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annotate m-toolbox/classes/@ssm/sMinReal.m @ 44:409a22968d5e default

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Add unit tests
author Daniele Nicolodi <nicolodi@science.unitn.it>
date Tue, 06 Dec 2011 18:42:11 +0100
parents f0afece42f48
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Daniele Nicolodi <nicolodi@science.unitn.it>
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1 % SMINREAL gives a minimal realization of a ssm object by deleting unreached states
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2 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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3 %
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4 % DESCRIPTION: SMINREAL gives a minimal realization of a ssm object by
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5 % deleting unreached states (! this is not always the minimal realization)
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6 %
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7 % CALL: >> sys = sMinReal(sys);
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8 %
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9 % sys - an array of ssm object
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10 %
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11 % <a href="matlab:utils.helper.displayMethodInfo('ssm', 'sMinReal')">Parameters Description</a>
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12 %
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13 % VERSION: $Id: sMinReal.m,v 1.14 2011/04/08 08:56:23 hewitson Exp $
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14 %
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15 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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16
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17 function varargout = sMinReal(varargin)
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18
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19 %% Check if this is a call for parameters
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20 if utils.helper.isinfocall(varargin{:})
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21 varargout{1} = getInfo(varargin{3});
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22 return
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23 end
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24
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25 %% send starting message
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26 import utils.const.*
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27 utils.helper.msg(msg.PROC3, 'running %s/%s', mfilename('class'), mfilename);
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28
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29 %% collecting input
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30 in_names = cell(size(varargin));
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31 for ii = 1:nargin,in_names{ii} = inputname(ii);end
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32
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33 [sys, ssm_invars] = utils.helper.collect_objects(varargin(:), 'ssm', in_names);
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34
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35 pl_user = plist;
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36
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37 internal = strcmp(varargin{end}, 'internal');
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38
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39 sys = copy(sys, nargout);
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40
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41 %% begin function body
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42 for i_sys=1:numel(sys)
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43 if ~sys(i_sys).isnumerical
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44 error('system should be numeric')
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45 end
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46 [A, B, C] = double(sys(i_sys), plist);
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47 x_control = isreached(A,B);
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48 x_sensing = isreached(A.',C.');
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49 x = logical(min(x_control, x_sensing));
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50 positions = ssm.blockMatRecut(x,sys(i_sys).sssizes, 1);
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51
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52 options = plist('inputs','ALL','outputs','ALL', 'states', positions);
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53 sys(i_sys).doSimplify(options);
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54 if ~internal
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55 % append history step
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56 sys(i_sys).addHistory(getInfo('None'), pl_user, ssm_invars(i_sys), sys(i_sys).hist);
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57 end
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58 end
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59 if nargout == numel(sys)
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60 for ii = 1:numel(sys)
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61 varargout{ii} = sys(ii);
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62 end
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63 else
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64 varargout{1} = sys;
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65 end
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66
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67 end
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68
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69 function x = isreached(A,B)
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70 Alog = double(~(A==0));
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71 Blog = double(~(B==0));
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72 Nss = size(B,1);
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73 Nin = size(B,2);
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74 x = zeros(Nss, 1);
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75 for i =0:Nss
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76 Ai = Alog^i;
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77 for j=1:Nin
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78 xloc = Ai*Blog(:,j);
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79 xloc = double(~(xloc==0));
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80 x = max(x, xloc);
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81 end
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82 end
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83 end
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84
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85
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86 %--------------------------------------------------------------------------
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87 % Get Info Object
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88 %--------------------------------------------------------------------------
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89 function ii = getInfo(varargin)
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90
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91 if nargin == 1 && strcmpi(varargin{1}, 'None')
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92 sets = {};
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93 pl = [];
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94 else
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95 sets = {'Default'};
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96 pl = getDefaultPlist;
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97 end
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98 % Build info object
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99 ii = minfo(mfilename, 'ssm', 'ltpda', utils.const.categories.op, '$Id: sMinReal.m,v 1.14 2011/04/08 08:56:23 hewitson Exp $', sets, pl);
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100 end
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101
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102 %--------------------------------------------------------------------------
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103 % Get Default Plist
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104 %--------------------------------------------------------------------------
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105 function plo = getDefaultPlist()
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106 plo = plist;
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107 end
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108