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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 [ga,gs,gi]=dtsi(g,tol)
//[ga,gs,gi]=dtsi(g,[tol]) stable-antistable decomposition of g:
// g = ga + gs + gi (gi = g(oo))
// g can be given in state-space form or in transfer form.
// (see syslin)
// - ga antistable and strictly proper.
// - gs stable and strictly proprer.
// - gi = g(oo)
// tol optional parameter for detecting stables poles.
// Default value: 100*%eps
//!
[lhs,rhs]=argn(0),
if rhs <1 then
error(msprintf(gettext("%s: Wrong number of input arguments: At least %d expected.\n"),"dtsi",1))
end
if and(typeof(g)<>["rational","state-space"]) then
error(msprintf(gettext("%s: Wrong type for input argument #%d: Linear state space or a transfer function expected.\n"),"dtsi",1))
end
if g.dt<>"c" then
error(msprintf(gettext("%s: Wrong type for argument #%d: In continuous time expected.\n"),"dtsi",1))
end
if rhs==1 then
tol=100*%eps,
else
if type(tol)<>1|size(tol,"*")<>1|~isreal(tol)|tol<=0 then
error(msprintf(gettext("%s: Wrong value for input argument #%d: Must be a positive scalar.\n"),"dtsi",2))
end
end,
select typeof(g)
case "rational" then
//transfer
//----------------------------
num=g.num,den=g.den,var=varn(den),
[t1,t2]=size(num),
num1=0*ones(t1,t2),num2=num1,
den1=ones(t1,t2),den2=den1,
for i=1:t1,
for j=1:t2,
n=num(i,j),d=den(i,j),
dn=degree(n),dd=degree(d),
if dn>dd then
error(msprintf(gettext("%s: Wrong values for input argument #%d: proper elements expected.\n"),"dtsi",1))
end,
//alf and bet /alf*d1(unstable) and bet*d2(stable)=n.
if dd==0 then
num2(i,j)=n,
else
pol=roots(d),
k=1,no=1,
[a,l]=gsort(real(pol));
pol=pol(l);
while k<=dd,
if real(pol(k))<=tol then
k=dd+1,
else
k=k+1,no=no+1,
end,
end,
select no,
case 1 then num2(i,j)=n,den2(i,j)=d,
case dd+1 then num1(i,j)=n,den1(i,j)=d,
else
d1=poly(pol(1:no-1),var),d2=poly(pol(no:dd),var),
if dn==dd then
d1o=poly([coeff(d1),0],var,"c"),
dd=dd+1,no=no+1,
else
d1o=d1,
end
u=sylm(d1o,d2),cn=[coeff(n),0*ones(1,dd-dn-1)],
x=u\cn',
alf=poly(x(1:dd-no+1),var,"c"),
bet=poly(x(dd-no+2:dd),var,"c"),
num1(i,j)=bet,den1(i,j)=d1,
num2(i,j)=alf,den2(i,j)=d2,
end,
end,
end,
end,
ga=syslin("c",num1,den1),gi1=ginfini(ga)
gs=syslin("c",num2,den2),gi2=ginfini(gs)
ga=ga-gi1,gs=gs-gi2,gi=gi1+gi2,return,
case "state-space" then
//state space:
//---------------------------
[a,b,c,d]=abcd(g),gi=d,
[n1,n2,t]=size(g),
[a,u0]=balanc(a);b=u0\b;c=c*u0;
[u,n]=schur(a,"c"),
a=u'*a*u,
if n==t then
ga=0,
gs=g,
return,
end,
if n==0 then
gs=0,
ga=g,
return,
end,
// [ab,w,bs]=bdiag(a);
a1=a(1:n,1:n),a4=a(n+1:t,n+1:t),x=a(1:n,n+1:t),
z=sylv(a1,-a4,-x,"c"),
w=[eye(n,n),z;0*ones(t-n,n),eye(t-n,t-n)],
wi=[eye(n,n),-z;0*ones(t-n,n),eye(t-n,t-n)],
tr=u*w,tri=wi*u';
bb=tri*b,b1=bb(1:n,:),b2=bb(n+1:t,:),
cc=c*tr,c1=cc(:,1:n),c2=cc(:,n+1:t),
ga=syslin("c",a4,b2,c2),
gs=syslin("c",a1,b1,c1);
end;
endfunction
function D=ginfini(g)
//gi=ginfini(g) computes D = g(infinity) for the proper transfer matrix g
//!
g1=g(1);
if typeof(g)=="constant" then D=g,return,end,
if typeof(g)<>"rational" then
error(msprintf(gettext("%s: Wrong type for input argument #%d: transfer function expected.\n"),"dtsi/ginfini",1))
end
num=g.num,den=g.den,
[nn,mm]=size(num),D=0*ones(nn,mm),
for i=1:nn,
for j=1:mm,
n=num(i,j),d=den(i,j),
dn=degree(n),dd=degree(d),
if dn>dd then
error(msprintf(gettext("%s: Wrong values for input argument #%d: Proper transfer function expected.\n"),"dtsi/ginfini",1 )),
else
if dn==dd then
D(i,j)=coeff(n,dn)/coeff(d,dd)
end,
end
end
end
endfunction
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