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−% SMINREAL gives a minimal realization of a ssm object by deleting unreached states
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−%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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−%
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−% DESCRIPTION: SMINREAL gives a minimal realization of a ssm object by
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−%              deleting unreached states (! this is not always the minimal realization)
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−%
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−% CALL:        >> sys = sMinReal(sys);
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−%
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−%            sys - an array of ssm object
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−%
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−% <a href="matlab:utils.helper.displayMethodInfo('ssm', 'sMinReal')">Parameters Description</a>
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−%
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−% VERSION: $Id: sMinReal.m,v 1.14 2011/04/08 08:56:23 hewitson Exp $
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−% 
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−%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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−
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−function varargout = sMinReal(varargin)
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−  
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−  %% Check if this is a call for parameters
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−  if utils.helper.isinfocall(varargin{:})
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−    varargout{1} = getInfo(varargin{3});
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−    return
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−  end
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−  
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−  %% send starting message
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−  import utils.const.*
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−  utils.helper.msg(msg.PROC3, 'running %s/%s', mfilename('class'), mfilename);
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−  
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−  %% collecting input
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−  in_names = cell(size(varargin));
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−  for ii = 1:nargin,in_names{ii} = inputname(ii);end
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−  
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−  [sys, ssm_invars] = utils.helper.collect_objects(varargin(:), 'ssm', in_names);
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−  
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−  pl_user = plist;
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−  
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−  internal = strcmp(varargin{end}, 'internal');
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−  
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−  sys = copy(sys, nargout);
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−  
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−  %% begin function body
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−  for i_sys=1:numel(sys)
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−    if ~sys(i_sys).isnumerical
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−      error('system should be numeric')
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−    end
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−    [A, B, C] = double(sys(i_sys), plist);
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−    x_control = isreached(A,B);
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−    x_sensing = isreached(A.',C.');
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−    x = logical(min(x_control, x_sensing));
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−    positions = ssm.blockMatRecut(x,sys(i_sys).sssizes, 1);
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−    
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−    options = plist('inputs','ALL','outputs','ALL', 'states', positions);
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−    sys(i_sys).doSimplify(options);
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−    if ~internal
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−      % append history step
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−      sys(i_sys).addHistory(getInfo('None'), pl_user, ssm_invars(i_sys), sys(i_sys).hist);
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−    end
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−  end
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−  if nargout == numel(sys)
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−    for ii = 1:numel(sys)
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−      varargout{ii} = sys(ii);
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−    end
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−  else
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−    varargout{1} = sys;
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−  end
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−  
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−end
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−
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−function x  = isreached(A,B)
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−  Alog = double(~(A==0));
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−  Blog = double(~(B==0));
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−  Nss = size(B,1);
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−  Nin = size(B,2);
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−  x = zeros(Nss, 1);
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−  for i =0:Nss
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−    Ai = Alog^i;
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−    for j=1:Nin
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−      xloc = Ai*Blog(:,j);
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−      xloc = double(~(xloc==0));
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−      x = max(x, xloc);
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−    end
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−  end
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−end
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−
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−
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−%--------------------------------------------------------------------------
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−% Get Info Object
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−%--------------------------------------------------------------------------
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−function ii = getInfo(varargin)
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−  
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−  if nargin == 1 && strcmpi(varargin{1}, 'None')
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−    sets = {};
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−    pl   = [];
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−  else
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−    sets = {'Default'};
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−    pl   = getDefaultPlist;
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−  end
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−  % Build info object
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−  ii = minfo(mfilename, 'ssm', 'ltpda', utils.const.categories.op, '$Id: sMinReal.m,v 1.14 2011/04/08 08:56:23 hewitson Exp $', sets, pl);
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−end
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−
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−%--------------------------------------------------------------------------
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−% Get Default Plist
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−%--------------------------------------------------------------------------
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−function plo = getDefaultPlist()
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−  plo = plist;
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−end
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−