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annotate m-toolbox/m/built_in_models/ssm/ssm_model_SMD.m @ 52:daf4eab1a51e database-connection-manager tip

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Fix. Default password should be [] not an empty string
author Daniele Nicolodi <nicolodi@science.unitn.it>
date Wed, 07 Dec 2011 17:29:47 +0100
parents f0afece42f48
children
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Daniele Nicolodi <nicolodi@science.unitn.it>
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1 % SMD A statespace model of the Spring-Mass-Damper system
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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: A statespace model of the Spring-Mass-Damper
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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 % CALL:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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7 % HARMONIC_OSC_1D = ssm(plist('built-in','SMD'))
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Daniele Nicolodi <nicolodi@science.unitn.it>
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8 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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9 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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10 % OUTPUTS:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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11 % - SMD is an SSM object
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Daniele Nicolodi <nicolodi@science.unitn.it>
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12 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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13 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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14 % REFERENCES:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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15 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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16 %
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17 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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18 % INFO:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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19 % <a href="matlab:utils.models.displayModelOverview('ssm_model_SMD')">Model Information</a>
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Daniele Nicolodi <nicolodi@science.unitn.it>
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20 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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21 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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22 % REFERENCES:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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23 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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24 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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25 % VERSION: $Id: ssm_model_SMD.m,v 1.2 2011/04/29 09:48:34 marc1 Exp $
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Daniele Nicolodi <nicolodi@science.unitn.it>
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26 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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27 % HISTORY:
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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 %
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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
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32
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Daniele Nicolodi <nicolodi@science.unitn.it>
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33 function varargout = ssm_model_SMD(varargin)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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34
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Daniele Nicolodi <nicolodi@science.unitn.it>
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35 % Process inputs
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Daniele Nicolodi <nicolodi@science.unitn.it>
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36 [info, pl, constructorInfo, fcn] = utils.models.processModelInputs(varargin(:), mfilename, @getModelDescription, @getModelDocumentation, @getVersion, @versionTable);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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37 if ~isempty(info)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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38 varargout{1} = info;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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39 return;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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40 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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41
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Daniele Nicolodi <nicolodi@science.unitn.it>
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42 % Build the object
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Daniele Nicolodi <nicolodi@science.unitn.it>
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43 out = fcn(pl);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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44
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Daniele Nicolodi <nicolodi@science.unitn.it>
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45 % Set the method version string in the minfo object
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Daniele Nicolodi <nicolodi@science.unitn.it>
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46 if ~isempty(constructorInfo)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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47 % If this is a user-call via a constructor, then we add history
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Daniele Nicolodi <nicolodi@science.unitn.it>
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48 out = addHistoryStep(out, constructorInfo, pl);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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49 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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50
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Daniele Nicolodi <nicolodi@science.unitn.it>
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51 if nargout > 0
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Daniele Nicolodi <nicolodi@science.unitn.it>
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52 varargout{1} = out;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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53 varargout{2} = pl;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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54 else
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Daniele Nicolodi <nicolodi@science.unitn.it>
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55 error('!!! Invalid number of output')
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Daniele Nicolodi <nicolodi@science.unitn.it>
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56 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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57 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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58
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59
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Daniele Nicolodi <nicolodi@science.unitn.it>
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60 %--------------------------------------------------------------------------
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Daniele Nicolodi <nicolodi@science.unitn.it>
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61 % AUTHORS EDIT THIS PART
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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
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Daniele Nicolodi <nicolodi@science.unitn.it>
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64 function desc = getModelDescription
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Daniele Nicolodi <nicolodi@science.unitn.it>
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65 desc = 'A built-in model that constructs a statespace model for the SMD.';
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Daniele Nicolodi <nicolodi@science.unitn.it>
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66 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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67
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Daniele Nicolodi <nicolodi@science.unitn.it>
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68 function doc = getModelDocumentation
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Daniele Nicolodi <nicolodi@science.unitn.it>
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69 doc = sprintf([...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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70 '<br>It constructs a simple spring mass damper test system.<br>\n'...
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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 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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73
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Daniele Nicolodi <nicolodi@science.unitn.it>
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74 % default version is always the first one
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Daniele Nicolodi <nicolodi@science.unitn.it>
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75 function vt = versionTable()
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Daniele Nicolodi <nicolodi@science.unitn.it>
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76
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Daniele Nicolodi <nicolodi@science.unitn.it>
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77 vt = {...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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78 'Standard', @versionStandard, ...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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79 };
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Daniele Nicolodi <nicolodi@science.unitn.it>
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80
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Daniele Nicolodi <nicolodi@science.unitn.it>
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81 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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82
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Daniele Nicolodi <nicolodi@science.unitn.it>
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83 % This is the standard SMD model
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Daniele Nicolodi <nicolodi@science.unitn.it>
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84 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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85 function varargout = versionStandard(varargin)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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86
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Daniele Nicolodi <nicolodi@science.unitn.it>
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87 if nargin == 1 && ischar(varargin{1})
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Daniele Nicolodi <nicolodi@science.unitn.it>
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88 switch varargin{1}
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Daniele Nicolodi <nicolodi@science.unitn.it>
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89 case 'plist'
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Daniele Nicolodi <nicolodi@science.unitn.it>
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90
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Daniele Nicolodi <nicolodi@science.unitn.it>
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91 % The plist for this version of this model
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Daniele Nicolodi <nicolodi@science.unitn.it>
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92 pl = plist();
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Daniele Nicolodi <nicolodi@science.unitn.it>
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93
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Daniele Nicolodi <nicolodi@science.unitn.it>
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94 pl = combine(pl, ssm.getDefaultPlist('from built-in model'));
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Daniele Nicolodi <nicolodi@science.unitn.it>
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95
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Daniele Nicolodi <nicolodi@science.unitn.it>
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96 % set output
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Daniele Nicolodi <nicolodi@science.unitn.it>
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97 varargout{1} = pl;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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98
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Daniele Nicolodi <nicolodi@science.unitn.it>
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99 case 'description'
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Daniele Nicolodi <nicolodi@science.unitn.it>
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100 varargout{1} = sprintf([...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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101 'This is the standard model for the SMD.'
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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 case 'info'
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Daniele Nicolodi <nicolodi@science.unitn.it>
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104 varargout{1} = [];
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Daniele Nicolodi <nicolodi@science.unitn.it>
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105 otherwise
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Daniele Nicolodi <nicolodi@science.unitn.it>
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106 error('unknown inputs');
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Daniele Nicolodi <nicolodi@science.unitn.it>
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107 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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108 return;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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109 end
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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 % build model
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Daniele Nicolodi <nicolodi@science.unitn.it>
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112 pl = varargin{1};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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113 %% parameters array
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Daniele Nicolodi <nicolodi@science.unitn.it>
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114 paramNames = {'SMD_W' 'SMD_C' 'SMD_S1' 'SMD_S2' 'SMD_B' 'SMD_D1'};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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115 paramValues = [0.2 0.5 0 0 1 0];
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Daniele Nicolodi <nicolodi@science.unitn.it>
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116 paramUnits = unit('s^-1', 's^-1', '', 's', '', 's^2');
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Daniele Nicolodi <nicolodi@science.unitn.it>
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117 paramDescriptions = {'Oscilator eigen-frequency' 'Oscilator damping factor'...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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118 'Gain sensing coefficient' 'Gain differential sensing coefficient' ...
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Daniele Nicolodi <nicolodi@science.unitn.it>
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119 'Actuator gain' 'Actuation cross sensing coefficient'};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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120
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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 % If the user didn't give a 'param names' key to set parameter values,
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Daniele Nicolodi <nicolodi@science.unitn.it>
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124 % perhaps they gave individual parameter names
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Daniele Nicolodi <nicolodi@science.unitn.it>
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125 pl = ssm.modelHelper_processInputPlist(pl, ssm_model_SMD('plist','Standard'));
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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 % processing parameters and declaring variables depending on user needs
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Daniele Nicolodi <nicolodi@science.unitn.it>
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128 [sys.params, sys.numparams] = ssm.modelHelper_declareParameters(pl, paramNames, paramValues, paramDescriptions, paramUnits);
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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 % here computation of the system's matrices
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Daniele Nicolodi <nicolodi@science.unitn.it>
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131 sys.amats = {[0 1 ; -SMD_W*SMD_W -2*SMD_C*SMD_W]};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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132 sys.cmats = {[1+SMD_S1 SMD_S2]};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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133 sys.bmats = {[0;SMD_B] [0 0; 1 0]};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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134 sys.dmats = {SMD_D1 [0 1]};
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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 sys.timestep = 0;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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137
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Daniele Nicolodi <nicolodi@science.unitn.it>
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138 sys.name = 'SRPINGMASSDAMPER';
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Daniele Nicolodi <nicolodi@science.unitn.it>
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139 sys.description = 'standard spring-mass-damper test system';
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Daniele Nicolodi <nicolodi@science.unitn.it>
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140
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Daniele Nicolodi <nicolodi@science.unitn.it>
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141 inputnames = {'CMD' 'DIST_SMD'};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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142 inputdescription = {'force noise' 'observation noise'};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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143 inputvarnames = {{'F'} {'F' 'S'}};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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144 inputvarunits = {unit('kg m s^-2') [unit('kg m s^-2') unit('m')]};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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145 inputvardescription = [];
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Daniele Nicolodi <nicolodi@science.unitn.it>
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146
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Daniele Nicolodi <nicolodi@science.unitn.it>
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147 ssnames = {'SMD'};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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148 ssdescription = {'TM position and speed'};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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149 ssvarnames = {{'x' 'xdot'}};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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150 ssvarunits={[unit('m') unit('m s^-1')]};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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151 ssvardescription = [];
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Daniele Nicolodi <nicolodi@science.unitn.it>
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152
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Daniele Nicolodi <nicolodi@science.unitn.it>
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153 outputnames = {'SMD'};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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154 outputdescription = {'observed position'};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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155 outputvarnames ={{'OBS'}};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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156 outputvarunits={unit('m')};
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Daniele Nicolodi <nicolodi@science.unitn.it>
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157 outputvardescription = [];
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Daniele Nicolodi <nicolodi@science.unitn.it>
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158
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Daniele Nicolodi <nicolodi@science.unitn.it>
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159 %% Build input plist
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Daniele Nicolodi <nicolodi@science.unitn.it>
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160 sys.inputs = ssmblock.makeBlocksWithData(inputnames, inputdescription, inputvarnames, inputvarunits, inputvardescription);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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161 sys.outputs = ssmblock.makeBlocksWithData(outputnames, outputdescription, outputvarnames, outputvarunits, outputvardescription);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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162 sys.states = ssmblock.makeBlocksWithData(ssnames, ssdescription, ssvarnames, ssvarunits, ssvardescription);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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163
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Daniele Nicolodi <nicolodi@science.unitn.it>
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164 sys = ssm(sys);
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165
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166 varargout{1} = sys;
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167
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168 end
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169
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170
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171 %--------------------------------------------------------------------------
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172 % AUTHORS SHOULD NOT NEED TO EDIT BELOW HERE
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173 %--------------------------------------------------------------------------
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174
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175
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176 %--------------------------------------------------------------------------
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177 % Get Version
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178 %--------------------------------------------------------------------------
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179 function v = getVersion
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180
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181 v = '$Id: ssm_model_SMD.m,v 1.2 2011/04/29 09:48:34 marc1 Exp $';
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182
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183 end