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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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% SSM2PZMODEL converts a time-continuous statespace model object to a pzmodel %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % % DESCRIPTION: SSM2PZMODEL converts a time-continuous statespace model % object to a pzmodel % % CALL: % >> pzms = ssm2pzmodel(ssm, pl); % % INPUT : % % ssm - a ssm object % pl - a plist with parameters 'inputs', 'states' and % 'outputs' to indicate which inputs, states and output % variables are taken in account. This requires proper % variable naming. If a variable called appears more % that once it will be used once only. % % OUTPUT: % % pzms - an array of pzmodels objects if the timestep is zero % % <a href="matlab:utils.helper.displayMethodInfo('ssm', 'ssm2pzmodel')">Parameters Description</a> % % VERSION: $Id: ssm2pzmodel.m,v 1.21 2011/04/08 08:56:23 hewitson Exp $ % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% function varargout = ssm2pzmodel(varargin) % Check if this is a call for parameters if utils.helper.isinfocall(varargin{:}) varargout{1} = getInfo(varargin{3}); return end %% starting initial checks utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]); % Collect input variable names in_names = cell(size(varargin)); for ii = 1:nargin,in_names{ii} = inputname(ii);end % Collect all SSMs and plists [sys, ssm_invars, rest] = utils.helper.collect_objects(varargin(:), 'ssm', in_names); [pl, invars2, rest] = utils.helper.collect_objects(rest(:), 'plist'); if ~isempty(rest) pl = combine(pl, plist(rest{:})); end pl = combine(pl, getDefaultPlist); if numel(sys) ~= 1 error('### Input (only) one SSM object.'); end %% begin function body %% convert to double % Convert to double arrays [A,B,C,D,Ts,inputvarnames,ssvarnames,outputvarnames, inputunit, ssunit, outputunit] =... double(sys, pl); Ninputs_out = numel(inputvarnames); Noutputs_out = numel(outputvarnames); if Ts > 0 error('ssm should be time continuous, use ssm2miir instead') end %% convert to pzm pzm_out = pzmodel.initObjectWithSize(Noutputs_out, Ninputs_out); for ii=1:Ninputs_out for oo=1:Noutputs_out [b,a] = ss2tf(A,B(:,ii),C(oo,:),D(oo, ii)); % computing poles and zeros pa = roots(a); if isempty(pa) p = pz.initObjectWithSize(1,0); gainP = 1; else [p, gainP] = roots2poly(pa); end zb = roots(b); if isempty(zb) z = pz.initObjectWithSize(1,0); gainZ = 1; else [z, gainZ] = roots2poly(zb); end % computing gain coefficient apos = a(a~=0); bpos = b(b~=0); if ~isempty(bpos) && ~isempty(apos) Gain = bpos(1)/apos(1); elseif ~isempty(apos) Gain = 1/apos(1); elseif ~isempty(bpos) % NB theoretically impossible to reach : SSM can't have more zeros than poles Gain = bpos(1); else Gain = 0; end Gain = Gain / gainP * gainZ; % constructing output pzm name = [sys.name,'_',num2str(ii),':',num2str(oo)]; pzm_out(oo,ii) = pzmodel(plist(... 'gain', Gain, 'poles', p, 'zeros', z, 'name', name, ... 'inunits', inputunit(ii), 'ounits' ,outputunit(oo) )); pzm_out(oo,ii).addHistory(ssm.getInfo(mfilename), pl , ssm_invars, sys.hist); end end if nargout == numel(pzm_out) for ii = 1:numel(pzm_out) varargout{ii} = pzm_out(ii); end else varargout{1} = pzm_out; end end function varargout = roots2poly(roots) poly = pz.initObjectWithSize(1,0); i=1; gain = 1; while i < length(roots)+1 if isreal(roots(i)) poly = [poly pz(-roots(i)/2/pi)]; %#ok<AGROW> gain = gain * abs(roots(i)); i = i+1; else f = norm(roots(i)/2/pi);%*sign(real(roots(i))); Q = norm(roots(i))/abs(2*real(roots(i))); poly = [poly pz(f,Q)]; %#ok<AGROW> gain = gain * abs(roots(i))^2; i = i+2; %#ok<FXSET> end end varargout = {poly, gain}; 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.converter, '$Id: ssm2pzmodel.m,v 1.21 2011/04/08 08:56:23 hewitson Exp $', sets, pl); end %-------------------------------------------------------------------------- % Get Default Plist %-------------------------------------------------------------------------- function pl = getDefaultPlist() pl = plist(); p = param({'inputs', ['Specify the inputs. Give one of:<ul>'... '<li>A cell-array of input port names.</li>'... '<li>A cell-array of logical arrays specifying which input ports to use for each input block.</li>'... '<li>A cell-array of double values specifying which input ports to use for each input block.<li>'... '<li>The string ''ALL'' to use all inputs.']}, paramValue.STRING_VALUE('ALL')); pl.append(p); p = param({'states', 'Specify the states. Specify the states as for the ''inputs'' parameter.'}, paramValue.STRING_VALUE('ALL')); pl.append(p); p = param({'outputs', 'Specify the outputs. Specify the outputs as for the ''inputs'' parameter.'}, paramValue.STRING_VALUE('ALL')); pl.append(p); end