X-Git-Url: https://git.creatis.insa-lyon.fr/pubgit/?p=CreaPhase.git;a=blobdiff_plain;f=octave_packages%2Fcontrol-2.3.52%2Fmargin.m;fp=octave_packages%2Fcontrol-2.3.52%2Fmargin.m;h=b1c0a4ea1702ef154c468aa9bb771d199f7152e1;hp=0000000000000000000000000000000000000000;hb=c880e8788dfc484bf23ce13fa2787f2c6bca4863;hpb=1705066eceaaea976f010f669ce8e972f3734b05
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+## Copyright (C) 2009, 2010, 2011, 2012 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{gamma}, @var{phi}, @var{w_gamma}, @var{w_phi}] =} margin (@var{sys})
+## @deftypefnx{Function File} {[@var{gamma}, @var{phi}, @var{w_gamma}, @var{w_phi}] =} margin (@var{sys}, @var{tol})
+## Gain and phase margin of a system. If no output arguments are given, both gain and phase margin
+## are plotted on a bode diagram. Otherwise, the margins and their corresponding frequencies are
+## computed and returned.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## LTI model. Must be a single-input and single-output (SISO) system.
+## @item tol
+## Imaginary parts below @var{tol} are assumed to be zero.
+## If not specified, default value @code{sqrt (eps)} is taken.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item gamma
+## Gain margin (as gain, not dBs).
+## @item phi
+## Phase margin (in degrees).
+## @item w_gamma
+## Frequency for the gain margin (in rad/s).
+## @item w_phi
+## Frequency for the phase margin (in rad/s).
+## @end table
+##
+## @strong{Equations}
+## @example
+## @group
+## CONTINUOUS SYSTEMS
+## Gain Margin
+## _ _
+## L(jw) = L(jw) BTW: L(jw) = L(-jw) = conj (L(jw))
+##
+## num(jw) num(-jw)
+## ------- = --------
+## den(jw) den(-jw)
+##
+## num(jw) den(-jw) = num(-jw) den(jw)
+##
+## imag (num(jw) den(-jw)) = 0
+## imag (num(-jw) den(jw)) = 0
+## @end group
+## @end example
+## @example
+## @group
+## Phase Margin
+## |num(jw)|
+## |L(jw)| = |-------| = 1
+## |den(jw)|
+## _ 2 2
+## z z = Re z + Im z
+##
+## num(jw) num(-jw)
+## ------- * -------- = 1
+## den(jw) den(-jw)
+##
+## num(jw) num(-jw) - den(jw) den(-jw) = 0
+##
+## real (num(jw) num(-jw) - den(jw) den(-jw)) = 0
+## @end group
+## @end example
+## @example
+## @group
+## DISCRETE SYSTEMS
+## Gain Margin
+## jwT log z
+## L(z) = L(1/z) BTW: z = e --> w = -----
+## j T
+## num(z) num(1/z)
+## ------ = --------
+## den(z) den(1/z)
+##
+## num(z) den(1/z) - num(1/z) den(z) = 0
+## @end group
+## @end example
+## @example
+## @group
+## Phase Margin
+## |num(z)|
+## |L(z)| = |------| = 1
+## |den(z)|
+##
+## L(z) L(1/z) = 1
+##
+## num(z) num(1/z)
+## ------ * -------- = 1
+## den(z) den(1/z)
+##
+## num(z) num(1/z) - den(z) den(1/z) = 0
+## @end group
+## @end example
+## @example
+## @group
+## PS: How to get L(1/z)
+## 4 3 2
+## p(z) = a z + b z + c z + d z + e
+##
+## -4 -3 -2 -1
+## p(1/z) = a z + b z + c z + d z + e
+##
+## -4 2 3 4
+## = z ( a + b z + c z + d z + e z )
+##
+## 4 3 2 4
+## = ( e z + d z + c z + b z + a ) / ( z )
+## @end group
+## @end example
+##
+## @seealso{roots}
+## @end deftypefn
+
+## Author: Lukas Reichlin
+## Created: July 2009
+## Version: 0.9.1
+
+function [gamma_r, phi_r, w_gamma_r, w_phi_r] = margin (sys, tol = sqrt (eps))
+
+ ## TODO: multiplot feature: margin (sys1, "b", sys2, "r", ...)
+
+ ## check whether arguments are OK
+ if (nargin < 1 || nargin > 2)
+ print_usage ();
+ endif
+
+ if (! isa (sys, "lti"))
+ error ("margin: argument sys must be an LTI system");
+ endif
+
+ if (! issiso (sys))
+ error ("margin: argument sys must be a SISO system");
+ endif
+
+ ## get transfer function
+ [num, den, tsam] = tfdata (sys, "vector");
+ continuous = isct (sys);
+ tsam = abs (tsam); # use 1 second as default if tsam == -1
+
+
+ if (continuous) # CONTINUOUS SYSTEM
+
+ ## create polynomials s -> jw
+ l_num = length (num);
+ l_den = length (den);
+
+ num_jw = num .* i.^(l_num-1 : -1 : 0);
+ den_jw = den .* i.^(l_den-1 : -1 : 0);
+
+ ## GAIN MARGIN
+ ## create gm polynomial
+ gm_poly = imag (conv (num_jw, conj (den_jw)));
+
+ ## find frequencies w
+ w = roots (gm_poly);
+
+ ## filter results
+ [gamma, w_gamma] = gm_filter (w, num, den, tsam, tol, continuous);
+
+ ## PHASE MARGIN
+ ## create pm polynomials
+ poly_1 = conv (num_jw, conj (num_jw));
+ poly_2 = conv (den_jw, conj (den_jw));
+
+ ## make polynomials equally long for subtraction
+ [poly_1, poly_2] = poly_equalizer (poly_1, poly_2);
+
+ ## subtract polynomials
+ pm_poly = real (poly_1 - poly_2);
+
+ ## find frequencies w
+ w = roots (pm_poly);
+
+ ## filter results
+ [phi, w_phi] = pm_filter (w, num, den, tsam, tol, continuous);
+
+
+ else # DISCRETE SYSTEM
+
+ ## create polynomials z -> 1/z
+ l_num = length (num);
+ l_den = length (den);
+
+ num_rev = fliplr (num);
+ den_rev = fliplr (den);
+
+ num_div = zeros (1, l_num);
+ den_div = zeros (1, l_den);
+ num_div(1) = 1;
+ den_div(1) = 1;
+
+ num_inv = conv (num_rev, den_div);
+ den_inv = conv (den_rev, num_div);
+
+ ## GAIN MARGIN
+ ## create gm polynomial
+ poly_1 = conv (num, den_inv);
+ poly_2 = conv (num_inv, den);
+
+ ## make polynomials equally long for subtraction
+ [poly_1, poly_2] = poly_equalizer (poly_1, poly_2);
+
+ ## subtract polynomials
+ gm_poly = poly_1 - poly_2;
+
+ ## find frequencies z
+ z = roots (gm_poly);
+
+ ## filter results
+ idx = find (abs (abs (z) - 1) < tol); # find z with magnitude 1
+
+ if (length (idx) > 0) # if z with magnitude 1 exist
+ z_gm = z(idx);
+ w = log (z_gm) / (i*tsam); # get frequencies w from z
+ [gamma, w_gamma] = gm_filter (w, num, den, tsam, tol, continuous);
+ else # there are no z with magnitude 1
+ gamma = Inf;
+ w_gamma = NaN;
+ endif
+
+ ## PHASE MARGIN
+ ## create pm polynomials
+ poly_1 = conv (num, num_inv);
+ poly_2 = conv (den, den_inv);
+
+ ## make polynomials equally long for subtraction
+ [poly_1, poly_2] = poly_equalizer (poly_1, poly_2);
+
+ ## subtract polynomials
+ pm_poly = poly_1 - poly_2;
+
+ ## find frequencies z
+ z = roots (pm_poly);
+
+ ## filter results
+ idx = find (abs (abs (z) - 1) < tol); # find z with magnitude 1
+
+ if (length (idx) > 0) # if z with magnitude 1 exist
+ z_gm = z(idx);
+ w = log (z_gm) / (i*tsam); # get frequencies w from z
+ [phi, w_phi] = pm_filter (w, num, den, tsam, tol, continuous);
+ else # there are no z with magnitude 1
+ phi = 180;
+ w_phi = NaN;
+ endif
+
+ endif
+
+
+ if (nargout == 0) # show bode diagram
+
+ [H, w] = __frequency_response__ (sys, [], false, 0, "std");
+
+ H = reshape (H, [], 1);
+ mag_db = 20 * log10 (abs (H));
+ pha = unwrap (arg (H)) * 180 / pi;
+ gamma_db = 20 * log10 (gamma);
+
+ wv = [min(w), max(w)];
+ ax_vec_mag = __axis_limits__ ([w(:), mag_db(:)]);
+ ax_vec_mag(1:2) = wv;
+ ax_vec_pha = __axis_limits__ ([w(:), pha(:)]);
+ ax_vec_pha(1:2) = wv;
+
+ wgm = [w_gamma, w_gamma];
+ mgmh = [-gamma_db, ax_vec_mag(3)];
+ mgm = [0, -gamma_db];
+ pgm = [ax_vec_pha(4), -180];
+
+ wpm = [w_phi, w_phi];
+ mpm = [0, ax_vec_mag(3)];
+ ppmh = [ax_vec_pha(4), phi - 180];
+ ppm = [phi - 180, -180];
+
+ title_str = sprintf ("GM = %g dB (at %g rad/s), PM = %g deg (at %g rad/s)",
+ gamma_db, w_gamma, phi, w_phi);
+ if (continuous)
+ xl_str = "Frequency [rad/s]";
+ else
+ xl_str = sprintf ("Frequency [rad/s] w_N = %g", pi/tsam);
+ endif
+
+ subplot (2, 1, 1)
+ semilogx (w, mag_db, "b", wv, [0, 0], ":k", wgm, mgmh, ":k", wgm, mgm, "r", wpm, mpm, ":k")
+ axis (ax_vec_mag)
+ grid ("on")
+ title (title_str)
+ ylabel ("Magnitude [dB]")
+
+ subplot (2, 1, 2)
+ semilogx (w, pha, "b", wv, [-180, -180], ":k", wgm, pgm, ":k", wpm, ppmh, ":k", wpm, ppm, "r")
+ axis (ax_vec_pha)
+ grid ("on")
+ xlabel (xl_str)
+ ylabel ("Phase [deg]")
+
+ else # return values
+ gamma_r = gamma;
+ phi_r = phi;
+ w_gamma_r = w_gamma;
+ w_phi_r = w_phi;
+ endif
+
+endfunction
+
+
+function [poly_eq_1, poly_eq_2] = poly_equalizer (poly_1, poly_2)
+
+ l_p1 = length (poly_1);
+ l_p2 = length (poly_2);
+ l_max = max (l_p1, l_p2);
+
+ lead_zer_1 = zeros (1, l_max - l_p1);
+ lead_zer_2 = zeros (1, l_max - l_p2);
+
+ poly_eq_1 = horzcat (lead_zer_1, poly_1);
+ poly_eq_2 = horzcat (lead_zer_2, poly_2);
+
+endfunction
+
+
+function [gamma, w_gamma] = gm_filter (w, num, den, tsam, tol, continuous)
+
+ idx = find ((abs (imag (w)) < tol) & (real (w) > 0)); # find frequencies in R+
+
+ if (length (idx) > 0) # if frequencies in R+ exist
+ w_gm = real (w(idx));
+
+ if (continuous)
+ s = i * w_gm;
+ else
+ s = exp (i * w_gm * tsam);
+ endif
+
+ f_resp = polyval (num, s) ./ polyval (den, s);
+ gm = (abs (f_resp)).^-1;
+
+ ## find crossings between 0 and -1
+ idx = find ((real (f_resp) < 0) & (real (f_resp) >= -1));
+
+ if (length (idx) > 0) # if crossings between 0 and -1 exist
+ gm = gm(idx);
+ w_gm = w_gm(idx);
+ [gamma, idx] = min (gm);
+ w_gamma = w_gm(idx);
+ else # there are no crossings between 0 and -1
+ idx = find (real (f_resp) < -1); # find crossings between -1 and -Inf
+
+ if (length (idx) > 0) # if crossings between -1 and -Inf exist
+ gm = gm(idx);
+ w_gm = w_gm(idx);
+ [gamma, idx] = max (gm);
+ w_gamma = w_gm(idx);
+ else
+ gamma = Inf;
+ w_gamma = NaN;
+ endif
+ endif
+ else # there are no frequencies in R+
+ gamma = Inf;
+ w_gamma = NaN;
+ endif
+
+endfunction
+
+
+function [phi, w_phi] = pm_filter (w, num, den, tsam, tol, continuous)
+
+ idx = find ((abs (imag (w)) < tol) & (real (w) > 0)); # find frequencies in R+
+
+ if (length (idx) > 0) # if frequencies in R+ exist
+ w_pm = real (w(idx));
+
+ if (continuous)
+ s = i * w_pm;
+ else
+ s = exp (i * w_pm * tsam);
+ endif
+
+ f_resp = polyval (num, s) ./ polyval (den, s);
+ pm = 180 + arg (f_resp) ./ pi .* 180;
+
+ [phi, idx] = min (pm);
+ w_phi = w_pm(idx);
+ else # there are no frequencies in R+
+ phi = 180;
+ w_phi = NaN;
+ endif
+
+endfunction
+
+
+%!shared margin_c, margin_c_exp, margin_d, margin_d_exp
+%! sysc = tf ([24], [1, 6, 11, 6]);
+%! [gamma_c, phi_c, w_gamma_c, w_phi_c] = margin (sysc);
+%! sysd = c2d (sysc, 0.3);
+%! [gamma_d, phi_d, w_gamma_d, w_phi_d] = margin (sysd);
+%!
+%! margin_c = [gamma_c, phi_c, w_gamma_c, w_phi_c];
+%! margin_d = [gamma_d, phi_d, w_gamma_d, w_phi_d];
+%!
+%! ## results from this implementation and the "dark side" diverge
+%! ## from the third digit after the decimal point on
+%!
+%! gamma_c_exp = 2.50;
+%! phi_c_exp = 35.43;
+%! w_gamma_c_exp = 3.32;
+%! w_phi_c_exp = 2.06;
+%!
+%! gamma_d_exp = 1.41;
+%! phi_d_exp = 18.60;
+%! w_gamma_d_exp = 2.48;
+%! w_phi_d_exp = 2.04;
+%!
+%! margin_c_exp = [gamma_c_exp, phi_c_exp, w_gamma_c_exp, w_phi_c_exp];
+%! margin_d_exp = [gamma_d_exp, phi_d_exp, w_gamma_d_exp, w_phi_d_exp];
+%!
+%!assert (margin_c, margin_c_exp, 1e-2);
+%!assert (margin_d, margin_d_exp, 1e-2);