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author | Daniele Nicolodi <nicolodi@science.unitn.it> |
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date | Mon, 05 Dec 2011 16:20:06 +0100 |
parents | f0afece42f48 |
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% SMINREAL gives a minimal realization of a ssm object by deleting unreached states %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % % DESCRIPTION: SMINREAL gives a minimal realization of a ssm object by % deleting unreached states (! this is not always the minimal realization) % % CALL: >> sys = sMinReal(sys); % % sys - an array of ssm object % % <a href="matlab:utils.helper.displayMethodInfo('ssm', 'sMinReal')">Parameters Description</a> % % VERSION: $Id: sMinReal.m,v 1.14 2011/04/08 08:56:23 hewitson Exp $ % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% function varargout = sMinReal(varargin) %% Check if this is a call for parameters if utils.helper.isinfocall(varargin{:}) varargout{1} = getInfo(varargin{3}); return end %% send starting message import utils.const.* utils.helper.msg(msg.PROC3, 'running %s/%s', mfilename('class'), mfilename); %% collecting input in_names = cell(size(varargin)); for ii = 1:nargin,in_names{ii} = inputname(ii);end [sys, ssm_invars] = utils.helper.collect_objects(varargin(:), 'ssm', in_names); pl_user = plist; internal = strcmp(varargin{end}, 'internal'); sys = copy(sys, nargout); %% begin function body for i_sys=1:numel(sys) if ~sys(i_sys).isnumerical error('system should be numeric') end [A, B, C] = double(sys(i_sys), plist); x_control = isreached(A,B); x_sensing = isreached(A.',C.'); x = logical(min(x_control, x_sensing)); positions = ssm.blockMatRecut(x,sys(i_sys).sssizes, 1); options = plist('inputs','ALL','outputs','ALL', 'states', positions); sys(i_sys).doSimplify(options); if ~internal % append history step sys(i_sys).addHistory(getInfo('None'), pl_user, ssm_invars(i_sys), sys(i_sys).hist); end end if nargout == numel(sys) for ii = 1:numel(sys) varargout{ii} = sys(ii); end else varargout{1} = sys; end end function x = isreached(A,B) Alog = double(~(A==0)); Blog = double(~(B==0)); Nss = size(B,1); Nin = size(B,2); x = zeros(Nss, 1); for i =0:Nss Ai = Alog^i; for j=1:Nin xloc = Ai*Blog(:,j); xloc = double(~(xloc==0)); x = max(x, xloc); end end end %-------------------------------------------------------------------------- % Get Info Object %-------------------------------------------------------------------------- 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, 'ssm', 'ltpda', utils.const.categories.op, '$Id: sMinReal.m,v 1.14 2011/04/08 08:56:23 hewitson Exp $', sets, pl); end %-------------------------------------------------------------------------- % Get Default Plist %-------------------------------------------------------------------------- function plo = getDefaultPlist() plo = plist; end