Mercurial > hg > ltpda
view m-toolbox/classes/@ssm/resp.m @ 12:86aabb42dd84 database-connection-manager
Use utils.repository utilities
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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% RESP gives the timewise impulse response of a statespace model. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % % DESCRIPTION: RESP gives the timewise impulse response of a statespace % model. % % CALL: mat_out = resp(sys, plist_inputs) % % INPUTS: % - sys, (array of) ssm object % % plist with parameters 'inputs', 'states' and 'outputs' to indicate which % inputs, states and outputs variables are taken in account. This requires % proper variable naming. If a variable called appears more that once it % will be used once only. % % OUTPUTS: % - mat_out contains the timewise response (one for each input) % % <a href="matlab:utils.helper.displayMethodInfo('ssm', 'resp')">Parameters Description</a> % % VERSION: $Id: resp.m,v 1.27 2011/04/17 21:28:06 adrien Exp $ % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% function varargout = resp(varargin) %% starting initial checks % use the caller is method flag callerIsMethod = utils.helper.callerIsMethod; % Check if this is a call for parameters if utils.helper.isinfocall(varargin{:}) varargout{1} = getInfo(varargin{3}); return end utils.helper.msg(utils.const.msg.MNAME, ['running ', mfilename]); % checking number of inputs work data in_names = cell(size(varargin)); for oo = 1:nargin,in_names{oo} = inputname(oo);end [sys, ssm_invars, rest] = utils.helper.collect_objects(varargin(:), 'ssm', in_names); [pl, ssm_invars2, rest] = utils.helper.collect_objects(rest(:), 'plist', in_names); if ~isempty(rest) pl = combine(pl, plist(rest{:})); end pl = combine(pl, getDefaultPlist()); %% begin function body if numel(sys)>1 error('ssm/resp only works with a single statespace model.') end if ~sys.isnumerical error('The input system should be numeric.') end %% modifying input ssm if sys.timestep == 0 sys = copy(sys, true); sys.modifyTimeStep('newtimestep', 0.1); warning('Warning : time-continuous ssm was discretized with a time-step of 0.1s per default') %#ok<WNTAG> end %% getting duration of the response tmax = find(pl, 'tmax'); if sys.isStable && (tmax == -1) pl_s = settlingTime(sys, pl); timeMax = min(find(pl_s, 'SETTLING_TIME'), 1e5); timeMax = nextPow2( 12* timeMax); else timeMax = nextPow2( tmax./sys.timestep); end %% deriving and initializing matrices if find(pl, 'reorganize') sys = copy(sys, true); sys = reorganize(sys, pl, 'set', 'for resp', 'internal', 'internal'); end A = sys.amats{1,1}; B = sys.bmats{1,1}; C = sys.cmats{2,1}; Cstates = sys.cmats{1,1}; D = sys.dmats{2,1}; Ts = sys.timestep; Ninputs = size(B,2); Noutputs = size(C,1); Nss = size(A,1); NssOut = size(Cstates,1); %% collecting data before saving in loop aos = ao.initObjectWithSize(Noutputs+NssOut, Ninputs); inhist = sys.hist; inputType = find(pl, 'response'); for ii=1:Ninputs %% depending on user option, compute response for one input only if strcmpi( inputType, 'IMPULSE') stateVect = zeros(Nss,2^timeMax); stateVect(:,1) = B(:,ii)/sys.timestep; a = A; for k=1:timeMax p = k-1; stateVect(:,1:2^k) = [stateVect(:,1:2^p) a*stateVect(:,1:2^p)]; a = a*a; end outputVect = C*stateVect; outputVect(:,1) = outputVect(:,1) + D(:,ii); stateVect = Cstates*stateVect; respName = 'Impulse'; elseif strcmpi( inputType, 'STEP') stateVect = zeros(Nss,2^timeMax); stateVect(:,1) = B(:,ii); stateBasis = B(:,ii); outputVect = zeros(Noutputs,2^timeMax); outputVect(:,1) = D(:,ii); a_powP = A; for k=1:timeMax p = k-1; outputVect(:,1:2^k) = [ outputVect(:,1:2^p) outputVect(:,1:2^p) ]; lastStates = stateVect(:,1:2^p); stateVect(:,(2^p+1):2^k) = a_powP*lastStates + diag(stateBasis)*ones(Nss, 2^p) ; % update iterative matrices stateBasis = a_powP*stateBasis + stateBasis; a_powP = a_powP*a_powP; end outputVect = C*stateVect + outputVect; outputVect = [ zeros(Noutputs,1) outputVect]; %#ok<AGROW> stateVect = Cstates*stateVect; respName = 'Step'; else error(['Option ''response'' does not accept the value' inputType]); end %% storing response in aos for one input only for oo=1:NssOut; aos(oo,ii).setData(tsdata( stateVect(oo,:), 1/Ts)); aos(oo,ii).setName([sys.inputs(1).ports(ii).name '->' sys.outputs(1).ports(oo).name]); aos(oo,ii).setXunits('s'); aos(oo,ii).setYunits(sys.outputs(1).ports(oo).units); aos(oo,ii).setDescription([respName ' response from input ' , sys.inputs(1).ports(ii).name , 'to output ', sys.outputs(1).ports(oo).name]); aos(oo,ii).setT0(sys.timestep); end for oo=1:Noutputs; aos(NssOut+oo,ii).setData(tsdata( outputVect(oo,:), 1/Ts)); aos(NssOut+oo,ii).setName([sys.inputs(1).ports(ii).name '->' sys.outputs(2).ports(oo).name]); aos(NssOut+oo,ii).setXunits('s'); aos(NssOut+oo,ii).setYunits(sys.outputs(2).ports(oo).units); aos(NssOut+oo,ii).setDescription([respName ' response from input ' , sys.inputs(1).ports(ii).name , 'to output ', sys.outputs(2).ports(oo).name]); aos(NssOut+oo,ii).setT0(sys.timestep); end end %% construct output matrix object out = matrix(aos); if callerIsMethod % do nothing else myinfo = getInfo('None'); out.addHistory(myinfo, pl , ssm_invars(1), inhist ); end %% Set output depending on nargout if nargout == 1; varargout = {out}; elseif nargout == 2; varargout = {out plist_out}; elseif nargout == 0; iplot(aos); else error('Wrong number of outputs') end end %-------------------------------------------------------------------------- % Get Info Object %-------------------------------------------------------------------------- function oo = getInfo(varargin) if nargin == 1 && strcmpi(varargin{1}, 'None') sets = {}; pl = []; else sets = {'Default'}; pl = getDefaultPlist; end % Build info object oo = minfo(mfilename, 'ssm', 'ltpda', utils.const.categories.sigproc, '$Id: resp.m,v 1.27 2011/04/17 21:28:06 adrien Exp $', sets, pl); end %-------------------------------------------------------------------------- % Get Default Plist %-------------------------------------------------------------------------- function pl = getDefaultPlist() pl = ssm.getInfo('reorganize', 'for resp').plists; pl.remove('set'); p = param({'response', 'Specify the type of response wanted'},{1, {'impulse', 'step'}, paramValue.SINGLE} ); pl.append(p); p = param({'tmax', 'Specify the duration of response wanted [s] (automatically set if not specified by user, and system is stable)'},-1 ); pl.append(p); p = param({'reorganize', 'When set to 0, this means the ssm does not need be modified to match the requested i/o. Faster but dangerous!'}, paramValue.TRUE_FALSE); pl.append(p); end