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Diffstat (limited to 'modules/cacsd/macros/augment.sci')
| -rwxr-xr-x | modules/cacsd/macros/augment.sci | 299 |
1 files changed, 299 insertions, 0 deletions
diff --git a/modules/cacsd/macros/augment.sci b/modules/cacsd/macros/augment.sci new file mode 100755 index 000000000..5da2f79ae --- /dev/null +++ b/modules/cacsd/macros/augment.sci @@ -0,0 +1,299 @@ +// 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 [P,r]=augment(G,SRT,flag) + // Augmented plants P + // flag='output' (default) : + // + // [ I | -G] -->'S' + // [ 0 | I] -->'R' + // P = [ 0 | G] -->'T' + // [-------] + // [ I | -G] + // + // + // flag='input' : + // + // [ I | -I] -->'S' + // [ G | -G] -->'R' + // P = [ 0 | I] -->'T' + // [-------] + // [ G | -G] + //! + + [LHS,RHS]=argn(0); + if RHS <= 2 then flag="output";end + select part(flag,1) + case "o" + G1=G(1); + if RHS==1 then SRT="SRT";end + r=size(G); + [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); + ssSRT=0; + if G1(1)=="r" then ssSRT=1;end + long=length(SRT); + select long + case 3 then + // 'SRT' + if SRT<>"SRT" then + error(msprintf(gettext("%s: Wrong value for input argument #%d: ''%s'' expected.\n"), "augment",2,"SRT"),9999); + end + if ssSRT==0 then + W1=[Iy,Oyu,Oyy; + Ouy,Iu,Ouy; + -Iy,Oyu,Iy; + Iy,Oyu,Oyy]; + W2=[Iy,-G; + Ouy,Iu; + Iy,Oyu]; + P=W1*W2; + end + if ssSRT ==1 then + P=[Iy,-G; + Ouy,Iu; + Oyy,G; + Iy,-G] + end + return + case 2 then + if SRT=="SR" then + if ssSRT==0 then + W1=[Iy,Oyu,Oyy; + Ouy,Iu,Ouy; + Iy,Oyu,Oyy]; + W2=[Iy,-G; + Ouy,Iu; + Iy,Oyu]; + P=W1*W2; + end + if ssSRT==1 then + P=[Iy,-G; + Ouy,Iu; + Iy,-G]; + end + return + end + if SRT=="ST" then + if ssSRT==0 then + W1=[Iy,Oyu,Oyy; + -Iy,Oyu,Iy; + Iy,Oyu,Oyy]; + W2=[Iy,-G; + Ouy,Iu; + Iy,Oyu]; + P=W1*W2; + end + if ssSRT ==1 then + P=[Iy, -G; + Oyy, G; + Iy, -G]; + end + return + end + if SRT=="RT" then + if ssSRT==0 then + W1=[Ouy,Iu,Ouy; + -Iy,Oyu,Iy; + Iy,Oyu,Oyy]; + W2=[Iy,-G; + Ouy,Iu; + Iy,Oyu]; + P=W1*W2; + end; + if ssSRT ==1 then + P=[Ouy,Iu; + Oyy,G; + Iy,-G]; + end + return + end + error(msprintf(gettext("%s: Wrong value for input argument #%d: Must be in the set {%s}.\n"),.. + "augment",2, "''SR'',''ST'',''RT''"),9999); + case 1 then + if SRT=="S" then + if ssSRT==0 then + W1=[Iy,Oyu,Oyy; + Iy,Oyu,Oyy]; + W2=[Iy,-G; + Ouy,Iu; + Iy,Oyu]; + P=W1*W2; + end; + if ssSRT ==1 then + P=[Iy,-G; + Iy,-G]; + end + return + end + if SRT=="R" then + if ssSRT==0 then + W1=[Ouy,Iu,Ouy; + Iy,Oyu,Oyy]; + W2=[Iy,-G; + Ouy,Iu; + Iy,Oyu]; + P=W1*W2; + end + if ssSRT ==1 then + P=[Ouy,Iu; + Iy,-G]; + end + return + end + if SRT=="T" then + if ssSRT==0 then + W1=[-Iy,Oyu,Iy; + Iy,Oyu,Oyy]; + W2=[Iy,-G; + Ouy,Iu; + Iy,Oyu]; + P=W1*W2; + end + if ssSRT ==1 then + P=[Oyy,G; + Iy,-G]; + end + return + end + end + case "i" + G1=G(1); + if RHS==1 then SRT="SRT";end + r=size(G); + [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); + ssSRT=0; + if G1(1)=="r" then ssSRT=1;end + long=length(SRT); + select long + case 3 then + // 'SRT' + if SRT<>"SRT" then + error(msprintf(gettext("%s: Wrong value for input argument #%d: ''%s'' expected.\n"), "augment",2,"SRT"),9999); + end; + if ssSRT==0 then + W1=[Iu,-Iu; + Oyu,Oyu; + Ouu,Iu; + Oyu,Oyu]; + W2=[Ouy;Iy;Ouy;Iy]; + W3=[Iu,-Iu]; + P=W1+W2*G*W3; + end + if ssSRT ==1 then + P=[Iu,-Iu; + G,-G; + Ouu,Iu; + -G,G] + end + return + case 2 then + if SRT=="SR" then + if ssSRT==0 then + W1=[Iu,-Iu; + Oyu,Oyu; + Oyu,Oyu]; + W2=[Ouy;Iy;Iy]; + W3=[Iu,-Iu]; + P=W1+W2*G*W3; + end + if ssSRT==1 then + P=[Iu,-Iu; + G,-G; + -G,G] + end + return + end + if SRT=="ST" then + if ssSRT==0 then + W1=[Iu,-Iu; + Ouu,Iu; + Oyu,Oyu]; + W2=[Ouy;Ouy;Iy]; + W3=[Iu,-Iu]; + P=W1+W2*G*W3; + end + if ssSRT ==1 then + P=[Iu,-Iu; + Ouu,Iu; + -G,G] + end + return + end + if SRT=="RT" then + if ssSRT==0 then + W1=[Oyu,Oyu; + Ouu,Iu; + Oyu,Oyu]; + W2=[Iy;Ouy;Iy]; + W3=[Iu,-Iu]; + P=W1+W2*G*W3; + end; + if ssSRT ==1 then + P=[G,-G; + Ouu,Iu; + -G,G] + end + return + end + + error(msprintf(gettext("%s: Wrong value for input argument #%d: Must be in the set {%s}.\n"),.. + "augment",2, "''SR'',''ST'',''RT''"),9999); + + case 1 then + if SRT=="S" then + if ssSRT==0 then + W1=[Iu,-Iu; + Oyu,Oyu]; + W2=[Ouy;Iy]; + W3=[Iu,-Iu]; + P=W1+W2*G*W3; + + end; + if ssSRT ==1 then + P=[Iu,-Iu; + -G,G] + end + return + end + if SRT=="R" then + if ssSRT==0 then + W1=[Oyu,Oyu; + Oyu,Oyu]; + W2=[Iy;Iy]; + W3=[Iu,-Iu]; + P=W1+W2*G*W3; + end + if ssSRT ==1 then + P=[G,-G; + -G,G] + end + return + end + if SRT=="T" then + if ssSRT==0 then + W1=[Ouu,Iu; + Oyu,Oyu]; + W2=[Ouy;Iy]; + W3=[Iu,-Iu]; + P=W1+W2*G*W3; + end + if ssSRT ==1 then + P=[Ouu,Iu; + -G,G] + end + return + end + end + end +endfunction |