X-Git-Url: https://git.creatis.insa-lyon.fr/pubgit/?p=CreaPhase.git;a=blobdiff_plain;f=octave_packages%2Fcontrol-2.3.52%2Fplace.m;fp=octave_packages%2Fcontrol-2.3.52%2Fplace.m;h=25144445f5edd5b4c983279ae2653295442c37ee;hp=0000000000000000000000000000000000000000;hb=f5f7a74bd8a4900f0b797da6783be80e11a68d86;hpb=1705066eceaaea976f010f669ce8e972f3734b05
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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{f} =} place (@var{sys}, @var{p})
+## @deftypefnx {Function File} {@var{f} =} place (@var{a}, @var{b}, @var{p})
+## @deftypefnx {Function File} {[@var{f}, @var{info}] =} place (@var{sys}, @var{p}, @var{alpha})
+## @deftypefnx {Function File} {[@var{f}, @var{info}] =} place (@var{a}, @var{b}, @var{p}, @var{alpha})
+## Pole assignment for a given matrix pair (@var{A},@var{B}) such that @code{p = eig (A-B*F)}.
+## If parameter @var{alpha} is specified, poles with real parts (continuous-time)
+## or moduli (discrete-time) below @var{alpha} are left untouched.
+##
+## @strong{Inputs}
+## @table @var
+## @item sys
+## LTI system.
+## @item a
+## State transition matrix (n-by-n) of a continuous-time system.
+## @item b
+## Input matrix (n-by-m) of a continuous-time system.
+## @item p
+## Desired eigenvalues of the closed-loop system state-matrix @var{A-B*F}.
+## @code{length (p) <= rows (A)}.
+## @item alpha
+## Specifies the maximum admissible value, either for real
+## parts or for moduli, of the eigenvalues of @var{A} which will
+## not be modified by the eigenvalue assignment algorithm.
+## @code{alpha >= 0} for discrete-time systems.
+## @end table
+##
+## @strong{Outputs}
+## @table @var
+## @item f
+## State feedback gain matrix.
+## @item info
+## Structure containing additional information.
+## @item info.nfp
+## The number of fixed poles, i.e. eigenvalues of @var{A} having
+## real parts less than @var{alpha}, or moduli less than @var{alpha}.
+## These eigenvalues are not modified by @command{place}.
+## @item info.nap
+## The number of assigned eigenvalues. @code{nap = n-nfp-nup}.
+## @item info.nup
+## The number of uncontrollable eigenvalues detected by the
+## eigenvalue assignment algorithm.
+## @item info.z
+## The orthogonal matrix @var{z} reduces the closed-loop
+## system state matrix @code{A + B*F} to upper real Schur form.
+## Note the positive sign in @code{A + B*F}.
+## @end table
+##
+## @strong{Note}
+## @example
+## Place is also suitable to design estimator gains:
+## @group
+## L = place (A.', C.', p).'
+## L = place (sys.', p).' # useful for discrete-time systems
+## @end group
+## @end example
+##
+## @strong{Algorithm}@*
+## Uses SLICOT SB01BD by courtesy of
+## @uref{http://www.slicot.org, NICONET e.V.}
+## @end deftypefn
+
+## Special thanks to Peter Benner from TU Chemnitz for his advice.
+## Author: Lukas Reichlin
+## Created: December 2009
+## Version: 0.5
+
+function [f, info] = place (a, b, p = [], alpha = [], tol = [])
+
+ if (nargin < 2 || nargin > 5)
+ print_usage ();
+ endif
+
+ if (isa (a, "lti")) # place (sys, p), place (sys, p, alpha), place (sys, p, alpha, tol)
+ if (nargin > 4) # nargin < 2 already tested
+ print_usage ();
+ endif
+ tol = alpha;
+ alpha = p;
+ p = b;
+ sys = a;
+ [a, b] = ssdata (sys); # descriptor matrice e should be regular
+ discrete = ! isct (sys); # treat tsam = -2 as continuous system
+ else # place (a, b, p), place (a, b, p, alpha), place (a, b, p, alpha, tol)
+ if (nargin < 3) # nargin > 5 already tested
+ print_usage ();
+ endif
+ if (! is_real_square_matrix (a) || ! is_real_matrix (b) || rows (a) != rows (b))
+ error ("place: matrices a and b not conformal");
+ endif
+ discrete = 0; # assume continuous system
+ endif
+
+ if (! isnumeric (p) || ! isvector (p) || isempty (p)) # p could be complex
+ error ("place: p must be a vector");
+ endif
+
+ p = sort (reshape (p, [], 1)); # complex conjugate pairs must appear together
+ wr = real (p);
+ wi = imag (p);
+
+ n = rows (a); # number of states
+ np = length (p); # number of given eigenvalues
+
+ if (np > n)
+ error ("place: at most %d eigenvalues can be assigned for the given matrix a (%dx%d)",
+ n, n, n);
+ endif
+
+ if (isempty (alpha))
+ if (discrete)
+ alpha = 0;
+ else
+ alpha = - norm (a, inf);
+ endif
+ endif
+
+ if (isempty (tol))
+ tol = 0;
+ endif
+
+ [f, nfp, nap, nup, z] = slsb01bd (a, b, wr, wi, discrete, alpha, tol);
+ f = -f; # A + B*F --> A - B*F
+
+ info = struct ("nfp", nfp, "nap", nap, "nup", nup, "z", z);
+
+endfunction
+
+
+## Test from "legacy" control package 1.0.*
+%!shared A, B, C, P, Kexpected
+%! A = [0, 1; 3, 2];
+%! B = [0; 1];
+%! C = [2, 1]; # C is needed for ss; it doesn't matter what the value of C is
+%! P = [-1, -0.5];
+%! Kexpected = [3.5, 3.5];
+%!assert (place (ss (A, B, C), P), Kexpected, 2*eps);
+%!assert (place (A, B, P), Kexpected, 2*eps);
+
+## FIXME: Test from SLICOT example SB01BD fails with 4 eigenvalues in P
+%!shared F, F_exp, ev_ol, ev_cl
+%! A = [-6.8000 0.0000 -207.0000 0.0000
+%! 1.0000 0.0000 0.0000 0.0000
+%! 43.2000 0.0000 0.0000 -4.2000
+%! 0.0000 0.0000 1.0000 0.0000];
+%!
+%! B = [ 5.6400 0.0000
+%! 0.0000 0.0000
+%! 0.0000 1.1800
+%! 0.0000 0.0000];
+%!
+%! P = [-0.5000 + 0.1500i
+%! -0.5000 - 0.1500i];
+#%! -2.0000 + 0.0000i
+#%! -0.4000 + 0.0000i];
+%!
+%! ALPHA = -0.4;
+%! TOL = 1e-8;
+%!
+%! F = place (A, B, P, ALPHA, TOL);
+%!
+%! F_exp = - [-0.0876 -4.2138 0.0837 -18.1412
+%! -0.0233 18.2483 -0.4259 -4.8120];
+%!
+%! ev_ol = sort (eig (A));
+%! ev_cl = sort (eig (A - B*F));
+%!
+%!assert (F, F_exp, 1e-4);
+%!assert (ev_ol(3:4), ev_cl(3:4), 1e-4);