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

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author Daniele Nicolodi <nicolodi@science.unitn.it>
date Wed, 23 Nov 2011 19:22:13 +0100
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1 % BODE makes a bode plot from the given inputs to outputs.
2 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 %
4 % DESCRIPTION: BODE makes a bode plot from the given inputs to outputs.
5 %
6 % CALL: mat_out = bode(sys, pl)
7 % mat_out = bode(sys, 'key1', 'option1')
8 %
9 % INPUTS:
10 % 'sys' - ssm object
11 % 'pl' - plist of options
12 %
13 % OUTPUTS:
14 %
15 % 'mat_out' - matrix of output AOs containing the requested responses.
16 %
17 % <a href="matlab:utils.helper.displayMethodInfo('ssm', 'bode')">Parameter Sets</a>
18 %
19 % VERSION: $Id: bode.m,v 1.40 2011/04/17 21:28:05 adrien Exp $
20 %
21 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
22
23 function varargout = bode(varargin)
24
25 % use the caller is method flag
26 callerIsMethod = utils.helper.callerIsMethod;
27
28 % Check if this is a call for parameters
29 if utils.helper.isinfocall(varargin{:})
30 varargout{1} = getInfo(varargin{3});
31 return
32 end
33
34 if callerIsMethod
35 % assume bode(sys,pl)
36 system = varargin{1};
37 pl = applyDefaults(getDefaultPlist(), varargin{2});
38 else
39 % starting initial checks
40
41 utils.helper.msg(utils.const.msg.PROC3, ['running ', mfilename]);
42
43 % Collect input variable names
44 in_names = cell(size(varargin));
45 for ii = 1:nargin,in_names{ii} = inputname(ii);end
46
47 % Collect all AOs and plists
48 [system, ssm_invars, rest] = utils.helper.collect_objects(varargin(:), 'ssm', in_names);
49 [pl, invars2, rest] = utils.helper.collect_objects(rest(:), 'plist');
50
51 % combine default plist
52 if ~isempty(rest)
53 pl = combine(pl, plist(rest{:}));
54 end
55 pl = combine(pl, getDefaultPlist());
56
57 % retrieving system's infos
58 if numel(system)~=1
59 error('we should have only one ssm and one plist object as an input')
60 end
61
62 inhist = system.hist;
63 if ~system.isStable
64 error('input ssm is not stable!')
65 end
66
67 end
68
69 if (system.isnumerical == 0)
70 warning(['The system ' system.name ' is symbolic. The system is made numeric for bode calculation.'])
71 sys = copy(system,1);
72 sys.keepParameters;
73 else
74 sys = system;
75 end
76
77 % Compute frequency vector
78 f = pl.find('f');
79 if isempty(f)
80 % finding "f2"
81 if isempty(pl.find('f2'))
82 if sys.timestep>0
83 f2 = 0.5/sys.timestep;
84 else
85 f2 = 1;
86 end
87 else
88 f2 = pl.find('f2');
89 end
90 % finding "f1"
91 if isempty(pl.find('f1'))
92 f1 = f2*1e-5;
93 else
94 f1 = pl.find('f1');
95 end
96 nf = pl.find('nf');
97 scale = pl.find('scale');
98 % building "f" vector
99 switch lower(scale)
100 case 'log'
101 f = logspace(log10(f1), log10(f2), nf);
102 case 'lin'
103 f = linspace(f1, f2, nf);
104 otherwise
105 error('### Unknown scale option');
106 end
107 end
108
109 % Is the f vector in an AO?
110 if isa(f, 'ao') && (isa(f.data, 'fsdata') || isa(f.data, 'xydata'))
111 f = f.x;
112 end
113
114 % Compute omega
115 w = 2*pi*f;
116
117 if find(pl, 'reorganize')
118 sys = reorganize(sys, pl, 'set', 'for bode', 'internal', 'internal');
119 end
120
121 % getting system's i/o sizes
122 timestep = sys.timestep;
123 fs = 1/timestep;
124
125 inputSizes = sys.inputsizes;
126 outputSizes = sys.outputsizes;
127
128 Nin = inputSizes(1);
129 NstatesOut = outputSizes(1);
130 NoutputsOut = outputSizes(2);
131
132 A = sys.amats{1,1};
133 Coutputs = sys.cmats{2,1};
134 Cstates = sys.cmats{1,1};
135 B = sys.bmats{1,1};
136 D = sys.dmats{2,1};
137 Dstates = zeros(size(Cstates,1), size(D,2));
138
139 % bode computation
140 resps = ssm.doBode(A, B, [Cstates; Coutputs], [Dstates; D], w, timestep);
141
142 numericOutput = pl.find('numeric output');
143
144 % build AO
145 if numericOutput
146 % just output pure numbers
147 count = 1;
148
149 for ii=1:Nin
150 for oo=1:NoutputsOut
151 y = squeeze(resps(NstatesOut+oo,ii,:));
152 varargout{count} = y;
153 count = count + 1;
154 end
155 end
156 return;
157 else
158 % First make outputs and set the data
159 ao_out = ao.initObjectWithSize(NstatesOut+NoutputsOut, Nin);
160 for ii=1:Nin
161 for oo=1:NstatesOut
162 ao_out(oo,ii).setData(fsdata(f, squeeze(resps(oo,ii,:)), fs));
163 end
164 for oo=1:NoutputsOut
165 y = squeeze(resps(NstatesOut+oo,ii,:));
166 fsd = fsdata(f, y, fs);
167 ao_out(NstatesOut+oo,ii).setData(fsd);
168 end
169 end
170
171 if ~callerIsMethod
172 % set names, units, description, and add history
173 isysStr = sys.name;
174
175 for ii=1:Nin
176 for oo=1:NstatesOut
177 ao_out(oo,ii).setName( [sys.inputs(1).ports(ii).name '-->' sys.outputs(1).ports(oo).name]);
178 ao_out(oo,ii).setXunits('Hz');
179 ao_out(oo,ii).setYunits( simplify(sys.outputs(1).ports(oo).units / sys.inputs(1).ports(ii).units));
180 ao_out(oo,ii).setDescription(...
181 ['Bode of ' isysStr, ' from ', sys.inputs(1).ports(ii).description,...
182 ' to ' sys.outputs(1).ports(oo).description]);
183 end
184 for oo=1:NoutputsOut
185 ao_out(NstatesOut+oo,ii).setName( [sys.inputs(1).ports(ii).name '-->' sys.outputs(2).ports(oo).name]);
186 ao_out(NstatesOut+oo,ii).setXunits('Hz');
187 ao_out(NstatesOut+oo,ii).setYunits( simplify(sys.outputs(2).ports(oo).units / sys.inputs(1).ports(ii).units));
188 ao_out(NstatesOut+oo,ii).setDescription(...
189 ['Bode of ' isysStr, ' from ', sys.inputs(1).ports(ii).description,...
190 ' to ' sys.outputs(2).ports(oo).description]);
191 end
192 end
193 end
194 end
195
196 %% construct output matrix object
197 out = matrix(ao_out);
198 if callerIsMethod
199 % do nothing
200 else
201 myinfo = getInfo('None');
202 out.addHistory(myinfo, pl , ssm_invars(1), inhist );
203 end
204
205 %% Set output depending on nargout
206 if nargout == 1;
207 varargout = {out};
208 elseif nargout == 0;
209 iplot(ao_out);
210 else
211 error('Wrong number of outputs')
212 end
213
214 end
215
216
217 %--------------------------------------------------------------------------
218 % Get Info Object
219 %--------------------------------------------------------------------------
220 function ii = getInfo(varargin)
221
222 if nargin == 1 && strcmpi(varargin{1}, 'None')
223 sets = {};
224 pl = [];
225 else
226 sets = {'Default'};
227 pl = getDefaultPlist;
228 end
229 % Build info object
230 ii = minfo(mfilename, 'ssm', 'ltpda', utils.const.categories.sigproc, '$Id: bode.m,v 1.40 2011/04/17 21:28:05 adrien Exp $', sets, pl);
231 end
232
233 %--------------------------------------------------------------------------
234 % Get Default Plist
235 %--------------------------------------------------------------------------
236 function pl = getDefaultPlist()
237 pl = ssm.getInfo('reorganize', 'for bode').plists;
238 pl.remove('set');
239
240 p = param({'f', 'A frequency vector (replaces f1, f2 and nf).'}, paramValue.EMPTY_DOUBLE) ;
241 pl.append(p);
242
243 p = param({'f2', 'The maximum frequency. Default is Nyquist or 1Hz.'}, paramValue.EMPTY_DOUBLE);
244 pl.append(p);
245
246 p = param({'f1', 'The minimum frequency. Default is f2*1e-5.'}, paramValue.EMPTY_DOUBLE);
247 pl.append(p);
248
249 p = param({'nf', 'The number of frequency bins.'}, paramValue.DOUBLE_VALUE(1000));
250 pl.append(p);
251
252 p = param({'scale', 'Distribute frequencies on a ''log'' or ''lin'' scale.'}, {1, {'log', 'lin'}, paramValue.SINGLE});
253 pl.append(p);
254
255 p = param({'reorganize', 'When set to 0, this means the ssm does not need be modified to match the requested i/o. Faster but dangerous!'}, paramValue.TRUE_FALSE);
256 pl.append(p);
257
258 p = param({'numeric output', 'When set to ture, the output of bode will be purely numeric - no analysis objects.'}, paramValue.FALSE_TRUE);
259 pl.append(p);
260
261 end
262
263
264