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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 % DOBODE makes a bode computation from the given inputs to outputs.
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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: makes a bode computation from all the inputs to all outputs.
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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: varargout = doBode(a, b, c, d, w, Ts)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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7 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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8 % INPUTS:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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9 % 'sys' - ssm object
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Daniele Nicolodi <nicolodi@science.unitn.it>
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10 % 'inputnames, statenames, outputnames' - 3 cellstr
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Daniele Nicolodi <nicolodi@science.unitn.it>
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11 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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12 % OUTPUTS:
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13 %
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Daniele Nicolodi <nicolodi@science.unitn.it>
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14 % 'as' - array of output TFs containing the requested responses.
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Daniele Nicolodi <nicolodi@science.unitn.it>
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15 %
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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 function varargout = doBode(a, b, c, d, w, Ts)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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19
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Daniele Nicolodi <nicolodi@science.unitn.it>
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20 f = w/(2*pi);
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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 %% dealing with timestep
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Daniele Nicolodi <nicolodi@science.unitn.it>
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23 if(Ts ~= 0)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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24 % Compute discrete freq:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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25 f_disc = f*Ts;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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26 % Compute z = e^jw (with w discrete)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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27 z = exp(1i*2*pi*f_disc);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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28 end
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29
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Daniele Nicolodi <nicolodi@science.unitn.it>
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30 %% getting matrices properly ordered
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Daniele Nicolodi <nicolodi@science.unitn.it>
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31
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Daniele Nicolodi <nicolodi@science.unitn.it>
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32 %% stop warnings
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33 s = warning;
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34 warning('off','MATLAB:nearlySingularMatrix'); % turn all warnings off
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35
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Daniele Nicolodi <nicolodi@science.unitn.it>
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36 %% looping over SISO systems
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Daniele Nicolodi <nicolodi@science.unitn.it>
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37 Ni = size(b,2);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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38 No = size(c,1);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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39 G = zeros(No,Ni,length(f));
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Daniele Nicolodi <nicolodi@science.unitn.it>
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40 G2 = zeros(No,Ni,length(f));
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Daniele Nicolodi <nicolodi@science.unitn.it>
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41 %% compute responses
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Daniele Nicolodi <nicolodi@science.unitn.it>
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42 % To conserve accuracy, the system is transformed to Hessenberg form [1]
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Daniele Nicolodi <nicolodi@science.unitn.it>
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43 % Laub, A.J., "Efficient Multivariable Frequency Response Computations",
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Daniele Nicolodi <nicolodi@science.unitn.it>
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44 % IEEE Transactions on Automatic Control, AC-26 (1981), pp. 407-408
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45
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Daniele Nicolodi <nicolodi@science.unitn.it>
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46 % This transformation leads to a faster resolution and at the
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Daniele Nicolodi <nicolodi@science.unitn.it>
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47 % same time to a more accurate and precise answer of C*(jw - A)^-1 *B + D
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Daniele Nicolodi <nicolodi@science.unitn.it>
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48
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Daniele Nicolodi <nicolodi@science.unitn.it>
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49 reduce_a = a;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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50 reduce_c = c;
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51
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Daniele Nicolodi <nicolodi@science.unitn.it>
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52 %% loop on inputs
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Daniele Nicolodi <nicolodi@science.unitn.it>
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53 if (Ts == 0)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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54 for ii=1:Ni
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Daniele Nicolodi <nicolodi@science.unitn.it>
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55 reduce_b = b(:,ii);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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56 reduce_d = d(:,ii);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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57 [num,den] = ss2tf(reduce_a,reduce_b,reduce_c,reduce_d);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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58 denr = polyval(den, 2*pi*1i*f);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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59 for jj = 1:No
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Daniele Nicolodi <nicolodi@science.unitn.it>
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60 numr = polyval(num(jj,:), 2*pi*1i*f);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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61 G(jj,ii,:) = numr./denr;
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62 end
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63 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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64 else
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Daniele Nicolodi <nicolodi@science.unitn.it>
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65 [T,H]=hess(reduce_a);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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66 % Step 1:
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Daniele Nicolodi <nicolodi@science.unitn.it>
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67 P = reduce_c*T;
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68 reduce_b = b(:,1:Ni);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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69 reduce_d = d(1:No,1:Ni);
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Daniele Nicolodi <nicolodi@science.unitn.it>
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70 Q = T'*reduce_b;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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71 I = eye(size(reduce_a));
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72
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73 %% time discrete
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Daniele Nicolodi <nicolodi@science.unitn.it>
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74 for ff = 1:length(f)
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Daniele Nicolodi <nicolodi@science.unitn.it>
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75 G(1:No,1:Ni,ff) = (P/(z(ff)*I - H))*(Q) + reduce_d;
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76 end
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77 end
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78
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79 %% execute warnings
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Daniele Nicolodi <nicolodi@science.unitn.it>
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80 [msg, msgid] = lastwarn;
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Daniele Nicolodi <nicolodi@science.unitn.it>
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81 if(strcmp(msgid,'MATLAB:nearlySingularMatrix') == 1)
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82 %warning('This frequency response may be unaccurate because the system matrix is close to singular or badly scaled.') %#ok<WNTAG>
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83 end
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Daniele Nicolodi <nicolodi@science.unitn.it>
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84 warning(s) % restore the warning state
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85
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Daniele Nicolodi <nicolodi@science.unitn.it>
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86 %% output
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Daniele Nicolodi <nicolodi@science.unitn.it>
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87 varargout = {G};
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88 end
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89
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90