annotate m-toolbox/classes/+utils/@math/pfallpz.m @ 19:69e3d49b4b0c database-connection-manager

Update ltpda_uo.fromRepository
author Daniele Nicolodi <nicolodi@science.unitn.it>
date Mon, 05 Dec 2011 16:20:06 +0100
parents f0afece42f48
children
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
0
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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1 % PFALLPZ all pass filtering to stabilize TF poles and zeros.
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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>
parents:
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3 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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4 % DESCRIPTION:
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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5 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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6 % All pass filtering in order to stabilize transfer function poles and
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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7 % zeros. It inputs a partial fraction expanded discrete model and
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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8 % outputs a pole-zero minimum phase system
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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9 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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10 % CALL:
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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11 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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12 % [resp,np] = pfallpz(ir,ip,id,mresp,f,fs)
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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13 % [resp,np] = pfallpz(ir,ip,id,mresp,f,fs,minphase)
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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14 % [resp,np,nz] = pfallpz(ir,ip,id,mresp,f,fs,minphase)
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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15 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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16 % INPUTS:
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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17 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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18 % ir: are residues
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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19 % ip: are poles
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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20 % id: is direct term
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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21 % f: is the frequancies vector in (Hz)
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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22 % fs: is the sampling frequency in (Hz)
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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23 % minphase: is a flag assuming true (output a minimum phase system) or
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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24 % false (output a stable non minimum phase system) values. Default,
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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25 % false
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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26 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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27 % OUTPUTS:
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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28 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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29 % resp: is the functions phase frequency response
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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30 % np: are the new stable poles
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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31 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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32 % NOTE:
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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33 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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34 % This function make use of signal analysis toolbox functions
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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35 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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37 % VERSION: $Id: pfallpz.m,v 1.6 2009/06/10 15:47:00 luigi Exp $
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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38 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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39 % HISTORY: 12-09-2008 L Ferraioli
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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40 % Creation
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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41 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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42 function varargout = pfallpz(ir,ip,id,mresp,f,fs,varargin)
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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43
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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44 % Reshaping
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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45 [a,b] = size(ir);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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46 if a<b
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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47 ir = ir.'; % reshape as a column vector
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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48 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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49
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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50 [a,b] = size(ip);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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51 if a<b
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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52 ip = ip.'; % reshape as a column vector
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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53 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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54
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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55 [a,b] = size(f);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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56 if a<b
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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57 f = f.'; % reshape as a column vector
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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58 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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59
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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60 [a,b] = size(id);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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61 if a > b
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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62 id = id.'; % reshape as a row
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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63 id = id(1,:); % taking the first row (the function can handle only simple constant direct terms)
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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64 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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65
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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66 if isempty(fs)
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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67 fs = 1;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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68 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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69 [a,b] = size(fs);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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70 if a ~= b
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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71 disp(' Fs has to be a number. Only first term will be considered! ')
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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72 fs = fs(1);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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73 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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74
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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75 if nargin == 7
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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76 minphase = varargin{1};
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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77 else
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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78 minphase = false;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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79 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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80
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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81 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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82 [Na,Nb] = size(ir);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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83 np = zeros(Na,Nb);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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84 nz = zeros(Na,Nb);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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85 for nn = 1:Nb
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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86
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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87 r = ir(:,nn);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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88 d = id(1,nn);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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89 p = ip;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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90 % iresp = mresp(:,nn);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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91
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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92 % k = sum(r)+d;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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93
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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94 % stabilizing poles
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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95 sp = p;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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96 unst = abs(p) > 1;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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97 sp(unst) = 1./conj(sp(unst));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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98
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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99 s = cos((2*pi/fs).*f) + 1i.*sin((2*pi/fs).*f);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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100
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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101 pp = p(unst);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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102 psp = sp(unst);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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103 for ii = 1:length(s)
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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104 nterm = 1;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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105 for jj = 1:length(sp(unst))
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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106 nterm = nterm.*(s(ii)-pp(jj))./(s(ii)-psp(jj));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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107 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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108 phs(ii,1) = angle(nterm);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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109 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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110
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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111 resp(:,nn) = mresp(:,nn).*(cos(phs)+1i.*sin(phs));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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112
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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113 % output stable poles
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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114 np(:,nn) = sp;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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115
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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116 if minphase
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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117 if d~=0
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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118 error('!!!Minimum phase filers can be obtained only when direct term is zero')
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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119 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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120 % finding zeros
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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121 % N = Na+1;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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122 % [mults, idx] = mpoles(p,1e-15,0); % checking for poles multiplicity
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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123 % p = p(idx); % re-arrange poles & residues
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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124 % r = r(idx);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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125 % den = poly(p);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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126 % num = conv(den,d);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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127 % for i=1:Na
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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128 % temp = poly( p([1:(i-mults(i)), (i+1):Na]) );
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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129 % num = num + [r(i)*temp zeros(1,N-length(temp))];
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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130 % end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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131 % zrs = roots(num);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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132 D = 0; % direct term of sigma
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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133
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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134 A = diag(p);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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135 B = ones(Na,1);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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136 C = zeros(1,Na);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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137 % Real poles have real residues, complex poles have comples residues
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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138
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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139 cindex=zeros(1,Na);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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140 for m=1:Na
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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141 if imag(p(m))~=0
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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142 if m==1
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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143 cindex(m)=1;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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144 else
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
145 if cindex(m-1)==0 || cindex(m-1)==2
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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146 cindex(m)=1; cindex(m+1)=2;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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147 else
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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148 cindex(m)=2;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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149 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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150 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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151 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
152 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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153
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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154
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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155 for kk = 1:Na
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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156 if cindex(kk) == 1
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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157 A(kk,kk)=real(p(kk));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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158 A(kk,kk+1)=imag(p(kk));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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159 A(kk+1,kk)=-1*imag(p(kk));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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160 A(kk+1,kk+1)=real(p(kk));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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161 B(kk,1) = 2;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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162 B(kk+1,1) = 0;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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163 C(1,kk) = real(r(kk,1));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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164 C(1,kk+1) = imag(r(kk,1));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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165 elseif cindex(kk) == 0 % real pole
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
166 C(1,kk) = r(kk,1);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
167 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
168 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
169
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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170 [zrs,p2,k] = ss2zp(A,B,C,D,1);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
171
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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172 % stabilizing zeros
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
173 szrs = zrs;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
174 % willing to work with columns
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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175 [a,b] = size(szrs);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
176 if a<b
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
177 szrs = szrs.'; % reshape as a column vector
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
178 zrs = zrs.';
f0afece42f48 Import.
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
179 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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180 % adding the zero at the origin
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
181 zrs = [0;zrs];
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
182 szrs = [0;szrs];
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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183 % do stabilization
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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184 zunst = abs(zrs) > 1;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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185 szrs(zunst) = 1./conj(zrs(zunst));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
186
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
187 zzrs = zrs(zunst);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
188 zszrs = szrs(zunst);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
189 for ii = 1:length(s)
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
190 nterm = 1;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
191 for jj = 1:length(szrs(zunst))
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
192 nterm = nterm.*(s(ii)-zszrs(jj))./(s(ii)-zzrs(jj));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
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193 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
194 zphs(ii,1) = angle(nterm);
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
195 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
196
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
197 resp(:,nn) = resp(:,nn).*(cos(zphs)+1i.*sin(zphs));
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
198
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
199 % output stable zeros
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
200 nz(:,nn) = szrs;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
201 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
202
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
203 end
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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
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
206 % output
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
207 if nargout == 1
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
208 varargout{1} = resp;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
209 elseif nargout == 2
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
210 varargout{1} = resp;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
211 varargout{2} = np;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
212 elseif (nargout == 3) && minphase
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
213 varargout{1} = resp;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
214 varargout{2} = np;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
215 varargout{3} = nz;
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
216 else
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
217 error('Too many output arguments!')
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
218 end
f0afece42f48 Import.
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
219 end
f0afece42f48 Import.
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
220
f0afece42f48 Import.
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff changeset
221