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sysgroup.m
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1999-03-05
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# Copyright (C) 1996,1998 A. Scottedward Hodel
#
# This file is part of Octave.
#
# Octave 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 2, or (at your option) any
# later version.
#
# Octave 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 Octave; see the file COPYING. If not, write to the Free
# Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
function sys = sysgroup(Asys,Bsys)
# function sys = sysgroup(Asys,Bsys)
# Combines two system data structures into a single system
#
# input: Asys, Bsys: system data structures
# output: sys: Asys and Bsys are combined into a single system:
#
# __________________
# | ________ |
# u1 ----->|--> | Asys |--->|----> y1
# | -------- |
# | ________ |
# u2 ----->|--> | Bsys |--->|----> y2
# | -------- |
# ------------------
# Ksys
#
# The function also rearranges the A,B,C matrices so that the
# continuous states come first and the discrete states come last.
# If there are duplicate names, the second name has a unique suffix appended
# on to the end of the name.
# A. S. Hodel August 1995
# modified by John Ingram July 1996
save_val = implicit_str_to_num_ok; # save for later
implicit_str_to_num_ok = 1;
save_emp = empty_list_elements_ok;
empty_list_elements_ok = 1;
if(nargin ~= 2)
usage("sys = sysgroup(Asys,Bsys)");
elseif( !is_struct(Asys) | !is_struct(Bsys) )
error("sysgroup: input arguments must both be structured systems");
endif
# extract information from Asys, Bsys to consruct sys
Asys = sysupdate(Asys,"ss");
Bsys = sysupdate(Bsys,"ss");
[n1,nz1,m1,p1] = sysdimensions(Asys);
[n2,nz2,m2,p2] = sysdimensions(Bsys);
[Aa,Ab,Ac,Ad,Atsam,An,Anz,Ast,Ain,Aout,Ayd] = sys2ss(Asys);
[Ba,Bb,Bc,Bd,Btsam,Bn,Bnz,Bst,Bin,Bout,Byd] = sys2ss(Bsys);
nA = An + Anz;
nB = Bn + Bnz;
if(p1*m1*p2*m2 == 0)
error("sysgroup: argument lacks inputs and/or outputs");
elseif((Atsam + Btsam > 0) & (Atsam * Btsam == 0) )
warning("sysgroup: creating combination of continuous and discrete systems")
elseif(Atsam != Btsam)
error("sysgroup: Asys.tsam=%e, Bsys.tsam =%e", Atsam, Btsam);
endif
A = [Aa,zeros(nA,nB); zeros(nB,nA),Ba];
B = [Ab,zeros(nA,m2); zeros(nB,m1),Bb];
C = [Ac,zeros(p1,nB); zeros(p2,nA),Bc];
D = [Ad,zeros(p1,m2); zeros(p2,m1),Bd];
tsam = max(Atsam,Btsam);
# construct combined signal names; stnames must check for pure gain blocks
if(isempty(Ast))
stname = Bst;
elseif(isempty(Bst))
stname = Ast;
else
stname = append(Ast, Bst);
endif
inname = append(Ain, Bin);
outname = append(Aout,Bout);
# Sort states into continous first, then discrete
dstates = ones(1,(nA+nB));
if(An)
dstates(1:(An)) = zeros(1,An);
endif
if(Bn)
dstates((nA+1):(nA+Bn)) = zeros(1,Bn);
endif
[tmp,pv] = sort(dstates);
A = A(pv,pv);
B = B(pv,:);
C = C(:,pv);
stname = stname(pv);
# check for duplicate signal names
inname = sysgroupn(inname,"input");
stname = sysgroupn(stname,"state");
outname = sysgroupn(outname,"output");
# mark discrete outputs
outlist = find([Ayd, Byd]);
# build new system
sys = ss2sys(A,B,C,D,tsam,An+Bn,Anz+Bnz,stname,inname,outname);
implicit_str_to_num_ok = save_val; # restore value
empty_list_elements_ok = save_emp;
endfunction