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Daniele Nicolodi <nicolodi@science.unitn.it>
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1 % CSD2TF Input cross spectral density matrix and output stable transfer function
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Daniele Nicolodi <nicolodi@science.unitn.it>
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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>
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4 % DESCRIPTION:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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5 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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6 % Input cross spectral density (csd) and output corresponding
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Daniele Nicolodi <nicolodi@science.unitn.it>
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7 % stable functions. Identification can be performed for a simple system
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Daniele Nicolodi <nicolodi@science.unitn.it>
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8 % (one psd) or for a N dimensional system. Discrete transfer functions are
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Daniele Nicolodi <nicolodi@science.unitn.it>
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9 % output in partial fraction expansion:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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10 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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11 % r1 rN
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Daniele Nicolodi <nicolodi@science.unitn.it>
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12 % f(z) = ----------- + ... + ----------- + d
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Daniele Nicolodi <nicolodi@science.unitn.it>
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13 % 1-p1*z^{-1} 1-pN*z^{-1}
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Daniele Nicolodi <nicolodi@science.unitn.it>
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14 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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15 % System identification is performed in frequency domain, the order of
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Daniele Nicolodi <nicolodi@science.unitn.it>
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16 % the model function is automatically chosen by the algorithm on the
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Daniele Nicolodi <nicolodi@science.unitn.it>
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17 % base of the input tolerance condition.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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18 % In the case of simple systems the square root of the psd is fitted
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Daniele Nicolodi <nicolodi@science.unitn.it>
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19 % and then the model is stabilized by the application of an all-pass
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Daniele Nicolodi <nicolodi@science.unitn.it>
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20 % function.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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21 % In the case of two dimensional systems, transfer functions frequency
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Daniele Nicolodi <nicolodi@science.unitn.it>
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22 % response is calculated by the eigendecomposition of the
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Daniele Nicolodi <nicolodi@science.unitn.it>
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23 % cross-spectral matrix. Then models are identified by fitting
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Daniele Nicolodi <nicolodi@science.unitn.it>
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24 % in frequency domain.
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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 % CALL:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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27 % out = csd2tf(csd,f,params)
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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 % INPUT:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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30 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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31 % - csd is the cross spectral density matrix. It is in general a
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Daniele Nicolodi <nicolodi@science.unitn.it>
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32 % [n,n,m] dimensional matrix. Where n is the dimension of the system
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Daniele Nicolodi <nicolodi@science.unitn.it>
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33 % and m is the number of frequencies
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Daniele Nicolodi <nicolodi@science.unitn.it>
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34 % - f: is the corresponding frequencies vector in Hz (of length m)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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35 % - params: is a struct of identification options, the possible values
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Daniele Nicolodi <nicolodi@science.unitn.it>
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36 % are:
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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 % params.fullauto = 0 --> Perform a fitting loop as far as the number
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Daniele Nicolodi <nicolodi@science.unitn.it>
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39 % of iteration reach Nmaxiter. The order of the fitting function will
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Daniele Nicolodi <nicolodi@science.unitn.it>
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40 % be that specified in params.minorder. If params.dterm is setted to
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Daniele Nicolodi <nicolodi@science.unitn.it>
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41 % 1 the function will fit only with direct term.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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42 % params.fullauto = 1 --> Parform a full automatic search for the
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Daniele Nicolodi <nicolodi@science.unitn.it>
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43 % transfer function order. The fitting procedure will stop when the
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Daniele Nicolodi <nicolodi@science.unitn.it>
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44 % stopping condition defined in params.ctp is satisfied. Default
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Daniele Nicolodi <nicolodi@science.unitn.it>
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45 % value.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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46 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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47 % - params.Nmaxiter = # set the maximum number of fitting steps
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Daniele Nicolodi <nicolodi@science.unitn.it>
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48 % performed for each trial function order. Default is 50
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Daniele Nicolodi <nicolodi@science.unitn.it>
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49 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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50 % - params.minorder = # set the minimum possible function order.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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51 % Default is 2
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Daniele Nicolodi <nicolodi@science.unitn.it>
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52 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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53 % - params.maxorder = # set the maximum possible function order.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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54 % Default is 25
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Daniele Nicolodi <nicolodi@science.unitn.it>
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55 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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56 % params.spolesopt = 1 --> use real starting poles
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Daniele Nicolodi <nicolodi@science.unitn.it>
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57 % params.spolesopt = 2 --> generates complex conjugates poles of the
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Daniele Nicolodi <nicolodi@science.unitn.it>
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58 % type \alfa e^{j\pi\theta} with \theta = linspace(0,pi,N/2+1).
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Daniele Nicolodi <nicolodi@science.unitn.it>
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59 % params.spolesopt = 3 --> generates complex conjugates poles of the
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Daniele Nicolodi <nicolodi@science.unitn.it>
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60 % type \alfa e^{j\pi\theta} with \theta = linspace(0,pi,N/2+2).
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Daniele Nicolodi <nicolodi@science.unitn.it>
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61 % Default option.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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62 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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63 % - params.weightparam = 0 --> use external weights
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Daniele Nicolodi <nicolodi@science.unitn.it>
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64 % - params.weightparam = 1 equal weights (one) for each point
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Daniele Nicolodi <nicolodi@science.unitn.it>
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65 % - params.weightparam = 2 weight with the inverse of absolute value
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Daniele Nicolodi <nicolodi@science.unitn.it>
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66 % of fitting data
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Daniele Nicolodi <nicolodi@science.unitn.it>
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67 % - params.weightparam = 3 weight with square root of the inverse of
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Daniele Nicolodi <nicolodi@science.unitn.it>
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68 % absolute value of fitting data
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Daniele Nicolodi <nicolodi@science.unitn.it>
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69 % - params.weightparam = 4 weight with the inverse of the square mean
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Daniele Nicolodi <nicolodi@science.unitn.it>
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70 % spread
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Daniele Nicolodi <nicolodi@science.unitn.it>
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71 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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72 % params.extweights = [] --> A vector of externally provided weights.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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73 % It has to be of the same size of input data.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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74 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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75 % - params.plot = 0 --> no plot during fit iteration
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Daniele Nicolodi <nicolodi@science.unitn.it>
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76 % - params.plot = 1 --> plot results at each fitting steps. default
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Daniele Nicolodi <nicolodi@science.unitn.it>
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77 % value.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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78 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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79 % - params.ctp = 'chival' --> check if the value of the Mean Squared
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Daniele Nicolodi <nicolodi@science.unitn.it>
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80 % Error is lower than 10^(-1*lsrcond).
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Daniele Nicolodi <nicolodi@science.unitn.it>
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81 % - params.ctp = 'chivar' --> check if the value of the Mean Squared
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Daniele Nicolodi <nicolodi@science.unitn.it>
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82 % Error is lower than 10^(-1*lsrcond) and if the relative variation of mean
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Daniele Nicolodi <nicolodi@science.unitn.it>
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83 % squared error is lower than 10^(-1*msevar).
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Daniele Nicolodi <nicolodi@science.unitn.it>
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84 % - params.ctp = 'lrs' --> check if the log difference between data and
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Daniele Nicolodi <nicolodi@science.unitn.it>
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85 % residuals is point by point larger than the value indicated in
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Daniele Nicolodi <nicolodi@science.unitn.it>
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86 % lsrcond. This mean that residuals are lsrcond order of magnitudes
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Daniele Nicolodi <nicolodi@science.unitn.it>
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87 % lower than data.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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88 % - params.ctp = 'lrsmse' --> check if the log difference between data
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Daniele Nicolodi <nicolodi@science.unitn.it>
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89 % and residuals is larger than the value indicated in lsrcond and if
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Daniele Nicolodi <nicolodi@science.unitn.it>
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90 % the relative variation of mean squared error is lower than
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Daniele Nicolodi <nicolodi@science.unitn.it>
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91 % 10^(-1*msevar).
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Daniele Nicolodi <nicolodi@science.unitn.it>
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92 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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93 % - params.lrscond = # --> set conditioning value for point to point
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Daniele Nicolodi <nicolodi@science.unitn.it>
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94 % log residuals difference (params.ctp = 'lsr') and mean log residual
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Daniele Nicolodi <nicolodi@science.unitn.it>
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95 % difference (params.ctp = 'mlsrvar'). Default is 2. See help for
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Daniele Nicolodi <nicolodi@science.unitn.it>
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96 % stopfit.m for further remarks.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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97 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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98 % - params.msevar = # --> set conditioning value for root mean squared
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Daniele Nicolodi <nicolodi@science.unitn.it>
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99 % error variation. This allow to check that the relative variation of
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Daniele Nicolodi <nicolodi@science.unitn.it>
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100 % mean squared error is lower than 10^(-1*msevar).Default is 7. See
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Daniele Nicolodi <nicolodi@science.unitn.it>
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101 % help for stopfit.m for further remarks.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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102 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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103 % - params.fs set the sampling frequency (Hz). Default is 1 Hz
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Daniele Nicolodi <nicolodi@science.unitn.it>
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104 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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105 % params.dterm = 0 --> Try to fit without direct term
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Daniele Nicolodi <nicolodi@science.unitn.it>
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106 % params.dterm = 1 --> Try to fit with and without direct term
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Daniele Nicolodi <nicolodi@science.unitn.it>
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107 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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108 % params.spy = 0 --> Do not display the iteration progression
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Daniele Nicolodi <nicolodi@science.unitn.it>
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109 % params.spy = 1 --> Display the iteration progression
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Daniele Nicolodi <nicolodi@science.unitn.it>
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110 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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111 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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112 % OUTPUT:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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113 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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114 % - ostruct is a struct with the fields:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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115 % - ostruct(n).res --> is the vector of residues.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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116 % - ostruct(n).poles --> is the vector of poles.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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117 % - ostruct(n).dterm --> is the vector of direct terms.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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118 % - ostruct(n).mresp --> is the vector of tfs models responses.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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119 % - ostruct(n).rdl --> is the vector of fit residuals.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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120 % - ostruct(n).mse --> is the vector of mean squared errors.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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121 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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122 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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123 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Daniele Nicolodi <nicolodi@science.unitn.it>
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124 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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125 % VERSION: $Id: csd2tf.m,v 1.1 2009/04/23 09:56:28 luigi Exp $
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Daniele Nicolodi <nicolodi@science.unitn.it>
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126 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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127 % HISTORY: 22-04-2009 L Ferraioli
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Daniele Nicolodi <nicolodi@science.unitn.it>
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128 % Creation
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Daniele Nicolodi <nicolodi@science.unitn.it>
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129 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Daniele Nicolodi <nicolodi@science.unitn.it>
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130 function ostruct = csd2tf(csd,f,params)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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131
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Daniele Nicolodi <nicolodi@science.unitn.it>
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132 utils.helper.msg(utils.const.msg.MNAME, 'running %s/%s', mfilename('class'), mfilename);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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133
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Daniele Nicolodi <nicolodi@science.unitn.it>
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134 % Collect inputs
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Daniele Nicolodi <nicolodi@science.unitn.it>
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135
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Daniele Nicolodi <nicolodi@science.unitn.it>
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136 % Default input struct
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Daniele Nicolodi <nicolodi@science.unitn.it>
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137 defaultparams = struct('Nmaxiter',50, 'minorder',2,...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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138 'maxorder',25, 'spolesopt',2, 'weightparam',1, 'plot',0,...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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139 'ctp','chival','lrscond',2,'msevar',2,...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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140 'fs',1,'dterm',0, 'spy',0, 'fullauto',1,...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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141 'extweights', []);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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142
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Daniele Nicolodi <nicolodi@science.unitn.it>
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143 names = {'Nmaxiter','minorder','maxorder','spolesopt',...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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144 'weightparam','plot','stopfitcond',...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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145 'ctp','lrscond','msevar',...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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146 'fs','dterm','spy','fullauto','extweights'};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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147
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Daniele Nicolodi <nicolodi@science.unitn.it>
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148 % collecting input and default params
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Daniele Nicolodi <nicolodi@science.unitn.it>
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149 if ~isempty(params)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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150 for jj=1:length(names)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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151 if isfield(params, names(jj)) && ~isempty(params.(names{1,jj}))
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Daniele Nicolodi <nicolodi@science.unitn.it>
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152 defaultparams.(names{1,jj}) = params.(names{1,jj});
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Daniele Nicolodi <nicolodi@science.unitn.it>
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153 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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154 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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155 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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156
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Daniele Nicolodi <nicolodi@science.unitn.it>
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157 % default values for input variables
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Daniele Nicolodi <nicolodi@science.unitn.it>
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158 Nmaxiter = defaultparams.Nmaxiter; % Number of max iteration in the fitting loop
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Daniele Nicolodi <nicolodi@science.unitn.it>
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159 minorder = defaultparams.minorder; % Minimum model order
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Daniele Nicolodi <nicolodi@science.unitn.it>
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160 maxorder = defaultparams.maxorder; % Maximum model order
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Daniele Nicolodi <nicolodi@science.unitn.it>
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161 spolesopt = defaultparams.spolesopt; % 0, Fit with no complex starting poles (complex poles can be found as fit output). 1 fit with comples starting poles
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Daniele Nicolodi <nicolodi@science.unitn.it>
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162 weightparam = defaultparams.weightparam; % Weight 1./abs(y). Admitted values are 0, 1, 2, 3
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Daniele Nicolodi <nicolodi@science.unitn.it>
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163 checking = defaultparams.plot; % Never polt. Admitted values are 0 (No polt ever), 1 (plot at the end), 2 (plot at each step)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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164 ctp = defaultparams.ctp;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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165 lrscond = defaultparams.lrscond;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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166 msevar = defaultparams.msevar;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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167 fs = defaultparams.fs; % sampling frequency
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Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
168 idt = defaultparams.dterm;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
169 spy = defaultparams.spy;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
170 autosearch = defaultparams.fullauto;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
171 extweights = defaultparams.extweights;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
172
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
173 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
174 % Checking inputs
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
175
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
176 [a,b] = size(f);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
177 if a < b % shifting to column
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
178 f = f.';
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
179 end
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
180
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
181 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
182 % switching between inputs
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
183
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
184 clear dim
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
185 % cecking for dimensionality
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
186 [nn,mm,kk] = size(csd);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
187 if kk == 1
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
188 dim = '1dim';
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
189 utils.helper.msg(utils.const.msg.PROC1, ' Performing one dimesional identification on psd ')
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
190 if nn < mm % shift to column
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
191 csd = csd.';
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
192 end
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
193 else
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
194 dim ='ndim';
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
195 utils.helper.msg(utils.const.msg.PROC1, ' Performing N dimesional identification on csd ')
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
196 end
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
197
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
198 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
199 % system identification
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
200
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
201 switch dim
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
202 case '1dim'
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
203
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
204 utils.helper.msg(utils.const.msg.PROC1, ' Performing z-domain identification ')
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
205 itf = abs(sqrt(csd)); % input data
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
206
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
207 % Fitting params
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
208 params = struct('spolesopt',spolesopt, 'Nmaxiter',Nmaxiter, 'minorder',minorder,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
209 'maxorder',maxorder, 'weightparam',weightparam, 'plot',checking,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
210 'ctp',ctp,'lrscond',lrscond,'msevar',msevar,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
211 'stabfit',0,'dterm',idt,'spy',spy,'fullauto',autosearch,'extweights',extweights);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
212
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
213 % Fitting
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
214 utils.helper.msg(utils.const.msg.PROC1, ' Fitting absolute TF value with unstable model ')
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
215 [res,poles,dterm,mresp,rdl,msei] = utils.math.autodfit(itf,f,fs,params);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
216
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
217 % all pass filtering for poles stabilization
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
218 [ntf,np] = utils.math.pfallpz(res,poles,dterm,mresp,f,fs,false);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
219
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
220 % Fitting params
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
221 params = struct('spolesopt',0,'extpoles', np,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
222 'Nmaxiter',Nmaxiter,'minorder',minorder,'maxorder',maxorder,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
223 'weightparam',weightparam,'plot',checking,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
224 'ctp',ctp,'lrscond',lrscond,'msevar',msevar,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
225 'stabfit',1,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
226 'dterm',idt,'spy',spy,'fullauto',autosearch,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
227 'extweights',extweights);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
228
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
229 utils.helper.msg(utils.const.msg.PROC1, ' Fitting TF with stable model ')
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
230 [res,poles,dterm,mresp,rdl,msef] = utils.math.autodfit(ntf,f,fs,params);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
231
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
232 % Output data switching between output type
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
233 utils.helper.msg(utils.const.msg.PROC1, ' Output z-domain model ')
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
234
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
235 ostruct = struct();
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
236
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
237 ostruct.res = res;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
238 ostruct.poles = poles;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
239 ostruct.dterm = dterm;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
240 ostruct.mresp = mresp;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
241 ostruct.rdl = rdl;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
242 ostruct.mse = msei;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
243
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
244 case 'ndim'
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
245 % switching between continuous and discrete type identification
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
246
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
247 % utils.helper.msg(utils.const.msg.PROC1, ' Performing z-domain identification on 2dim system, z-domain output ')
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
248 tf = utils.math.ndeigcsd(csd,'OTP','TF','MTD','KAY'); % input data
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
249
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
250 [nn,mm,kk] = size(tf);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
251
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
252 % % Shifting to columns
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
253 % [a,b] = size(tf11);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
254 % if a<b
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
255 % tf11 = tf11.';
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
256 % end
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
257 % [a,b] = size(tf12);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
258 % if a<b
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
259 % tf12 = tf12.';
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
260 % end
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
261 % [a,b] = size(tf21);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
262 % if a<b
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
263 % tf21 = tf21.';
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
264 % end
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
265 % [a,b] = size(tf22);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
266 % if a<b
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
267 % tf22 = tf22.';
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
268 % end
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
269 %
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
270 % % Collecting tfs
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
271 % f1 = [tf11 tf21];
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
272 % f2 = [tf12 tf22];
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
273
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
274 %%% System identification
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
275
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
276 % init output
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
277 ostruct = struct();
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
278
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
279 for dd = 1:mm
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
280 fun = squeeze(tf(1,dd,:));
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
281 % willing to work with columns
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
282 [a,b] = size(fun);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
283 if a<b
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
284 fun = fun.';
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
285 end
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
286 for ff = 2:nn
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
287 tfun = squeeze(tf(ff,dd,:));
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
288 % willing to work with columns
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
289 [a,b] = size(tfun);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
290 if a<b
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
291 tfun = tfun.';
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
292 end
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
293 fun = [fun tfun];
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
294 end
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
295
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
296 % Fitting with unstable poles %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
297 params = struct('spolesopt',spolesopt, 'Nmaxiter',Nmaxiter, 'minorder',minorder,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
298 'maxorder',maxorder, 'weightparam',weightparam, 'plot',checking,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
299 'ctp',ctp,'lrscond',lrscond,'msevar',msevar,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
300 'stabfit',0,'dterm',idt,'spy',spy,'fullauto',autosearch,'extweights',extweights);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
301
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
302 % Fitting
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
303 utils.helper.msg(utils.const.msg.PROC1, ' Fitting with unstable common poles ')
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
304 [res,poles,dterm,mresp,rdl,msei] = utils.math.autodfit(fun,f,fs,params);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
305
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
306 % Poles stabilization %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
307 utils.helper.msg(utils.const.msg.PROC1, ' All pass filtering')
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
308 [nfun,np] = utils.math.pfallpz(res,poles,dterm,mresp,f,fs,false);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
309 np = np(:,1);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
310
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
311 % Fitting with stable poles %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
312
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
313 % Fitting params
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
314 params = struct('spolesopt',0,'Nmaxiter',Nmaxiter,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
315 'minorder',minorder,'maxorder',maxorder,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
316 'weightparam',weightparam,'plot',checking,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
317 'ctp',ctp,'lrscond',lrscond,'msevar',msevar,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
318 'stabfit',1,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
319 'dterm',idt,'spy',spy,'fullauto',autosearch,...
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
320 'extweights',extweights,'extpoles', np);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
321
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
322 % Fitting
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
323 utils.helper.msg(utils.const.msg.PROC1, ' Fitting with stable common poles ')
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
324 [res,poles,dterm,mresp,rdl,msef] = utils.math.autodfit(nfun,f,fs,params);
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
325
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
326
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
327 % Output stable model %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
328
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
329 ostruct(dd).res = res;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
330 ostruct(dd).poles = poles;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
331 ostruct(dd).dterm = dterm;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
332 ostruct(dd).mresp = mresp;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
333 ostruct(dd).rdl = rdl;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
334 ostruct(dd).mse = msei;
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
335
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
336 end
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
337
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
338 end
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
339 end
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
340
|
Daniele Nicolodi <nicolodi@science.unitn.it>
parents:
diff
changeset
|
341 % END %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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