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annotate m-toolbox/classes/@ssm/resp.m @ 49:0bcdf74587d1 database-connection-manager

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Cleanup
author Daniele Nicolodi <nicolodi@science.unitn.it>
date Wed, 07 Dec 2011 17:24:36 +0100
parents f0afece42f48
children
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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1 % RESP gives the timewise impulse response of a statespace model.
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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2 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Daniele Nicolodi <nicolodi@science.unitn.it>
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3 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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4 % DESCRIPTION: RESP gives the timewise impulse response of a statespace
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Daniele Nicolodi <nicolodi@science.unitn.it>
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5 % model.
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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6 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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7 % CALL: mat_out = resp(sys, plist_inputs)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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8 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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9 % INPUTS:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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10 % - sys, (array of) ssm object
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Daniele Nicolodi <nicolodi@science.unitn.it>
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11 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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12 % plist with parameters 'inputs', 'states' and 'outputs' to indicate which
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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13 % inputs, states and outputs variables are taken in account. This requires
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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14 % proper variable naming. If a variable called appears more that once it
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Daniele Nicolodi <nicolodi@science.unitn.it>
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15 % will be used once only.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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16 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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17 % OUTPUTS:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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18 % - mat_out contains the timewise response (one for each input)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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19 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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20 % <a href="matlab:utils.helper.displayMethodInfo('ssm', 'resp')">Parameters Description</a>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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21 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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22 % VERSION: $Id: resp.m,v 1.27 2011/04/17 21:28:06 adrien Exp $
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Daniele Nicolodi <nicolodi@science.unitn.it>
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23 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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24 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Daniele Nicolodi <nicolodi@science.unitn.it>
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25
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Daniele Nicolodi <nicolodi@science.unitn.it>
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26 function varargout = resp(varargin)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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27 %% starting initial checks
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Daniele Nicolodi <nicolodi@science.unitn.it>
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28
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Daniele Nicolodi <nicolodi@science.unitn.it>
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29 % use the caller is method flag
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Daniele Nicolodi <nicolodi@science.unitn.it>
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30 callerIsMethod = utils.helper.callerIsMethod;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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31
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Daniele Nicolodi <nicolodi@science.unitn.it>
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32 % Check if this is a call for parameters
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Daniele Nicolodi <nicolodi@science.unitn.it>
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33 if utils.helper.isinfocall(varargin{:})
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Daniele Nicolodi <nicolodi@science.unitn.it>
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34 varargout{1} = getInfo(varargin{3});
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Daniele Nicolodi <nicolodi@science.unitn.it>
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35 return
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Daniele Nicolodi <nicolodi@science.unitn.it>
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36 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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37
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Daniele Nicolodi <nicolodi@science.unitn.it>
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38 utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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39
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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40 % checking number of inputs work data
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Daniele Nicolodi <nicolodi@science.unitn.it>
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41 in_names = cell(size(varargin));
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Daniele Nicolodi <nicolodi@science.unitn.it>
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42 for oo = 1:nargin,in_names{oo} = inputname(oo);end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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43
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Daniele Nicolodi <nicolodi@science.unitn.it>
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44 [sys, ssm_invars, rest] = utils.helper.collect_objects(varargin(:), 'ssm', in_names);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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45 [pl, ssm_invars2, rest] = utils.helper.collect_objects(rest(:), 'plist', in_names);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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46 if ~isempty(rest)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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47 pl = combine(pl, plist(rest{:}));
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Daniele Nicolodi <nicolodi@science.unitn.it>
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48 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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49 pl = combine(pl, getDefaultPlist());
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Daniele Nicolodi <nicolodi@science.unitn.it>
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50
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Daniele Nicolodi <nicolodi@science.unitn.it>
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51
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Daniele Nicolodi <nicolodi@science.unitn.it>
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52 %% begin function body
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Daniele Nicolodi <nicolodi@science.unitn.it>
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53 if numel(sys)>1
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Daniele Nicolodi <nicolodi@science.unitn.it>
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54 error('ssm/resp only works with a single statespace model.')
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Daniele Nicolodi <nicolodi@science.unitn.it>
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55 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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56
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Daniele Nicolodi <nicolodi@science.unitn.it>
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57 if ~sys.isnumerical
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Daniele Nicolodi <nicolodi@science.unitn.it>
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58 error('The input system should be numeric.')
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Daniele Nicolodi <nicolodi@science.unitn.it>
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59 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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60
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Daniele Nicolodi <nicolodi@science.unitn.it>
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61 %% modifying input ssm
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Daniele Nicolodi <nicolodi@science.unitn.it>
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62 if sys.timestep == 0
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Daniele Nicolodi <nicolodi@science.unitn.it>
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63 sys = copy(sys, true);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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64 sys.modifyTimeStep('newtimestep', 0.1);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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65 warning('Warning : time-continuous ssm was discretized with a time-step of 0.1s per default') %#ok<WNTAG>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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66 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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67
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Daniele Nicolodi <nicolodi@science.unitn.it>
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68 %% getting duration of the response
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Daniele Nicolodi <nicolodi@science.unitn.it>
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69 tmax = find(pl, 'tmax');
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Daniele Nicolodi <nicolodi@science.unitn.it>
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70 if sys.isStable && (tmax == -1)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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71 pl_s = settlingTime(sys, pl);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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72 timeMax = min(find(pl_s, 'SETTLING_TIME'), 1e5);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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73 timeMax = nextPow2( 12* timeMax);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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74 else
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Daniele Nicolodi <nicolodi@science.unitn.it>
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75 timeMax = nextPow2( tmax./sys.timestep);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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76 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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77
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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78 %% deriving and initializing matrices
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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79 if find(pl, 'reorganize')
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Daniele Nicolodi <nicolodi@science.unitn.it>
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80 sys = copy(sys, true);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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81 sys = reorganize(sys, pl, 'set', 'for resp', 'internal', 'internal');
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Daniele Nicolodi <nicolodi@science.unitn.it>
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82 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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83
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Daniele Nicolodi <nicolodi@science.unitn.it>
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84 A = sys.amats{1,1};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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85 B = sys.bmats{1,1};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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86 C = sys.cmats{2,1};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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87 Cstates = sys.cmats{1,1};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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88 D = sys.dmats{2,1};
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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89 Ts = sys.timestep;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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90
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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91 Ninputs = size(B,2);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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92 Noutputs = size(C,1);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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93 Nss = size(A,1);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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94 NssOut = size(Cstates,1);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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95
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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96 %% collecting data before saving in loop
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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97 aos = ao.initObjectWithSize(Noutputs+NssOut, Ninputs);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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98 inhist = sys.hist;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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99
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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100 inputType = find(pl, 'response');
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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101
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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102 for ii=1:Ninputs
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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103
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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104 %% depending on user option, compute response for one input only
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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105 if strcmpi( inputType, 'IMPULSE')
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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106 stateVect = zeros(Nss,2^timeMax);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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107 stateVect(:,1) = B(:,ii)/sys.timestep;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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108 a = A;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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109 for k=1:timeMax
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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110 p = k-1;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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111 stateVect(:,1:2^k) = [stateVect(:,1:2^p) a*stateVect(:,1:2^p)];
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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112 a = a*a;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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113 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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114 outputVect = C*stateVect;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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115 outputVect(:,1) = outputVect(:,1) + D(:,ii);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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116 stateVect = Cstates*stateVect;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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117 respName = 'Impulse';
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Daniele Nicolodi <nicolodi@science.unitn.it>
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118
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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119 elseif strcmpi( inputType, 'STEP')
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Daniele Nicolodi <nicolodi@science.unitn.it>
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120 stateVect = zeros(Nss,2^timeMax);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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121 stateVect(:,1) = B(:,ii);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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122 stateBasis = B(:,ii);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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123 outputVect = zeros(Noutputs,2^timeMax);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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124 outputVect(:,1) = D(:,ii);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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125 a_powP = A;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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126 for k=1:timeMax
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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127 p = k-1;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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128 outputVect(:,1:2^k) = [ outputVect(:,1:2^p) outputVect(:,1:2^p) ];
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Daniele Nicolodi <nicolodi@science.unitn.it>
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129 lastStates = stateVect(:,1:2^p);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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130 stateVect(:,(2^p+1):2^k) = a_powP*lastStates + diag(stateBasis)*ones(Nss, 2^p) ;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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131 % update iterative matrices
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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132 stateBasis = a_powP*stateBasis + stateBasis;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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133 a_powP = a_powP*a_powP;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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134 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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135 outputVect = C*stateVect + outputVect;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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136 outputVect = [ zeros(Noutputs,1) outputVect]; %#ok<AGROW>
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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137 stateVect = Cstates*stateVect;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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138 respName = 'Step';
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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139
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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140 else
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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141 error(['Option ''response'' does not accept the value' inputType]);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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142 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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143
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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144 %% storing response in aos for one input only
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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145
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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146 for oo=1:NssOut;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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147 aos(oo,ii).setData(tsdata( stateVect(oo,:), 1/Ts));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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148 aos(oo,ii).setName([sys.inputs(1).ports(ii).name '->' sys.outputs(1).ports(oo).name]);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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149 aos(oo,ii).setXunits('s');
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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150 aos(oo,ii).setYunits(sys.outputs(1).ports(oo).units);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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151 aos(oo,ii).setDescription([respName ' response from input ' , sys.inputs(1).ports(ii).name , 'to output ', sys.outputs(1).ports(oo).name]);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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152 aos(oo,ii).setT0(sys.timestep);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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153 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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154 for oo=1:Noutputs;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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155 aos(NssOut+oo,ii).setData(tsdata( outputVect(oo,:), 1/Ts));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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156 aos(NssOut+oo,ii).setName([sys.inputs(1).ports(ii).name '->' sys.outputs(2).ports(oo).name]);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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157 aos(NssOut+oo,ii).setXunits('s');
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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158 aos(NssOut+oo,ii).setYunits(sys.outputs(2).ports(oo).units);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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159 aos(NssOut+oo,ii).setDescription([respName ' response from input ' , sys.inputs(1).ports(ii).name , 'to output ', sys.outputs(2).ports(oo).name]);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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160 aos(NssOut+oo,ii).setT0(sys.timestep);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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161 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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162 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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163
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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164 %% construct output matrix object
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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165 out = matrix(aos);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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166 if callerIsMethod
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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167 % do nothing
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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168 else
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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169 myinfo = getInfo('None');
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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170 out.addHistory(myinfo, pl , ssm_invars(1), inhist );
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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171 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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172
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
173 %% Set output depending on nargout
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
174 if nargout == 1;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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175 varargout = {out};
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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176 elseif nargout == 2;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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177 varargout = {out plist_out};
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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178 elseif nargout == 0;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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179 iplot(aos);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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180 else
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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181 error('Wrong number of outputs')
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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182 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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183 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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184
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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185 %--------------------------------------------------------------------------
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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186 % Get Info Object
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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187 %--------------------------------------------------------------------------
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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188 function oo = getInfo(varargin)
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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189
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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190 if nargin == 1 && strcmpi(varargin{1}, 'None')
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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191 sets = {};
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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192 pl = [];
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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193 else
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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194 sets = {'Default'};
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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195 pl = getDefaultPlist;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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196 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
197 % Build info object
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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198 oo = minfo(mfilename, 'ssm', 'ltpda', utils.const.categories.sigproc, '$Id: resp.m,v 1.27 2011/04/17 21:28:06 adrien Exp $', sets, pl);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
199 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
200
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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201 %--------------------------------------------------------------------------
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
202 % Get Default Plist
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
203 %--------------------------------------------------------------------------
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
204
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
205 function pl = getDefaultPlist()
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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206 pl = ssm.getInfo('reorganize', 'for resp').plists;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
207 pl.remove('set');
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
208
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
209 p = param({'response', 'Specify the type of response wanted'},{1, {'impulse', 'step'}, paramValue.SINGLE} );
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
210 pl.append(p);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
211
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
212 p = param({'tmax', 'Specify the duration of response wanted [s] (automatically set if not specified by user, and system is stable)'},-1 );
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
213 pl.append(p);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
214
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
215 p = param({'reorganize', 'When set to 0, this means the ssm does not need be modified to match the requested i/o. Faster but dangerous!'}, paramValue.TRUE_FALSE);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
216 pl.append(p);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
217
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
218
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
219 end