+
−% SIMULATE simulates a discrete ssm with given inputs
+
−%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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−%
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−% DESCRIPTION: SIMULATE simulates a discrete ssm with given inputs.
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−%
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−% CALL: [mat_out pl_out] = simulate(sys, pl)
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−%
+
−% INPUTS:
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−%         - sys, (array of) ssm object
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−%
+
−% OUTPUTS:
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−%          _ mat_out contains specified returned aos
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−%          _ pl_out contains 'lastX', the last state position
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−%
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−% <a href="matlab:utils.helper.displayMethodInfo('ssm', 'simulate')">Parameters Description</a>
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−%
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−% VERSION: $Id: simulate.m,v 1.104 2011/07/11 10:44:38 adrien Exp $
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−%
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−%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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−
+
−% TO DO:  options to be defined (NL case)
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−% allow use of other LTPDA functions to generate white noise
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−
+
−
+
−function varargout = simulate(varargin)
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−  
+
−  %% starting initial checks
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−  
+
−  % use the caller is method flag
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−  callerIsMethod = utils.helper.callerIsMethod;
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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
+
−  end
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−  
+
−  utils.helper.msg(utils.const.msg.PROC3, ['running ', mfilename]);
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−  
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−  % Collect input variable names
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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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−  
+
−  % Collect all SSMs and plists
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−  [sys, ssm_invars, rest] = utils.helper.collect_objects(varargin(:), 'ssm', in_names);
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−  [pl, invars2, rest]  = utils.helper.collect_objects(rest(:), 'plist');
+
−  if ~isempty(rest)
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−    pl = combine(pl, plist(rest{:}));
+
−  end
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−  pl = combine(pl, getDefaultPlist());
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−  
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−  
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−  %% begin function body
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−  
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−  tini = pl.find('t0');
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−  if isempty(tini)
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−    tini = pl.find('tini'); % check for the old name
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−    if isempty(tini)
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−      tini = time;
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−    else
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−      warning('The use of the parameter ''tini'' is deprecated and will be removed in future releases. Use ''t0'' instead');
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−    end
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−  end
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−  if isa(tini,'double')
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−    tini = time(tini);
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−  end
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−  
+
−  
+
−  %% retrieve system infos
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−  if numel(sys)~=1
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−    error('simulate needs exactly one ssm as an input')
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−  end
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−  if ~sys.isnumerical
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−    error(['error because system ',sys.name,' is not numerical']);
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−  end
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−  timestep  = sys.timestep;
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−  if timestep==0
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−    error('timestep should not be 0 in simulate!!')
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−  end
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−  
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−  if callerIsMethod
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−    % we don't need the history of the input
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−  else
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−    inhist  = sys.hist;
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−  end
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−  
+
−  if pl.isparam('noise variable names')
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−    error('The noise option used must be split between "covariance" and "cpsd". "noise variable names" does not exist anymore!')
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−  end
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−  
+
−  %% display time ?
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−  displayTime = find(pl, 'displayTime');
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−  
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−  %% initial state
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−  ssini = find(pl,'ssini');
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−  if isempty(ssini)
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−    initialize = find(pl, 'initialize');
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−    if initialize
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−      ssini = sys.steadyState(pl);
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−      ssini = find(ssini, 'state');
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−    else
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−      ssini = cell(sys.Nss,1);
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−      for i=1:sys.Nss
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−        ssini{i} = zeros(sys.sssizes(i),1);
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−      end
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−    end
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−  end
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−  ssSizesIni = sys.statesizes;
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−  SSini = double(ssm.blockMatFusion(ssini,ssSizesIni,1));
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−  
+
−  %% collecting simulation i/o data
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−  
+
−  % values
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−  aos_in = find(pl, 'aos');
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−  constants_in = find(pl, 'constants');
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−  cov_in = find(pl, 'covariance');
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−  cpsd_in = find(pl, 'CPSD');
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−  noise_in = blkdiag(cov_in, cpsd_in/(timestep*2));
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−  [U1,S1,V1] = svd(noise_in.'); %#ok<NASGU>
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−  if (sum(S1<0)>0)
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−    error('Covariance matrix is not positive definite')
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−  end
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−  noise_mat = U1*sqrt(S1);
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−  
+
−  %% modifying system's ordering
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−  if find(pl, 'reorganize')
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−    sys = reorganize(sys, pl, 'set', 'for simulate', 'internal', 'internal');
+
−  end
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−  
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−  %% getting system's i/o sizes
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−  inputSizes = sys.inputsizes;
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−  outputSizes = sys.outputsizes;
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−  
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−  Naos_in = inputSizes(1);
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−  Nnoise = inputSizes(2);
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−  Nconstants = inputSizes(3);
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−  NstatesOut = outputSizes(1);
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−  NoutputsOut = outputSizes(2);
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−  
+
−  if numel(aos_in)~=Naos_in
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−    error(['There are ' num2str(numel(aos_in)) ' input aos and ' num2str(Naos_in) ' corresponding inputs indexed.' ])
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−  elseif numel(diag(noise_in))~=Nnoise
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−    error(['There are ' num2str(numel(diag(noise_in))) ' input noise variances and ' num2str(Nnoise) ' corresponding inputs indexed.' ])
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−  elseif numel(constants_in)~=Nconstants
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−    error(['There are ' num2str(numel(constants_in)) ' input constants and ' num2str(Nconstants) ' corresponding inputs indexed.' ])
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−  end
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−  
+
−  A = sys.amats{1,1};
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−  Coutputs = sys.cmats{2,1};
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−  Cstates  = sys.cmats{1,1};
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−  Baos     = sys.bmats{1,1};
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−  Daos     = sys.dmats{2,1};
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−  Bnoise   = sys.bmats{1,2} * noise_mat;
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−  Dnoise   = sys.dmats{2,2} * noise_mat;
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−  Bcst     = sys.bmats{1,3} * reshape(constants_in, Nconstants, 1);
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−  Dcst     = sys.dmats{2,3} * reshape(constants_in, Nconstants, 1);
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−  
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−  %% getting correct number of samples
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−  Nsamples = find(pl, 'Nsamples');
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−  f0 = 1/timestep;
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−  for i=1:Naos_in
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−    Nsamples = min(Nsamples,length(aos_in(i).y));
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−    try
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−      if ~(f0==aos_in(i).fs)
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−        str = ['WARNING : ssm frequency is ',num2str(f0),...
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−          ' but sampling frequency of ao named ',...
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−          aos_in(i).name, ' is ', num2str(aos_in(i).fs) ];
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−        utils.helper.msg(utils.const.msg.MNAME, str);
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−      end
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−    end
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−    % maybe tdata should be retrieved and verified to be equal, rather than this.
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−  end
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−  if Nsamples == inf % case there is no input!
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−    error('warning : no input option ''Nsamples'' providing simulation duration is available!!')
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−    Nsamples = 0;
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−  end
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−  
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−  %% termination condition
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−  if strcmp(find(pl, 'termincond'),'');
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−    doTerminate = false;
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−    terminationCond = '';
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−  else
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−    doTerminate = true;
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−    terminationCond = find(pl, 'termincond');
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−  end
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−  
+
−  %% ao vector
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−  aos_vect = zeros(Naos_in, Nsamples);
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−  for j = 1:Naos_in
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−    aos_vect(j,:) = aos_in(j).y(1:Nsamples).';
+
−  end
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−  
+
−  %% simulation loop
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−  [x, y, lastX] = ssm.doSimulate(...
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−    SSini, Nsamples, ...
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−    A, Baos, Coutputs, Cstates, Daos, Bnoise, Dnoise, Bcst, Dcst,...
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−    aos_vect, doTerminate, terminationCond, displayTime, timestep, pl.find('force complete'));
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−  
+
−  %% saving in aos
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−  fs      = 1/timestep;
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−  isysStr = sys.name;
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−  
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−  ao_out = ao.initObjectWithSize(1,NstatesOut+NoutputsOut);
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−  for i=1:NstatesOut
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−    ao_out(i).setData(tsdata( x(i,:), fs ));
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−    ao_out(i).setName(sys.outputs(1).ports(i).name);
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−    ao_out(i).setXunits('s');
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−    ao_out(i).setYunits(sys.outputs(1).ports(i).units);
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−    ao_out(i).setDescription(...
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−      ['simulation for ' isysStr, ' : ',  sys.outputs(1).ports(i).name,...
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−      '    ' sys.outputs(1).ports(i).description]);
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−    ao_out(i).setT0(tini);
+
−  end
+
−  for i=1:NoutputsOut
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−    ao_out(NstatesOut+i).setData(tsdata( y(i,:), fs ));
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−    ao_out(NstatesOut+i).setName(sys.outputs(2).ports(i).name);
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−    ao_out(NstatesOut+i).setXunits('s');
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−    ao_out(NstatesOut+i).setYunits(sys.outputs(2).ports(i).units);
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−    ao_out(NstatesOut+i).setDescription(...
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−      ['simulation for, ' isysStr, ' : ',  sys.outputs(2).ports(i).name, ...
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−      '    ', sys.outputs(2).ports(i).description]);
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−    ao_out(NstatesOut+i).setT0(tini);
+
−  end
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−  
+
−  %% construct output plist
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−  plist_out = plist('lastX', ssm.blockMatRecut(lastX,ssSizesIni,1) );
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−  
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−  %% construct output matrix object
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−  out = matrix(ao_out);
+
−  if callerIsMethod
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−    % do nothing
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−  else
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−    myinfo = getInfo('None');
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−    out.addHistory(myinfo, pl , ssm_invars(1), inhist );
+
−  end
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−  
+
−  %% Set output depending on nargout
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−  if nargout == 1;
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−    varargout = {out};
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−  elseif nargout == 2;
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−    varargout = {out plist_out};
+
−  elseif nargout == 0;
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−    iplot(ao_out);
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−  else
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−    error('Wrong number of outputs')
+
−  end
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−end
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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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−  
+
−  if nargin == 1 && strcmpi(varargin{1}, 'None')
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−    sets = {};
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−    pl   = [];
+
−  else
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−    sets = {'Default'};
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−    pl   = getDefaultPlist;
+
−  end
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−  % Build info object
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−  ii = minfo(mfilename, 'ssm', 'ltpda', utils.const.categories.op, '$Id: simulate.m,v 1.104 2011/07/11 10:44:38 adrien Exp $', sets, pl);
+
−end
+
−
+
−%--------------------------------------------------------------------------
+
−% Get Default Plist
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−%--------------------------------------------------------------------------
+
−function pl = getDefaultPlist()
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−  pl = ssm.getInfo('reorganize', 'for simulate').plists;
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−  pl.remove('set');
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−  
+
−  p = param({'covariance', 'The covariance of this noise between input ports for the <i>time-discrete</i> noise model.'}, []);
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−  pl.append(p);
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−  
+
−  p = param({'CPSD', 'The one sided cross-psd of the white noise between input ports.'}, []);
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−  pl.append(p);
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−  
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−  p = param({'aos', 'An array of input AOs.'}, ao.initObjectWithSize(1,0));
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−  pl.append(p);
+
−  
+
−  p = param({'constants', 'Array of DC values for the different corresponding inputs.'}, paramValue.DOUBLE_VALUE(zeros(0,1)));
+
−  pl.append(p);
+
−  
+
−  p = param({'Nsamples', 'The maximum number of samples to simulate (AO length(s) overide this).'}, paramValue.DOUBLE_VALUE(inf));
+
−  pl.append(p);
+
−  
+
−  p = param({'ssini', 'A cell-array of vectors that give the initial position for simulation.'}, {});
+
−  pl.append(p);
+
−  
+
−  p = param({'initialize', 'When set to 1, a random state value is computed for the initial point.'}, paramValue.FALSE_TRUE);
+
−  pl.append(p);
+
−  
+
−  p = param({'tini', 'Same as t0; kept for backwards compatibility.'}, paramValue.EMPTY_DOUBLE );
+
−  pl.append(p);
+
−  
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−  p = param({'t0', 'The initial simulation time (seconds).'}, paramValue.EMPTY_DOUBLE );
+
−  pl.append(p);
+
−  
+
−  p = param({'displayTime', 'Switch off/on the display'},  paramValue.TRUE_FALSE);
+
−  pl.append(p);
+
−  
+
−  p = param({'termincond', 'A string to evaluate a termination condition on the states in x (''lastX'') or outputs in y (''lastY'')'}, paramValue.EMPTY_STRING);
+
−  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);
+
−  
+
−  p = param({'force complete', 'Force the use of the complete simulation code.'}, paramValue.FALSE_TRUE);
+
−  pl.append(p);
+
−  
+
−end
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−