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rlocus.m
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1999-12-24
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## Copyright (C) 1996 Auburn University. All Rights Reserved.
##
## 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, 59 Temple Place, Suite 330, Boston, MA 02111 USA.
## -*- texinfo -*-
## @deftypefn {Function File } { outputs =} rlocus ( inputs )
## @format
## [rldata, k] = rlocus(sys[,increment,min_k,max_k])
## Displays root locus plot of the specified SISO system.
##
## ----- --- --------
## --->| + |---|k|---->| SISO |----------->
## ----- --- -------- |
## - ^ |
## |_____________________________|
##
## inputs: sys = system data structure
## min_k, max_k,increment: minimum, maximum values of k and
## the increment used in computing gain values
## Outputs: plots the root locus to the screen.
## rldata: Data points plotted column 1: real values, column 2: imaginary
## values)
## k: gains for real axis break points.
##
##
## @end format
## @end deftypefn
function [rldata, k_break, rlpol, gvec, real_ax_pts] = rlocus (sys, increment, min_k, max_k)
## Convert the input to a transfer function if necessary
## Written by Clem and Tenison
## Updated by Kristi McGowan July 1996 for intelligent gain selection
## Updated by John Ingram July 1996 for systems
if (nargin < 1) | (nargin > 4)
usage("rlocus(sys[,inc,mink,maxk])");
endif
[num,den] = sys2tf(sys) # extract numerator/denom polyomials
lnum = length(num); lden = length(den);
if(lden < 2)
error(sprintf("length of derivative=%d, doesn't make sense",lden));
elseif(lnum == 1)
num = [0, num]; # so that derivative is shortened by one
endif
## root locus plot axis limits
## compute real axis locus breakpoints
## compute the derivative of the numerator and the denominator
dern=polyderv(num); derd=polyderv(den);
## compute real axis breakpoints
real_ax_pol = conv(den,dern) - conv(num,derd);
real_ax_pts = roots(real_ax_pol);
if(isempty(real_ax_pts))
k_break = [];
maxk = 0;
else
## compute gains that achieve the breakpoints
c1 = polyval(num,real_ax_pts);
c2 = polyval(den,real_ax_pts);
k_break = -real(c2 ./ c1);
maxk = max(max(k_break,0));
endif
## compute gain ranges based on computed K values
if(maxk == 0) maxk = 1;
else maxk = 1.1*maxk; endif
mink = 0;
ngain = 20;
## check for input arguments:
if (nargin > 2) mink = min_k; endif
if (nargin > 3) maxk = max_k; endif
if (nargin > 1)
if(increment <= 0) error("increment must be positive");
else
ngain = (maxk-mink)/increment;
endif
endif
## vector of gains
ngain = max(3,ngain);
gvec = linspace(mink,maxk,ngain);
## Find the open loop zeros and the initial poles
rlzer = roots(num);
## update num to be the same length as den
lnum = length(num); if(lnum < lden) num = [zeros(1,lden - lnum),num]; endif
## compute preliminary pole sets
nroots = lden-1;
for ii=1:ngain
gain = gvec(ii);
rlpol(1:nroots,ii) = vec(sortcom(roots(den + gain*num)));
endfor
## compute axis limits (isolate asymptotes)
olpol = roots(den);
real_axdat = union(real(rlzer), real(union(olpol,real_ax_pts)) );
rmin = min(real_axdat); rmax = max(real_axdat);
rlpolv = [vec(rlpol); vec(real_axdat)];
idx = find(real(rlpolv) >= rmin & real(rlpolv) <= rmax);
axlim = ax2dlim([real(rlpolv(idx)),imag(rlpolv(idx))]);
xmin = axlim(1);
xmax = axlim(2);
## set smoothing tolerance per axis limits
smtol = 0.01*max(abs(axlim));
## smooth poles if necessary, up to maximum of 1000 gain points
## only smooth points within the axis limit window
## smoothing done if max_k not specified as a command argument
done=(nargin == 4); # perform a smoothness check
while((!done) & ngain < 1000)
done = 1 ; # assume done
dp = abs(diff(rlpol'))';
maxd = max(dp);
## search for poles in the real axis limits whose neighbors are distant
idx = find(maxd > smtol);
for ii=1:length(idx)
i1 = idx(ii); g1 = gvec(i1); p1 = rlpol(:,i1);
i2 = idx(ii)+1; g2 = gvec(i2); p2 = rlpol(:,i2);
## isolate poles in p1, p2 that are inside the real axis limits
bidx = find( (real(p1) >= xmin & real(p1) <= xmax) ...
| (real(p2) >= xmin & real(p2) <= xmax) );
if(!isempty(bidx))
p1 = p1(bidx);
p2 = p2(bidx);
if( max(abs(p2-p1)) > smtol)
newg = linspace(g1,g2,5);
newg = newg(2:4);
if(isempty(newg))
printf("rlocus: empty newg")
g1
g2
i1
i2
idx_i1 = idx(ii)
gvec_i1 = gvec(i1:i2)
delta_vec_i1 = diff(gvec(i1:i2))
prompt
endif
gvec = [gvec,newg];
done = 0; # need to process new gains
endif
endif
endfor
## process new gain values
ngain1 = length(gvec);
for ii=(ngain+1):ngain1
gain = gvec(ii);
rlpol(1:nroots,ii) = vec(sortcom(roots(den + gain*num)));
endfor
[gvec,idx] = sort(gvec);
rlpol = rlpol(:,idx);
ngain = length(gvec);
endwhile
## Plot the data
if(nargout == 0)
rlpolv = vec(rlpol);
idx = find(real(rlpolv) >= xmin & real(rlpolv) <= xmax);
axdata = [real(rlpolv(idx)),imag(rlpolv(idx))];
axlim = ax2dlim(axdata);
axlim(1:2) = [xmin, xmax];
gset nologscale xy;
grid("on");
rldata = [real(rlpolv), imag(rlpolv) ];
axis(axlim);
[stn,inname,outname] = sysgetsg(sys);
xlabel(sprintf("Root locus from %s to %s, gain=[%f,%f]: Real axis", ...
nth(inname,1),nth(outname,1),gvec(1),gvec(ngain)));
ylabel("Imag. axis");
plot(real(rlpolv),imag(rlpolv),".1;locus points;", ...
real(olpol),imag(olpol),"x2;open loop poles;", ...
real(rlzer),imag(rlzer),"o3;zeros;");
rldata = [];
endif
endfunction