CMSCOPE changed

1 files changed, 67 insertions, 0 deletions

diff --git a/modules/cacsd/macros/sensi.sci b/modules/cacsd/macros/sensi.sci
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+++ b/modules/cacsd/macros/sensi.sci
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+// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
+// Copyright (C) INRIA -
+//
+// This file must be used under the terms of the CeCILL.
+// This source file is licensed as described in the file COPYING, which
+// you should have received as part of this distribution.  The terms
+// are also available at
+// http://www.cecill.info/licences/Licence_CeCILL_V2.1-en.txt
+
+function [Se,R,T]=sensi(G,Sk,flag)
+    // [Se,R,T]=sensi(G,Sk) computes sensitivity functions
+    // If flag='o' or no flag:
+    // [Se;R;T]= [inv(eye+G*K);K*inv(eye+G*K);G*K*inv(eye+G*K)];
+    //
+    // flag='i'
+    // [Si,Ri,Ti]= [inv(eye+K*G);G*inv(eye+K*G);K*G*inv(eye+K*G)];
+    //!
+
+    [LHS,RHS]=argn(0);
+    if RHS==2 then flag="o";end
+    select flag
+    case "o"
+        G1=G(1);Sk1=Sk(1);
+        ssflag=0;
+        if G1(1)=="r" then G=tf2ss(G);ssflag=1;end
+        if Sk1(1)=="r" then Sk=tf2ss(Sk);ssflag=ssflag+1;end
+        [ny,nu]=size(G);Iu=eye(nu,nu);Iy=eye(ny,ny);
+        Ouy=zeros(nu,ny);Oyu=zeros(ny,nu);Ouu=zeros(nu,nu);
+        Oyy=zeros(ny,ny);
+        W1=[Iy,Oyu,Oyy;
+        Ouy,Iu,Ouy;
+        -Iy,Oyu,Iy;
+        Iy,Oyu,Oyy];
+        W2=[Iy,-G;
+        Ouy,Iu;
+        Iy,Oyu];
+        SRT=lft(W1*W2,Sk);
+        Se=SRT(1:ny,:);
+        R=SRT((ny+1):(ny+nu),:);
+        T=SRT((nu+ny+1):(nu+ny+ny),:);
+        if ssflag >0 then
+            Se=ss2tf(Se);R=ss2tf(R);T=ss2tf(T);
+        end
+    case "i"
+        G1=G(1);Sk1=Sk(1);
+        ssflag=0;
+        if G1(1)=="r" then G=tf2ss(G);ssflag=1;end
+        if Sk1(1)=="r" then Sk=tf2ss(Sk);ssflag=ssflag+1;end
+        [ny,nu]=size(G);Iu=eye(nu,nu);Iy=eye(ny,ny);
+        Ouy=zeros(nu,ny);Oyu=zeros(ny,nu);Ouu=zeros(nu,nu);
+        Oyy=zeros(ny,ny);
+        W1=[Iu,-Iu;
+        Oyu,Oyu;
+        Ouu,Iu;
+        Oyu,Oyu];
+        W2=[Ouy;Iy;Ouy;Iy];
+        W3=[Iu,-Iu];
+        P=W1+W2*G*W3;
+        SRT=lft(P,Sk);
+        Se=SRT(1:nu,:);
+        R=SRT((nu+1):(ny+nu),:);
+        T=SRT((nu+ny+1):(nu+ny+nu),:);
+        if ssflag >0 then
+            Se=ss2tf(Se);R=ss2tf(R);T=ss2tf(T);
+        end
+    end
+endfunction