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#' @export
idpoly <- function(A=1,B=1,C=1,D=1,F1=1,ioDelay=0,Ts=1){
out <- list(A= A,B=B,C=C,D=D,F1=F1,ioDelay = ioDelay,Ts=Ts)
out$type <- typecheck(out)
class(out) <- "idpoly"
return(out)
}
typecheck <- function(x){
y <- lapply(x[1:5],checkUnity)
if(y$A){
out <- if(y$C||y$F1) "oe" else "bj"
} else{
if(y$D && y$F1){
out <- if(y$C) "arx" else "armax"
} else{
out <- "idpoly"
}
}
}
checkUnity <- function(x){
out <- if(length(x)==1 && x==1) TRUE else FALSE
}
#' @export
print.idpoly <- function(x){
if(x$type=="arx"){
print_arx(x)
} else if(x$type=="armax"){
print_armax(x)
}
}
print_arx <- function(obj){
cat("Discrete-time ARX model: A(q^{-1})y[k] = B(q^{-1})u[k] + e[k] \n\n")
cat("A(q^{-1}) = ")
for(i in seq_along(obj$A)){
if(i-1==0){
cat(obj$A[i])
} else{
if(obj$A[i]>0) cat(" + ") else cat("- ")
if(!(abs(obj$A[i])==1)) cat(abs(obj$A[i]))
cat("q^{-",i-1,"}",sep="")
}
cat("\t")
}
cat("\n")
cat("B(q^{-1}) = ")
for(i in seq_along(obj$B)){
if(i+obj$ioDelay-1==0){
cat(obj$B[i])
} else{
if(!((obj$ioDelay!=0) && (i==1))){
if(obj$B[i]>0) cat(" + ") else cat("- ")
} else{
if(obj$B[i]<0) cat("-")
}
if(!(abs(obj$B[i])==1)) cat(abs(obj$B[i]))
cat("q^{-",i+obj$ioDelay-1,"}",sep="")
}
cat("\t")
}
}
print_armax <- function(obj){
cat("Discrete-time ARX model: A(q^{-1})y[k] = B(q^{-1})u[k] + C(q^{-1})e[k] \n\n")
cat("A(q^{-1}) = ")
for(i in seq_along(obj$A)){
if(i-1==0){
cat(obj$A[i])
} else{
if(obj$A[i]>0) cat(" + ") else cat("- ")
if(!(abs(obj$A[i])==1)) cat(abs(obj$A[i]))
cat("q^{-",i-1,"}",sep="")
}
cat("\t")
}
cat("\n")
cat("B(q^{-1}) = ")
for(i in seq_along(obj$B)){
if(i+obj$ioDelay-1==0){
cat(obj$B[i])
} else{
if(!((obj$ioDelay!=0) && (i==1))){
if(obj$B[i]>0) cat(" + ") else cat("- ")
} else{
if(obj$B[i]<0) cat("-")
}
if(!(abs(obj$B[i])==1)) cat(abs(obj$B[i]))
cat("q^{-",i+obj$ioDelay-1,"}",sep="")
}
cat("\t")
}
cat("\n")
cat("C(q^{-1}) = ")
for(i in seq_along(obj$C)){
if(i-1==0){
cat(obj$C[i])
} else{
if(obj$C[i]>0) cat(" + ") else cat("- ")
if(!(abs(obj$C[i])==1)) cat(abs(obj$C[i]))
cat("q^{-",i-1,"}",sep="")
}
cat("\t")
}
}
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