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comparison m-toolbox/classes/@ssm/assemble.m @ 0:f0afece42f48

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Import.
author Daniele Nicolodi <nicolodi@science.unitn.it>
date Wed, 23 Nov 2011 19:22:13 +0100
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1 % assembles embedded subsytems, with exogenous inputs
2 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 %
4 % DESCRIPTION: assemble assembles embedded subsytems, closes loop
5 % (endogenous inputs disappear) leaving outputs and exogenous
6 % inputs. SSM content is copied.
7 %
8 % CALL: sys = ltpda_ss_assemble(sys_array)
9 %
10 % INPUTS: sys_array - array or list of systems to assemble
11 %
12 % OUTPUTS: sys - assembled system
13 %
14 % <a href="matlab:utils.helper.displayMethodInfo('ssm', 'assemble')">Parameters Description</a>
15 %
16 % VERSION: $Id: assemble.m,v 1.60 2011/04/08 08:56:22 hewitson Exp $
17 %
18 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
19
20 function varargout = assemble( varargin )
21
22 %% Check if this is a call for parameters
23 if utils.helper.isinfocall(varargin{:})
24 varargout{1} = getInfo(varargin{3});
25 return
26 end
27
28 %%% Internal call: Only one object + don't look for a plist
29 internal = strcmp(varargin{end}, 'internal');
30
31 %% send starting message
32 import utils.const.*
33 utils.helper.msg(msg.PROC3, 'running %s/%s', mfilename('class'), mfilename);
34
35 %% collecting input
36 in_names = cell(size(varargin));
37 for ii = 1:nargin,in_names{ii} = inputname(ii);end
38
39 % Collect all SSMs and plists
40 [sys, ssm_invars] = utils.helper.collect_objects(varargin(:), 'ssm', in_names);
41
42 Nsys = numel(sys);
43
44 % We want to force a copy - this is not a modify method
45 if nargout ~= 1
46 error('### assemble cannot be used as a modifier. Please give exactly one output variable.');
47 end
48
49 %% Decide on a deep copy or a modify, depending on the output
50 sys_array = copy(sys, true);
51
52 %% begin function body
53 sys_out = ssm;
54
55 %% checking there is not problem with the timesteps
56
57 for i=2:Nsys
58 if ~(sys_array(i-1).timestep == sys_array(i).timestep)
59 error(['At least two ssm have incompatible timestep fields : ' ...
60 num2str(sys_array(i-1).timestep) ' for ''' sys_array(i-1).name ''' and '...
61 num2str(sys_array(i).timestep) ' for ''' sys_array(i).name '''' ]);
62 end
63 end
64
65 %% merging ss data : ss* output* *input
66 names = cell(1,0);
67 inputs = ssmblock.initObjectWithSize(1,0);
68 outputs = ssmblock.initObjectWithSize(1,0);
69 states = ssmblock.initObjectWithSize(1,0);
70 params = plist;
71 numparams = plist;
72
73 sssizes = zeros(1,0);
74 ssposition = zeros(1,0);
75 outputsizes = zeros(1,0);
76 outputposition = zeros(1,0);
77 inputsizes = zeros(1,0);
78 inputposition = zeros(1,0);
79
80 for i=1:Nsys
81 params.combine(sys_array(i).params);
82 numparams.combine(sys_array(i).numparams);
83 inputs = inputs.combine(sys_array(i).inputs, false) ;
84 outputs = [outputs, sys_array(i).outputs] ;
85 states = [states, sys_array(i).states] ;
86
87 names = [names sys_array(i).name ]; %#ok<*AGROW>
88 sssizes = [sssizes sys_array(i).sssizes ];
89 ssposition = [ssposition i*ones(1,sys_array(i).Nss) ];
90 outputsizes = [outputsizes sys_array(i).outputsizes ];
91 outputposition = [outputposition i*ones(1,sys_array(i).Noutputs) ];
92 inputsizes = [inputsizes sys_array(i).inputsizes ];
93 inputposition = [inputposition i*ones(1,sys_array(i).Ninputs) ];
94 end
95
96 %% data already good to store
97 sys_out.params = params;
98 sys_out.numparams = numparams;
99 sys_out.outputs = outputs;
100 sys_out.states = states;
101
102 %% non redundancy checks : not necessary anymore on the I/O fields
103 % to be added on subfields ??
104
105 %% building A, and C matrices
106 amats = {};
107 cmats = {};
108 for i=1:Nsys
109 Namats = size(amats,2);
110 amats = ...
111 [amats cell(Namats, sys_array(i).Nss) ; ...
112 cell(sys_array(i).Nss, Namats) sys_array(i).amats ] ;
113 cmats = ...
114 [cmats cell(size(cmats,1), sys_array(i).Nss) ; ...
115 cell(sys_array(i).Noutputs, size(cmats,2)) sys_array(i).cmats ] ;
116 end
117
118 %% construction of B_xx and D_xx matrices
119 inputs_ext = ssmblock.initObjectWithSize(1,0);
120
121 B_in = cell( numel(sssizes), numel(outputsizes) );
122 D_in = cell( numel(outputsizes), numel(outputsizes) );
123 B_ext = cell( numel(sssizes), 0 );
124 D_ext = cell( numel(outputsizes), 0 );
125 inputsizes = [];
126 Ninputs = 0;
127 for i_sys=1:Nsys
128 for i_input = 1:numel(sys(i_sys).inputs)
129 % current input of a subsystem
130 input_name = sys_array(i_sys).inputs(i_input).name;
131 % does the input match a local output ?
132 [pos_output, sum_output] = findBlockWithNames(outputs, input_name, false);
133 % check it is not already in the external input list
134 [pos_input, sum_input] = findBlockWithNames(inputs_ext, input_name, false);
135
136 if sum_output>0
137 %% if it is an internal input
138 % put at the correct place in the B_in and D_in matrices
139 B_in(ssposition==i_sys, pos_output) = sys_array(i_sys).bmats(:,i_input);
140 D_in(outputposition==i_sys, pos_output) = sys_array(i_sys).dmats(:,i_input);
141 % checking sizes match
142 for i_out = pos_output
143 Nin = sys_array(i_sys).inputs(i_input).Nports;
144 if ~( Nin == outputs(i_out).Nports)
145 error(['I/O sizes not matching between input "' sys_array(i_sys).inputs(i_input).name , ...
146 '" of system "' sys_array(i_sys).name ' of size ' num2str(Nin) ...
147 '" and the output of size ' num2str(outputs(i_out).Nports) ...
148 ' of the system "' sys_array(outputposition(pos_output)).name '"'] )
149 end
150 end
151 else
152 %% if it is external
153 % if it is not there, add to the input plist
154 if sum_input == 0
155 % extend the size of the input fields
156 inputs_ext = [inputs_ext sys_array(i_sys).inputs(i_input)];
157 inputsizes = [inputsizes sys_array(i_sys).inputsizes(i_input)];
158 B_ext = [B_ext cell(size(B_ext,1),1)];
159 D_ext = [D_ext cell(size(D_ext,1),1)];
160 Ninputs = Ninputs +1;
161
162 pos_input = numel(inputs_ext);
163 end
164 % put at the correct place in the B_ext and D_ext matrices
165 B_ext(ssposition==i_sys, pos_input) = sys_array(i_sys).bmats(:,i_input);
166 D_ext(outputposition==i_sys, pos_input) = sys_array(i_sys).dmats(:,i_input);
167 end
168 end
169 end
170 sys_out.inputs = inputs_ext;
171
172 B_ext = ssm.blockMatFillDiag(B_ext, sssizes, inputsizes);
173 D_ext = ssm.blockMatFillDiag(D_ext, outputsizes, inputsizes);
174 B_in = ssm.blockMatFillDiag(B_in, sssizes, outputsizes);
175 D_in = ssm.blockMatFillDiag(D_in, outputsizes, outputsizes);
176 cmats = ssm.blockMatFillDiag(cmats, outputsizes, sssizes);
177 %% flattening and getting constant feedthrough
178 D_in_f = ssm.blockMatFusion(D_in, outputsizes,outputsizes);
179 G = (eye(size(D_in_f)) - D_in_f);
180 if isnumeric(G)
181 id_D_inv = inv(G);
182 else
183 id_D_inv = evalin(symengine, ['inverse(' char(G) ')']);
184 end
185 id_D_inv = ssm.blockMatRecut(id_D_inv, outputsizes, outputsizes);
186
187 sys_out.amats = ssm.blockMatAdd(amats, ssm.blockMatMult(B_in, ssm.blockMatMult(id_D_inv, cmats, outputsizes, sssizes) , sssizes , sssizes ));
188 sys_out.bmats = ssm.blockMatAdd(B_ext, ssm.blockMatMult(B_in, ssm.blockMatMult(id_D_inv, D_ext, outputsizes, inputsizes) , sssizes , inputsizes ));
189 sys_out.cmats = ssm.blockMatMult(id_D_inv, cmats, outputsizes , sssizes );
190 sys_out.dmats = ssm.blockMatMult(id_D_inv, D_ext, outputsizes , inputsizes );
191
192 %% building new name and strings
193 name = 'assemble( ';
194 for i = 1:Nsys
195 if i==1
196 name = [name, sys_array(i).name ]; %#ok<AGROW>
197 elseif i<=Nsys
198 name = [name,' + ', sys_array(i).name]; %#ok<AGROW>
199 end
200 end
201 name = [name ' )'];
202 sys_out.name = name;
203
204 %% getting timestep and checking consitency
205 for i=1:Nsys
206 if i == 1
207 sys_out.timestep = sys_array(i).timestep;
208 elseif ~ sys_out.timestep == sys_array(i).timestep
209 error(['error because systems 1 and ',num2str(i),...
210 ' named ',sys_array(i).name,' and ',sys_array(i).name,...
211 ' have different timesteps :',...
212 num2str(sys_array(i).timestep),' and ',num2str(sys_array(i).timestep) ]);
213 end
214 end
215
216 %% setting history and validating
217 if ~internal
218 sys_out.addHistory(ssm.getInfo(mfilename), plist , ssm_invars(:), [sys_array(:).hist] );
219 validate(sys_out);
220 end
221
222 %% parsing output
223 varargout = {sys_out};
224 end
225
226
227
228
229
230 %--------------------------------------------------------------------------
231 % Get Info Object
232 %--------------------------------------------------------------------------
233 function ii = getInfo(varargin)
234
235 if nargin == 1 && strcmpi(varargin{1}, 'None')
236 sets = {};
237 pl = [];
238 else
239 sets = {'Default'};
240 pl = getDefaultPlist;
241 end
242 % Build info object
243 ii = minfo(mfilename, 'ssm', 'ltpda', utils.const.categories.op, '$Id: assemble.m,v 1.60 2011/04/08 08:56:22 hewitson Exp $', sets, pl);
244 ii.setModifier(false);
245 ii.setArgsmin(2);
246 end
247
248 %--------------------------------------------------------------------------
249 % Get Default Plist
250 %--------------------------------------------------------------------------
251 function pl = getDefaultPlist()
252 pl = plist();
253 end
254