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comparison m-toolbox/classes/@ssm/simulate.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 % SIMULATE simulates a discrete ssm with given inputs
2 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 %
4 % DESCRIPTION: SIMULATE simulates a discrete ssm with given inputs.
5 %
6 % CALL: [mat_out pl_out] = simulate(sys, pl)
7 %
8 % INPUTS:
9 % - sys, (array of) ssm object
10 %
11 % OUTPUTS:
12 % _ mat_out contains specified returned aos
13 % _ pl_out contains 'lastX', the last state position
14 %
15 % <a href="matlab:utils.helper.displayMethodInfo('ssm', 'simulate')">Parameters Description</a>
16 %
17 % VERSION: $Id: simulate.m,v 1.104 2011/07/11 10:44:38 adrien Exp $
18 %
19 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
20
21 % TO DO: options to be defined (NL case)
22 % allow use of other LTPDA functions to generate white noise
23
24
25 function varargout = simulate(varargin)
26
27 %% starting initial checks
28
29 % use the caller is method flag
30 callerIsMethod = utils.helper.callerIsMethod;
31
32 % Check if this is a call for parameters
33 if utils.helper.isinfocall(varargin{:})
34 varargout{1} = getInfo(varargin{3});
35 return
36 end
37
38 utils.helper.msg(utils.const.msg.PROC3, ['running ', mfilename]);
39
40 % Collect input variable names
41 in_names = cell(size(varargin));
42 for ii = 1:nargin,in_names{ii} = inputname(ii);end
43
44 % Collect all SSMs and plists
45 [sys, ssm_invars, rest] = utils.helper.collect_objects(varargin(:), 'ssm', in_names);
46 [pl, invars2, rest] = utils.helper.collect_objects(rest(:), 'plist');
47 if ~isempty(rest)
48 pl = combine(pl, plist(rest{:}));
49 end
50 pl = combine(pl, getDefaultPlist());
51
52
53 %% begin function body
54
55 tini = pl.find('t0');
56 if isempty(tini)
57 tini = pl.find('tini'); % check for the old name
58 if isempty(tini)
59 tini = time;
60 else
61 warning('The use of the parameter ''tini'' is deprecated and will be removed in future releases. Use ''t0'' instead');
62 end
63 end
64 if isa(tini,'double')
65 tini = time(tini);
66 end
67
68
69 %% retrieve system infos
70 if numel(sys)~=1
71 error('simulate needs exactly one ssm as an input')
72 end
73 if ~sys.isnumerical
74 error(['error because system ',sys.name,' is not numerical']);
75 end
76 timestep = sys.timestep;
77 if timestep==0
78 error('timestep should not be 0 in simulate!!')
79 end
80
81 if callerIsMethod
82 % we don't need the history of the input
83 else
84 inhist = sys.hist;
85 end
86
87 if pl.isparam('noise variable names')
88 error('The noise option used must be split between "covariance" and "cpsd". "noise variable names" does not exist anymore!')
89 end
90
91 %% display time ?
92 displayTime = find(pl, 'displayTime');
93
94 %% initial state
95 ssini = find(pl,'ssini');
96 if isempty(ssini)
97 initialize = find(pl, 'initialize');
98 if initialize
99 ssini = sys.steadyState(pl);
100 ssini = find(ssini, 'state');
101 else
102 ssini = cell(sys.Nss,1);
103 for i=1:sys.Nss
104 ssini{i} = zeros(sys.sssizes(i),1);
105 end
106 end
107 end
108 ssSizesIni = sys.statesizes;
109 SSini = double(ssm.blockMatFusion(ssini,ssSizesIni,1));
110
111 %% collecting simulation i/o data
112
113 % values
114 aos_in = find(pl, 'aos');
115 constants_in = find(pl, 'constants');
116 cov_in = find(pl, 'covariance');
117 cpsd_in = find(pl, 'CPSD');
118 noise_in = blkdiag(cov_in, cpsd_in/(timestep*2));
119 [U1,S1,V1] = svd(noise_in.'); %#ok<NASGU>
120 if (sum(S1<0)>0)
121 error('Covariance matrix is not positive definite')
122 end
123 noise_mat = U1*sqrt(S1);
124
125 %% modifying system's ordering
126 if find(pl, 'reorganize')
127 sys = reorganize(sys, pl, 'set', 'for simulate', 'internal', 'internal');
128 end
129
130 %% getting system's i/o sizes
131 inputSizes = sys.inputsizes;
132 outputSizes = sys.outputsizes;
133
134 Naos_in = inputSizes(1);
135 Nnoise = inputSizes(2);
136 Nconstants = inputSizes(3);
137 NstatesOut = outputSizes(1);
138 NoutputsOut = outputSizes(2);
139
140 if numel(aos_in)~=Naos_in
141 error(['There are ' num2str(numel(aos_in)) ' input aos and ' num2str(Naos_in) ' corresponding inputs indexed.' ])
142 elseif numel(diag(noise_in))~=Nnoise
143 error(['There are ' num2str(numel(diag(noise_in))) ' input noise variances and ' num2str(Nnoise) ' corresponding inputs indexed.' ])
144 elseif numel(constants_in)~=Nconstants
145 error(['There are ' num2str(numel(constants_in)) ' input constants and ' num2str(Nconstants) ' corresponding inputs indexed.' ])
146 end
147
148 A = sys.amats{1,1};
149 Coutputs = sys.cmats{2,1};
150 Cstates = sys.cmats{1,1};
151 Baos = sys.bmats{1,1};
152 Daos = sys.dmats{2,1};
153 Bnoise = sys.bmats{1,2} * noise_mat;
154 Dnoise = sys.dmats{2,2} * noise_mat;
155 Bcst = sys.bmats{1,3} * reshape(constants_in, Nconstants, 1);
156 Dcst = sys.dmats{2,3} * reshape(constants_in, Nconstants, 1);
157
158 %% getting correct number of samples
159 Nsamples = find(pl, 'Nsamples');
160 f0 = 1/timestep;
161 for i=1:Naos_in
162 Nsamples = min(Nsamples,length(aos_in(i).y));
163 try
164 if ~(f0==aos_in(i).fs)
165 str = ['WARNING : ssm frequency is ',num2str(f0),...
166 ' but sampling frequency of ao named ',...
167 aos_in(i).name, ' is ', num2str(aos_in(i).fs) ];
168 utils.helper.msg(utils.const.msg.MNAME, str);
169 end
170 end
171 % maybe tdata should be retrieved and verified to be equal, rather than this.
172 end
173 if Nsamples == inf % case there is no input!
174 error('warning : no input option ''Nsamples'' providing simulation duration is available!!')
175 Nsamples = 0;
176 end
177
178 %% termination condition
179 if strcmp(find(pl, 'termincond'),'');
180 doTerminate = false;
181 terminationCond = '';
182 else
183 doTerminate = true;
184 terminationCond = find(pl, 'termincond');
185 end
186
187 %% ao vector
188 aos_vect = zeros(Naos_in, Nsamples);
189 for j = 1:Naos_in
190 aos_vect(j,:) = aos_in(j).y(1:Nsamples).';
191 end
192
193 %% simulation loop
194 [x, y, lastX] = ssm.doSimulate(...
195 SSini, Nsamples, ...
196 A, Baos, Coutputs, Cstates, Daos, Bnoise, Dnoise, Bcst, Dcst,...
197 aos_vect, doTerminate, terminationCond, displayTime, timestep, pl.find('force complete'));
198
199 %% saving in aos
200 fs = 1/timestep;
201 isysStr = sys.name;
202
203 ao_out = ao.initObjectWithSize(1,NstatesOut+NoutputsOut);
204 for i=1:NstatesOut
205 ao_out(i).setData(tsdata( x(i,:), fs ));
206 ao_out(i).setName(sys.outputs(1).ports(i).name);
207 ao_out(i).setXunits('s');
208 ao_out(i).setYunits(sys.outputs(1).ports(i).units);
209 ao_out(i).setDescription(...
210 ['simulation for ' isysStr, ' : ', sys.outputs(1).ports(i).name,...
211 ' ' sys.outputs(1).ports(i).description]);
212 ao_out(i).setT0(tini);
213 end
214 for i=1:NoutputsOut
215 ao_out(NstatesOut+i).setData(tsdata( y(i,:), fs ));
216 ao_out(NstatesOut+i).setName(sys.outputs(2).ports(i).name);
217 ao_out(NstatesOut+i).setXunits('s');
218 ao_out(NstatesOut+i).setYunits(sys.outputs(2).ports(i).units);
219 ao_out(NstatesOut+i).setDescription(...
220 ['simulation for, ' isysStr, ' : ', sys.outputs(2).ports(i).name, ...
221 ' ', sys.outputs(2).ports(i).description]);
222 ao_out(NstatesOut+i).setT0(tini);
223 end
224
225 %% construct output plist
226 plist_out = plist('lastX', ssm.blockMatRecut(lastX,ssSizesIni,1) );
227
228 %% construct output matrix object
229 out = matrix(ao_out);
230 if callerIsMethod
231 % do nothing
232 else
233 myinfo = getInfo('None');
234 out.addHistory(myinfo, pl , ssm_invars(1), inhist );
235 end
236
237 %% Set output depending on nargout
238 if nargout == 1;
239 varargout = {out};
240 elseif nargout == 2;
241 varargout = {out plist_out};
242 elseif nargout == 0;
243 iplot(ao_out);
244 else
245 error('Wrong number of outputs')
246 end
247 end
248
249 %--------------------------------------------------------------------------
250 % Get Info Object
251 %--------------------------------------------------------------------------
252 function ii = getInfo(varargin)
253
254 if nargin == 1 && strcmpi(varargin{1}, 'None')
255 sets = {};
256 pl = [];
257 else
258 sets = {'Default'};
259 pl = getDefaultPlist;
260 end
261 % Build info object
262 ii = minfo(mfilename, 'ssm', 'ltpda', utils.const.categories.op, '$Id: simulate.m,v 1.104 2011/07/11 10:44:38 adrien Exp $', sets, pl);
263 end
264
265 %--------------------------------------------------------------------------
266 % Get Default Plist
267 %--------------------------------------------------------------------------
268 function pl = getDefaultPlist()
269 pl = ssm.getInfo('reorganize', 'for simulate').plists;
270 pl.remove('set');
271
272 p = param({'covariance', 'The covariance of this noise between input ports for the <i>time-discrete</i> noise model.'}, []);
273 pl.append(p);
274
275 p = param({'CPSD', 'The one sided cross-psd of the white noise between input ports.'}, []);
276 pl.append(p);
277
278 p = param({'aos', 'An array of input AOs.'}, ao.initObjectWithSize(1,0));
279 pl.append(p);
280
281 p = param({'constants', 'Array of DC values for the different corresponding inputs.'}, paramValue.DOUBLE_VALUE(zeros(0,1)));
282 pl.append(p);
283
284 p = param({'Nsamples', 'The maximum number of samples to simulate (AO length(s) overide this).'}, paramValue.DOUBLE_VALUE(inf));
285 pl.append(p);
286
287 p = param({'ssini', 'A cell-array of vectors that give the initial position for simulation.'}, {});
288 pl.append(p);
289
290 p = param({'initialize', 'When set to 1, a random state value is computed for the initial point.'}, paramValue.FALSE_TRUE);
291 pl.append(p);
292
293 p = param({'tini', 'Same as t0; kept for backwards compatibility.'}, paramValue.EMPTY_DOUBLE );
294 pl.append(p);
295
296 p = param({'t0', 'The initial simulation time (seconds).'}, paramValue.EMPTY_DOUBLE );
297 pl.append(p);
298
299 p = param({'displayTime', 'Switch off/on the display'}, paramValue.TRUE_FALSE);
300 pl.append(p);
301
302 p = param({'termincond', 'A string to evaluate a termination condition on the states in x (''lastX'') or outputs in y (''lastY'')'}, paramValue.EMPTY_STRING);
303 pl.append(p);
304
305 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);
306 pl.append(p);
307
308 p = param({'force complete', 'Force the use of the complete simulation code.'}, paramValue.FALSE_TRUE);
309 pl.append(p);
310
311 end
312