (str);
+ endif
+ ylabel (sprintf ("Amplitude %s", outname{k}));
+ endfor
+ xlabel ("Time [s]");
+ else # continuous system
+ for k = 1 : p
+ subplot (p, 1, k);
+ plot (t, y(:, k));
+ grid ("on");
+ if (k == 1)
+ title (str);
+ endif
+ ylabel (sprintf ("Amplitude %s", outname{k}));
+ endfor
+ xlabel ("Time [s]");
+ endif
+ else # return values
+ y_r = y;
+ t_r = t;
+ x_r = x_arr;
+ endif
+
+endfunction
+
+
+## TODO: add test cases
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