--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/m-toolbox/m/built_in_models/ssm/ssm_model_SMD.m	Wed Nov 23 19:22:13 2011 +0100
@@ -0,0 +1,183 @@
+% SMD A statespace model of the Spring-Mass-Damper system
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%
+% DESCRIPTION: A statespace model of the Spring-Mass-Damper
+%
+% CALL:
+%           HARMONIC_OSC_1D = ssm(plist('built-in','SMD'))
+%
+%
+% OUTPUTS:
+%           - SMD is an SSM object
+%
+%
+% REFERENCES:
+%
+%
+%
+% INFO:
+%   <a href="matlab:utils.models.displayModelOverview('ssm_model_SMD')">Model Information</a>
+%
+%
+% REFERENCES:
+%
+%
+% VERSION:     $Id: ssm_model_SMD.m,v 1.2 2011/04/29 09:48:34 marc1 Exp $
+%
+% HISTORY:
+%
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+
+function varargout = ssm_model_SMD(varargin)
+  
+  % Process inputs
+  [info, pl, constructorInfo, fcn] = utils.models.processModelInputs(varargin(:), mfilename, @getModelDescription, @getModelDocumentation, @getVersion, @versionTable);
+  if ~isempty(info)
+    varargout{1} = info;
+    return;
+  end
+  
+  % Build the object
+  out = fcn(pl);
+  
+  % Set the method version string in the minfo object
+  if ~isempty(constructorInfo)
+    % If this is a user-call via a constructor, then we add history
+    out = addHistoryStep(out, constructorInfo, pl);
+  end
+  
+  if nargout > 0
+    varargout{1} = out;
+    varargout{2} = pl;
+  else
+    error('!!! Invalid number of output')
+  end
+end
+
+
+%--------------------------------------------------------------------------
+% AUTHORS EDIT THIS PART
+%--------------------------------------------------------------------------
+
+function desc = getModelDescription
+  desc = 'A built-in model that constructs a statespace model for the SMD.';
+end
+
+function doc = getModelDocumentation
+  doc = sprintf([...
+    '<br>It constructs a simple spring mass damper test system.<br>\n'...
+    ]);
+end
+
+% default version is always the first one
+function vt = versionTable()
+  
+  vt = {...
+    'Standard', @versionStandard, ...
+    };
+  
+end
+
+% This is the standard SMD model
+%
+function varargout = versionStandard(varargin)
+  
+  if nargin == 1 && ischar(varargin{1})
+    switch varargin{1}
+      case 'plist'
+        
+        % The plist for this version of this model
+        pl = plist();
+        
+        pl = combine(pl, ssm.getDefaultPlist('from built-in model'));
+        
+        % set output
+        varargout{1} = pl;
+        
+      case 'description'
+        varargout{1} = sprintf([...
+          'This is the standard model for the SMD.'
+          ]);
+      case 'info'
+        varargout{1} = [];
+      otherwise
+        error('unknown inputs');
+    end
+    return;
+  end
+  
+  % build model
+  pl = varargin{1};
+  %% parameters array
+  paramNames  = {'SMD_W' 'SMD_C' 'SMD_S1' 'SMD_S2' 'SMD_B' 'SMD_D1'};
+  paramValues = [0.2 0.5 0 0 1 0];
+  paramUnits = unit('s^-1', 's^-1', '', 's', '', 's^2');
+  paramDescriptions = {'Oscilator eigen-frequency' 'Oscilator damping factor'...
+    'Gain sensing coefficient'  'Gain differential sensing coefficient' ...
+    'Actuator gain' 'Actuation cross sensing coefficient'};
+
+
+  
+  % If the user didn't give a 'param names' key to set parameter values,
+  % perhaps they gave individual parameter names
+  pl = ssm.modelHelper_processInputPlist(pl, ssm_model_SMD('plist','Standard'));
+  
+  % processing parameters and declaring variables depending on user needs
+  [sys.params, sys.numparams] = ssm.modelHelper_declareParameters(pl, paramNames, paramValues, paramDescriptions, paramUnits);
+  
+  % here computation of the system's matrices
+  sys.amats    = {[0 1 ; -SMD_W*SMD_W -2*SMD_C*SMD_W]};
+  sys.cmats    = {[1+SMD_S1 SMD_S2]};
+  sys.bmats    = {[0;SMD_B] [0 0; 1 0]};
+  sys.dmats    = {SMD_D1 [0 1]};
+  
+  sys.timestep = 0;
+  
+  sys.name = 'SRPINGMASSDAMPER';
+  sys.description = 'standard spring-mass-damper test system';
+  
+  inputnames    = {'CMD' 'DIST_SMD'};
+  inputdescription = {'force noise' 'observation noise'};
+  inputvarnames = {{'F'} {'F' 'S'}};
+  inputvarunits = {unit('kg m s^-2') [unit('kg m s^-2') unit('m')]};
+  inputvardescription = [];
+  
+  ssnames    = {'SMD'};
+  ssdescription = {'TM position and speed'};
+  ssvarnames = {{'x' 'xdot'}};
+  ssvarunits={[unit('m') unit('m s^-1')]};
+  ssvardescription = [];
+  
+  outputnames    = {'SMD'};
+  outputdescription = {'observed position'};
+  outputvarnames ={{'OBS'}};
+  outputvarunits={unit('m')};
+  outputvardescription = [];
+  
+  %% Build input plist
+  sys.inputs = ssmblock.makeBlocksWithData(inputnames, inputdescription, inputvarnames, inputvarunits, inputvardescription);
+  sys.outputs = ssmblock.makeBlocksWithData(outputnames, outputdescription, outputvarnames, outputvarunits, outputvardescription);
+  sys.states =  ssmblock.makeBlocksWithData(ssnames, ssdescription, ssvarnames, ssvarunits, ssvardescription);
+  
+  sys = ssm(sys);
+  
+  varargout{1} = sys;
+  
+end
+
+
+%--------------------------------------------------------------------------
+% AUTHORS SHOULD NOT NEED TO EDIT BELOW HERE
+%--------------------------------------------------------------------------
+
+
+%--------------------------------------------------------------------------
+% Get Version
+%--------------------------------------------------------------------------
+function v = getVersion
+  
+  v = '$Id: ssm_model_SMD.m,v 1.2 2011/04/29 09:48:34 marc1 Exp $';
+  
+end