--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/m-toolbox/m/mdcs/mdc1/models/ltpda_mdc1_C.m	Wed Nov 23 19:22:13 2011 +0100
@@ -0,0 +1,200 @@
+% LTPDA_MDC1_C returns a frequency-domain model of the controllers for MDC1.
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+%
+% DESCRIPTION: LTPDA_MDC1_C returns a frequency-domain model of the controllers 
+%              for MDC1.
+%
+% CALL:        b = ltpda_mdc1_C(pl)
+%
+% PARAMETERS:
+% 
+%           'Controller' - Choose controller [default: 'DF']
+%                        'DF'   - Drag-free controller (including delay)
+%                        'SUS'  - Suspension controller (including delay)
+%           'f'        - a vector of frequencies [default: 1]
+%    or
+%           'f1'       - start frequency [default: 1e-6]
+%           'f2'       - stop frequency  [default: 5]
+%           'nf'       - number of frequency points [default: 1000]
+%           'scale'    - frequency spacing, 'lin' or 'log' [default: 'log']
+% 
+% VERSION:     $Id: ltpda_mdc1_C.m,v 1.3 2008/08/08 13:35:23 anneke Exp $
+%
+% The following call returns a parameter list object that contains the
+% default parameter values:
+%
+% >> pl = ltpda_mdc1_C(ao, 'Params')
+%
+% The following call returns a string that contains the routine CVS version:
+%
+% >> version = ltpda_mdc1_C(ao,'Version')
+%
+% The following call returns a string that contains the routine category:
+%
+% >> category = ltpda_mdc1_C(ao,'Category')
+%
+% HISTORY: 11-04-08 M Hewitson
+%             Creation
+%
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+function varargout = ltpda_mdc1_C(varargin)
+    %%% Check if this is a call for parameters
+        if utils.helper.isinfocall(varargin{:})
+          varargout{1} = getInfo(varargin{3});
+          return
+        end
+
+        %%% Collect input variable names
+        in_names = cell(size(varargin));
+        for ii = 1:nargin,in_names{ii} = inputname(ii);end
+
+        pli             = utils.helper.collect_objects(varargin(:), 'plist', in_names);
+
+        %%% Decide on a deep copy or a modify
+        %%% REMARK: If you create a new AO (call the constructor) then
+        %%%         it is not necessay to copy the input-AOs !!!!!!!!!!!!!!!!!!!!!!!!!
+
+
+        %%% Combine plists
+        pl = combine(pli, getDefaultPlist('Range'));
+
+
+    %% Extract parameters from plist
+
+    f = find(pl, 'f');
+    if isempty(f)
+    f1    = find(pl, 'f1');
+    f2    = find(pl, 'f2');
+    nf    = find(pl, 'nf');
+    scale = find(pl, 'scale');
+
+    switch scale
+      case 'lin'
+        f   = linspace(f1, f2, nf);
+      case 'log'
+        f = logspace(log10(f1), log10(f2), nf);
+    end
+    end
+
+    cont = find(pl, 'Controller');
+
+    %% Compute response for frequencies f
+
+    switch upper(cont)
+    case 'DF'
+      a = getDFcontroller(f);
+    case 'SUS'
+      a = getSUScontroller(f);
+    otherwise
+      error('### Unknown controller requested.');
+    end
+
+    varargout{1} = a;
+end
+%--------------------------------------------------------------------------
+% Get DF controller for each frequency
+function o = getSUScontroller(f)
+
+  % Compute desired response
+  T = 0.1;
+  z = exp(1i*2*pi*f*T);
+  zi = 1./z;
+
+  f1 = -2.4365e-4./(1-exp(-1.0772e-2).*zi);
+  f2 = complex(1.2115e-4, 3.0511e-5)./(1-exp(complex(-5.5589e-3,-6.4448e-3)).*zi);
+  f3 = complex(1.2115e-4, -3.0511e-5)./(1-exp(complex(-5.5589e-3, 6.4448e-3)).*zi);
+  f4 = 1.0741e-6./(1 - 1.*zi);
+
+  % Controller delay
+  s = 1i*2*pi*f;
+  dt = 305/1000;
+  D = (exp(-s.*(T+dt)) .* (-1+exp(s.*T))  )./(s.*T);
+
+  H = 0.1.*( f1 + f2 + f3 + f4).*D;
+
+  % Create fsdata object
+  fsd = fsdata(f, H);
+
+  % Create an AO
+  o = ao(fsd);
+  o.setXunits('Hz');
+  o.setYunits('N/V');
+  o.setName('C_{sus}');
+end
+%--------------------------------------------------------------------------
+% Get DF controller for each frequency
+function o = getDFcontroller(f)
+
+  % Transform from f to z
+  T = 0.1;
+  z = exp(1i*2*pi*f*T);
+  zi = 1./z;
+
+  % Compute individual terms in the frequency series
+  f1 = -1.61./(1-exp(-0.30943).*zi);
+  f2 = complex(0.86807, 0.12606)./(1-exp(complex(-9.753e-2,-1.6175e-1)).*zi);
+  f3 = complex(0.86807, -0.12606)./(1-exp(complex(-9.753e-2,1.6175e-1)).*zi);
+  f4 = -complex(6.4699,70.435)./(1-exp(complex(-5.5289e-5,-4.8946e-6)).*zi);
+  f5 = -complex(6.4699,-70.435)./(1-exp(complex(-5.5289e-5,4.8946e-6)).*zi);
+  f6 = 12.946./(1 - 1.*zi);
+
+  % Controller delay
+  s = 1i*2*pi*f;
+  dt = 315/1000;
+  D = (exp(-s.*(T+dt)) .* (-1+exp(s.*T))  )./(s.*T);
+
+  % Combine all terms into a single response
+  H = 0.1.*( f1 + f2 + f3 + f4 + f5 + f6 ) .* D;
+
+  % Build a frequency-series data object
+  fsd = fsdata(f, H);
+  
+  % build the AO and set its name
+  o = ao(fsd);
+  % Set X-units, Y-units and name to something meaningful
+  o.setXunits('Hz');
+  o.setYunits('N/V');
+  o.setName('C_{df}');
+end
+
+%--------------------------------------------------------------------------
+function plo = getDefaultPlist(varargin)
+  % List of available parameter sets
+  sets = {'List', 'Range'};
+
+  if nargin == 0
+    plo = sets;
+    return
+  end
+
+  set = varargin{1};
+
+  switch set
+    case 'List'
+      plo = plist('Controller', 'DF', 'f', [1]);
+    case 'Range'
+      plo = plist('Controller', 'DF', ...
+                  'f1', 1e-6,...
+                  'f2', 5,...
+                  'nf', 1000,...                
+                  'scale', 'log');
+    otherwise
+    plo = plist();
+  end
+end
+%--------------------------------------------------------------------------
+function ii = getInfo(varargin)
+  if nargin == 1 && strcmpi(varargin{1}, 'None')
+    sets = {};
+    pl   = [];
+  else
+    sets = {'Default'};
+    pl   = getDefaultPlist;
+  end
+  % Build info object
+  ii = minfo(mfilename, 'CLASS', '', 'CATEGORY', '$Id: ltpda_mdc1_C.m,v 1.3 2008/08/08 13:35:23 anneke Exp $', sets, pl);
+end
+
+
+