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comparison m-toolbox/classes/@ssm/bodecst.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 % BODECST makes a bodecst plot from the given inputs to outputs.
2 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 %
4 % DESCRIPTION: BODECST makes a bodecst plot from the given inputs to outputs.
5 %
6 % CALL: as = bodecst(sys, pl)
7 % as = bodecst(sys, 'key1', 'option1')
8 %
9 % INPUTS:
10 % 'sys' - ssm object
11 % 'pl' - plist of options
12 %
13 % OUTPUTS:
14 %
15 % 'as' - array of output AOs containing the requested responses.
16 %
17 % <a href="matlab:utils.helper.displayMethodInfo('ssm', 'bodecst')">Parameters Description</a>
18 %
19 % VERSION: $Id: bodecst.m,v 1.14 2011/04/08 08:56:23 hewitson Exp $
20 %
21 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
22
23 function varargout = bodecst(varargin)
24
25 %% starting initial checks
26 % Check if this is a call for parameters
27 if utils.helper.isinfocall(varargin{:})
28 varargout{1} = getInfo(varargin{3});
29 return
30 end
31
32 utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]);
33
34 % Collect input variable names
35 in_names = cell(size(varargin));
36 for ii = 1:nargin,in_names{ii} = inputname(ii);end
37
38 % Collect all AOs and plists
39 [system, ssm_invars, rest] = utils.helper.collect_objects(varargin(:), 'ssm', in_names);
40 [pl, invars2, rest] = utils.helper.collect_objects(rest(:), 'plist');
41 if ~isempty(rest)
42 pl = combine(pl, plist(rest{:}));
43 end
44 pl = combine(pl, getDefaultPlist());
45
46 %%% Internal call: Only one object + don't look for a plist
47 internal = strcmp(varargin{end}, 'internal');
48
49 %% retrieving system's infos
50 if numel(system)~=1
51 error('we should have only one ssm and one plist object as an input')
52 end
53 if ~internal
54 inhist = system.hist;
55 if ~system.isStable
56 error('input ssm is not stable!')
57 end
58 end
59 if (system.isnumerical == 0)
60 warning(['The system ' system.name ' is symbolic. The system is made numeric for bode calculation.'])
61 sys = copy(system,1);
62 sys.keepParameters;
63 else
64 sys = system;
65 end
66
67 %% Compute frequency vector
68 f = pl.find('f');
69 if isempty(f)
70 % finding "f2"
71 if isempty(pl.find('f2'))
72 if sys.timestep>0
73 f2 = 0.5/sys.timestep;
74 else
75 f2 = 1;
76 end
77 else
78 f2 = pl.find('f2');
79 end
80 % finding "f1"
81 if isempty(pl.find('f1'))
82 f1 = f2*1e-5;
83 else
84 f1 = pl.find('f1');
85 end
86 nf = pl.find('nf');
87 scale = pl.find('scale');
88 % building "f" vector
89 switch lower(scale)
90 case 'log'
91 f = logspace(log10(f1), log10(f2), nf);
92 case 'lin'
93 f = linspace(f1, f2, nf);
94 otherwise
95 error('### Unknown scale option');
96 end
97 end
98
99 % Is the f vector in an AO?
100 if isa(f, 'ao') && (isa(f.data, 'fsdata') || isa(f.data, 'xydata'))
101 f = f.x;
102 end
103
104 % Compute omega
105 w = 2*pi*f;
106
107 if find(pl, 'reorganize')
108 sys = reorganize(sys, pl, 'set', 'for bode', 'internal', 'internal');
109 end
110
111 %% getting system's i/o sizes
112 timestep = sys.timestep;
113 fs = 1/timestep;
114
115 inputSizes = sys.inputsizes;
116 outputSizes = sys.outputsizes;
117
118 Nin = inputSizes(1);
119 NstatesOut = outputSizes(1);
120 NoutputsOut = outputSizes(2);
121
122 A = sys.amats{1,1};
123 Coutputs = sys.cmats{2,1};
124 Cstates = sys.cmats{1,1};
125 B = sys.bmats{1,1};
126 D = sys.dmats{2,1};
127 Dstates = zeros(size(Cstates,1), size(D,2));
128
129 %% bode computation
130 sys_ss = ss(A, B, [Cstates; Coutputs], [Dstates; D], timestep);
131 [mag,phase] = bode(sys_ss, w);
132 resps = mag.*(cos(phase*pi/180) + 1i.*sin(phase*pi/180));
133 %% build AO
134
135 myinfo = getInfo('None');
136 isysStr = sys.name;
137 ao_out = ao.initObjectWithSize(NstatesOut+NoutputsOut, Nin);
138 myInfo = getInfo('None');
139
140 for ii=1:Nin
141 for oo=1:NstatesOut
142 ao_out(oo,ii).setData(fsdata(f, squeeze(resps(oo,ii,:)), fs));
143 if ~ internal
144 ao_out(oo,ii).setName( [sys.inputs(1).ports(ii).name '-->' sys.outputs(1).ports(oo).name]);
145 ao_out(oo,ii).setXunits('Hz');
146 ao_out(oo,ii).setYunits( simplify(sys.outputs(1).ports(oo).units / sys.inputs(1).ports(ii).units));
147 ao_out(oo,ii).setDescription(...
148 ['Bode of ' isysStr, ' from ', sys.inputs(1).ports(ii).description,...
149 ' to ' sys.outputs(1).ports(oo).description]);
150
151 ao_out(oo,ii).addHistory(myInfo, pl, ssm_invars, inhist );
152 end
153 end
154 for oo=1:NoutputsOut
155 ao_out(NstatesOut+oo,ii).setData(fsdata(f, squeeze(resps(NstatesOut+oo,ii,:)), fs));
156 if ~ internal
157 ao_out(NstatesOut+oo,ii).setName( [sys.inputs(1).ports(ii).name '-->' sys.outputs(2).ports(oo).name]);
158 ao_out(NstatesOut+oo,ii).setXunits('Hz');
159 ao_out(NstatesOut+oo,ii).setYunits( simplify(sys.outputs(2).ports(oo).units / sys.inputs(1).ports(ii).units));
160 ao_out(NstatesOut+oo,ii).setDescription(...
161 ['Bode of ' isysStr, ' from ', sys.inputs(1).ports(ii).description,...
162 ' to ' sys.outputs(2).ports(oo).description]);
163 ao_out(NstatesOut+oo,ii).addHistory(myinfo, pl, ssm_invars(1), inhist );
164 end
165 end
166 end
167
168 %% Set output depending on nargout
169 if nargout == numel(ao_out)
170 for jj=1:nargout
171 varargout{jj} = ao_out(jj);
172 end
173 elseif nargout == 1;
174 varargout{1} = ao_out;
175 elseif nargout == 0;
176 iplot(ao_out);
177 else
178 error('Wrong number of outputs')
179 end
180
181 end
182
183
184 %--------------------------------------------------------------------------
185 % Get Info Object
186 %--------------------------------------------------------------------------
187 function ii = getInfo(varargin)
188
189 if nargin == 1 && strcmpi(varargin{1}, 'None')
190 sets = {};
191 pl = [];
192 else
193 sets = {'Default'};
194 pl = getDefaultPlist;
195 end
196 % Build info object
197 ii = minfo(mfilename, 'ssm', 'ltpda', utils.const.categories.sigproc, '$Id: bodecst.m,v 1.14 2011/04/08 08:56:23 hewitson Exp $', sets, pl);
198 end
199
200 %--------------------------------------------------------------------------
201 % Get Default Plist
202 %--------------------------------------------------------------------------
203 function pl = getDefaultPlist()
204 pl = ssm.getInfo('reorganize', 'for bode').plists;
205 pl.remove('set');
206
207 p = param({'f', 'A frequency vector (replaces f1, f2 and nf).'}, paramValue.EMPTY_DOUBLE) ;
208 pl.append(p);
209
210 p = param({'f2', 'The maximum frequency. Default is Nyquist or 1Hz.'}, paramValue.EMPTY_DOUBLE);
211 pl.append(p);
212
213 p = param({'f1', 'The minimum frequency. Default is f2*1e-5.'}, paramValue.EMPTY_DOUBLE);
214 pl.append(p);
215
216 p = param({'nf', 'The number of frequency bins.'}, paramValue.DOUBLE_VALUE(1000));
217 pl.append(p);
218
219 p = param({'scale', 'Distribute frequencies on a ''log'' or ''lin'' scale.'}, {1, {'log', 'lin'}, paramValue.SINGLE});
220 pl.append(p);
221
222 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);
223 pl.append(p);
224
225 end
226
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