Mercurial > hg > ltpda
view m-toolbox/classes/@ssm/ssm.m @ 42:f90d4f666cc7 database-connection-manager
Cleanup
author | Daniele Nicolodi <nicolodi@science.unitn.it> |
---|---|
date | Mon, 05 Dec 2011 18:04:34 +0100 |
parents | a71a40911c27 |
children | a59cdb8aaf31 |
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% SSM statespace model class constructor. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % % DESCRIPTION: SSM statespace model class constructor. % % CONSTRUCTORS: % % s = ssm() - creates an empty statespace model % s = ssm('a1.xml') - creates a new statespace model by loading the % object from disk. % s = ssm('a1.mat') - creates a new statespace model by loading the % object from disk. % a = ssm(plist) - creates a statespace model from the description % given in the parameter list % a = ssm(struct) - creates a statespace model from the % structure returned by struct(ssm). % % % EXAMPLES: % % 1) Construct an SSM object by description: % % name = 'sys'; % statenames = {'ss1' 'ss2' 'ss3'}; % inputnames = {'input1' 'input2' 'input3'}; % outputnames = {'output1' 'output2' 'output3'}; % timestep = 0; % params = plist({'omega', 'system frequency'}, 2); % amats = cell(3,3); % bmats = cell(3,3); % cmats = cell(3,3); % dmats = cell(3,3); % amats{1,1} = -(sym('omega')); % amats{2,2} = -2; % amats{3,3} = -3*eye(2); % amats{3,1} = [-1;-3]; % bmats{1,1} = 1; % bmats{2,2} = 2; % bmats{3,3} = 3*eye(2); % cmats{1,1} = 1; % cmats{2,2} = 1; % cmats{3,3} = eye(2); % dmats{1,3} = [6 6]; % dmats{2,1} = 6; % dmats{3,2} = [6;6]; % sys = ssm(plist( ... % 'amats',amats, 'bmats',bmats, 'cmats',cmats, 'dmats',dmats, ... % 'timestep',timestep, 'name',name, 'params',params, ... % 'statenames',statenames, 'inputnames',inputnames, 'outputnames',outputnames )); % % % A shortcut (incomplete) syntax is : % sys = ssm( amats, bmats, cmats, dmats, timestep, name, params, ... % statenames, inputnames, outputnames ) % Also : % sys = ssm(miirObject); % sys = ssm(rationalObject); % sys = ssm(parfracObject); % % More complete call % % here computation of the system's matrices, declaration % % of parameters, some symbolic may be stored in the user % % plist % sys = struct % SMD_W= 0.2; SMD_C=0.5; SMD_S1=0; SMD_S2=0; SMD_B=1; SMD_D1=0; % sys.params = plist; % % % sys.amats = {[0 1 ; -SMD_W*SMD_W -2*SMD_C*SMD_W]}; % sys.cmats = {[1+SMD_S1 SMD_S2]}; % sys.bmats = {[0;SMD_B] [0 0; 1 0]}; % sys.dmats = {SMD_D1 [0 1]}; % % sys.timestep = 0; % % sys.name = 'SRPINGMASSDAMPER'; % sys.description = 'standard spring-mass-damper test system'; % % inputnames = {'CMD' 'DIST_SMD'}; % inputdescription = {'force noise' 'observation noise'}; % inputvarnames = {{'F'} {'F' 'S'}}; % inputvarunits = {unit('kg m s^-2') [unit('kg m s^-2') unit('m')]}; % inputvardescription = []; % % ssnames = {'SMD'}; % ssdescription = {'TM position and speed'}; % ssvarnames = {{'x' 'xdot'}}; % ssvarunits={[unit('m') unit('m s^-1')]}; % ssvardescription = []; % % outputnames = {'SMD'}; % outputdescription = {'observed position'}; % outputvarnames ={{'OBS'}}; % outputvarunits={unit('m')}; % outputvardescription = []; % % %% Build ssmblocks % sys.inputs = ssmblock.makeBlocksWithData(inputnames, inputdescription, inputvarnames, inputvarunits, inputvardescription); % sys.outputs = ssmblock.makeBlocksWithData(outputnames, outputdescription, outputvarnames, outputvarunits, outputvardescription); % sys.states = ssmblock.makeBlocksWithData(ssnames, ssdescription, ssvarnames, ssvarunits, ssvardescription); % %% plist constructors % sys = ssm(plist( ... % 'amats',sys.amats, 'bmats',sys.bmats, 'cmats',sys.cmats, 'dmats',sys.dmats, ... % 'timestep',0, 'name','sys.name', 'inputs',sys.inputs, ... % 'states', sys.states, 'outputs', sys.outputs)); % % % <a href="matlab:utils.helper.displayMethodInfo('ssm', 'ssm')">Parameters Description</a> % % VERSION: $Id: ssm.m,v 1.199 2011/05/13 15:14:39 ingo Exp $ % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% classdef ssm < ltpda_uoh %% -------- Public (read/write) Properties ------- properties end % End (read/write) Properties %% -------- Private read-only Properties -------- properties (SetAccess = protected) amats = {}; % A matrix representing a difference/differential term in the state equation, block stored in a cell array bmats = {}; % B matrix representing an input coefficient matrix in the state equation, block stored in a cell array cmats = {}; % C matrix representing the state projection in the observation equation, block stored in a cell array dmats = {}; % D matrix representing the direct feed through term in the observation equation, block stored in a cell array timestep = 0; % Timestep of the difference equation. Zero means the representation is time continuous and A defines a differential equation. inputs = ssmblock.initObjectWithSize(1,0); % ssmblock for input blocks states = ssmblock.initObjectWithSize(1,0); % ssmblock describing state blocks outputs = ssmblock.initObjectWithSize(1,0); % ssmblock describing the output blocks numparams = plist.initObjectWithSize(1,1); % nested plist describing the numeric (substituted) parameters params = plist.initObjectWithSize(1,1); % nested plist describing the symbolic parameters end % End read only properties %% -------- Dependant Properties --------- properties (Dependent) Ninputs % Number of input-blocks, it is a double inputsizes % Size corresponding to each input-block in the B/D matrices. It is a double vector Noutputs % Number of output-blocks, it is a double outputsizes % Size corresponding to each output-block in the C/D matrices. It is a double vector Nstates % Number of state-blocks, it is a double statesizes % Size corresponding to each state-block in the A/B/C matrices. It is a double vector Nnumparams % number of parameters, a double; Nparams % number of parameters, a double; isnumerical % This binary tells whether the system has numerical content only, or symbolic as well end %% -------- Dependant Properties --------- properties (Dependent, Hidden) Nss % Number of state-blocks, it is a double sssizes % Size corresponding to each state-block in the A/B/C matrices. It is a double vector inputnames % Cell array with input blocks names inputvarnames % Embedded cell array with input ports names ssnames % Cell array with states blocks names ssvarnames % Embedded cell array with states ports names statenames % Cell array with states blocks names statevarnames % Embedded cell array with states ports names outputnames % Cell array with output blocks names outputvarnames % Embedded cell array with output ports names paramnames % Cell array with input parameter names paramvalues % Double array with input parameter values - may not work with new paramvalue class numparamnames % Cell array with input parameter names numparamvalues % Double array with input parameter values - may not work with new paramvalue class end %-------- Protected Properties --------- %% -------- Dependant Properties Methods ------ methods function value = get.Ninputs(obj) value = size(obj.bmats,2); end function value = get.inputsizes(obj) Ninputs = obj.Ninputs; Nstates = obj.Nstates; Noutputs = obj.Noutputs; if Nstates==0 && Ninputs~=0 && Noutputs==0 error('This ssm has matrix sizes that make it impossible to determine the property inputsizes (0 states, 1+ inputs and 0 output)') end value = zeros(1, Ninputs); for k=1:Ninputs % b matrix vertically for p=1:Nstates value(k) = size(obj.bmats{p,k} ,2); if value(k)>0 break end end % d matrix vertically if value(k)==0 for p=1:Noutputs value(k) = size(obj.dmats{p,k} ,2); if value(k)>0 break end end end end end function value = get.Noutputs(obj) value = size(obj.cmats,1); end function value = get.outputsizes(obj) Ninputs = obj.Ninputs; Nstates = obj.Nstates; Noutputs = obj.Noutputs; if Nstates==0 && Ninputs==0 && Noutputs~=0 error('This ssm has matrix sizes that make it impossible to determine the property outputsizes (0 states, 0 input and 1+ outputs)') end value = zeros(1, Noutputs); for k=1:Noutputs % c matrix horizontally for p=1:Nstates value(k) = size(obj.cmats{k,p} ,1); if value(k)>0 break end end % d matrix horizontally if value(k)==0 for p=1:Ninputs value(k) = size(obj.dmats{k,p} ,1); if value(k)>0 break end end end end end function value = get.Nstates(obj) value = size(obj.amats,1); end function value = get.statesizes(obj) Ninputs = obj.Ninputs; Nstates = obj.Nstates; Noutputs = obj.Noutputs; value = zeros(1, Nstates); for k=1:Nstates % b matrix horizontally for p=1:Ninputs value(k) = size(obj.bmats{k,p}, 1); if value(k)>0 break end end % a matrix horizontally if value(k)==0 for p=1:Nstates value(k) = size(obj.amats{k,p}, 1); if value(k)>0 break end end end % a matrix vertically if value(k)==0 for p=1:Nstates value(k) = size(obj.amats{p,k}, 2); if value(k)>0 break end end end % c matrix vertically if value(k)==0 for p=1:Noutputs value(k) = size(obj.cmats{p,k}, 2); if value(k)>0 break end end end end end function value = get.Nss(obj) value = obj.Nstates; end function value = get.sssizes(obj) value = obj.statesizes; end function value = get.Nparams(obj) value = obj.params.nparams; end function value = get.Nnumparams(obj) value = obj.numparams.nparams; end function value = get.isnumerical(obj) value = true; for i=1:numel(obj.amats) if ~isa(obj.amats{i}, 'double'), value = false; return; end end for i=1:numel(obj.bmats) if ~isa(obj.bmats{i}, 'double') value = false; return; end end for i=1:numel(obj.cmats) if ~isa(obj.cmats{i}, 'double') value = false; return; end end for i=1:numel(obj.dmats) if ~isa(obj.dmats{i}, 'double') value = false; return; end end end function names = get.inputnames(obj) names = obj.inputs.blockNames; end function names = get.inputvarnames(obj) names = obj.inputs.portNames; end function names = get.ssnames(obj) names = obj.statenames; end function names = get.ssvarnames(obj) names = obj.statevarnames; end function names = get.statenames(obj) names = obj.states.blockNames; end function names = get.statevarnames(obj) names = obj.states.portNames; end function names = get.outputnames(obj) names = obj.outputs.blockNames; end function names = get.outputvarnames(obj) names = obj.outputs.portNames; end function names = get.paramnames(obj) Nparams = obj.params.nparams; names = cell(1, Nparams); for i=1:Nparams names{i} = obj.params.params(i).key; end end function values = get.paramvalues(obj) Nparams = obj.params.nparams; values = zeros(1, Nparams); for i=1:Nparams values(i) = obj.params.params(i).getVal; end end function names = get.numparamnames(obj) Nnumparams = obj.numparams.nparams; names = cell(1, Nnumparams); for i=1:Nnumparams names{i} = obj.numparams.params(i).key; end end function values = get.numparamvalues(obj) Nnumparams = obj.numparams.nparams; values = zeros(1, Nnumparams); for i=1:Nnumparams values(i) = obj.numparams.params(i).getVal; end end function set.inputnames(obj, inputnames) if ~obj.Ninputs == numel(inputnames) error('### error : Input size is wrong') end if obj.Ninputs == numel(obj.inputs) obj.inputs.setBlockNames(inputnames); else obj.inputs = ssmblock.makeBlocksWithSize(obj.inputsizes, inputnames); end % history to be added ? end function set.statenames(obj, statenames) if ~obj.Nstates == numel(statenames) error('### error : Input size is wrong') end if (obj.Nstates == numel(obj.states)) obj.states.setBlockNames(statenames); else obj.states = ssmblock.makeBlocksWithSize(obj.statesizes, statenames); end % history to be added ? end function set.outputnames(obj, outputnames) if ~obj.Noutputs == numel(outputnames) error('### error : Input size is wrong') end if obj.Noutputs == numel(obj.outputs) obj.outputs.setBlockNames(outputnames); else obj.outputs = ssmblock.makeBlocksWithSize(obj.outputsizes, outputnames); end % history to be added ? end function set.ssnames(obj, ssnames) obj.statenames = ssnames; end end %% -------- constructor ------ methods(Access = public) function s = ssm(varargin) import utils.const.* utils.helper.msg(msg.PROC3, 'running %s/%s', mfilename('class'), mfilename); % Check the supported version utils.helper.checkMatlabVersion; % Initialize the properties to make sure that the pointer points to a % new object. s.numparams = plist(); s.numparams.setName('numparams'); s.params = plist(); s.params.setName('params'); % empty constructor if nargin == 0 %%%%%%%%%% s = ssm() %%%%%%%%%% s.addHistory(ssm.getInfo('ssm', 'None'), plist(), [], []); return end % copy constructor % Collect all ssm objects to check for copy constructor sss = utils.helper.collect_objects(varargin(:), 'ssm'); if ~isempty(sss) %%%%%%%%%% s = ssm(<ssm objects>) %%%%%%%%%% utils.helper.msg(msg.OPROC1, 'copy constructor'); s = copy(sss, 1); for kk=1:numel(s) s(kk).addHistory(ssm.getInfo('ssm', 'None'), [], [], s(kk).hist); end return end % one input constructor if (nargin == 1) % constructor with one object vin = varargin{1}; if any( strcmp(class(vin), {'pzmodel', 'rational', 'parfrac', 'struct', 'miir', 'ss' } )) %%%%%%%%%% s = ssm(<model object>) %%%%%%%%%% s = ssm(vin, plist); return end % constructor from a plist with no object inside % % the object may only be validated in the constructor % the history may only be added in the constructor if isa(vin, 'plist') %%%%%%%%%% s = ssm(<empty plist>) %%%%%%%%%% if vin.nparams == 0 % empty constructor with a plist utils.helper.msg(msg.OPROC1, 'empty constructor %s', varargin{1}.name); s.addHistory(ssm.getInfo('ssm', 'None'), vin, [], []); return %%%%%%%%%% s = ssm(<plist with no model object inside>) %%%%%%%%%% elseif isparam(vin,'amats') % construct from a plist description utils.helper.msg(msg.OPROC1, 'constructor from a description %s', varargin{1}.name); s = ssm.ssmFromDescription(vin); s.addHistory(ssm.getInfo('ssm', 'None'), vin, [], []); return elseif isparam(vin,'Built-in') % Construct from built-in models utils.helper.msg(msg.OPROC1, 'constructing from Built-in model %s', varargin{1}.name); vin.pset('Built-in', vin.find('Built-in')); if isparam(vin, 'withparams') error('The WITHPARAMS key has been changed to SYMBOLIC PARAMS. Please check your plist'); end s = fromModel(s,vin); s.validate; % validate when a new object is built return elseif isparam(vin,'Hostname') % Retrieve from repository utils.helper.msg(msg.OPROC1, 'constructing from repository %s', varargin{1}.name); s = s.fromRepository(vin); return elseif isparam(vin,'Filename') % filename constructor utils.helper.msg(msg.OPROC1, 'constructing from filename %s', varargin{1}.name); s = s.fromFile(vin); return % constructor from a plist with an object inside % % the object is retrieved out of the plist and removed from the % plist to make it lighter. The input is parsed to the ssm % constructor with two inputs. History and validation are done in % there. % There is no message since it is displayed in the call to ssm % later on %%%%%%%%%% s = ssm(<plist with model-object inside>) %%%%%%%%%% elseif isparam(vin,'pzmodel') obj = find(vin, 'pzmodel'); vin.remove('pzmodel') elseif isparam(vin,'rational') obj = find(vin, 'rational'); vin.remove('rational') elseif isparam(vin,'parfrac') obj = find(vin, 'parfrac'); vin.remove('parfrac') elseif isparam(vin,'struct') obj = find(vin, 'struct'); vin.remove('struct') elseif isparam(vin,'miir') obj = find(vin, 'miir'); vin.remove('miir') elseif isparam(vin,'ss') obj = find(vin, 'ss'); vin.remove('ss') else display('### Unknown ssm constructor could not find a valid parameter key ###') display('### these are : ''Filename'' ''Built-in'' ''pzmodel'' ''miir'' ''amats'' ###') display('### ''Hostname'' ''rational'' ''struct'' ''ss'' ###') error(''); end s = ssm(obj, vin); return end % constructor with an input string if isa(vin, 'char') %%%%%%%%%% s = ssm(filename) %%%%%%%%%% s = ssm(plist('Filename', vin)); return end % in the worst case, try with the same input and a plist !? Not % Yet (TBD) display('### Unknown ssm one-object constructor, allowed object classes are: ###') display('### ''plist'' ''pzmodel'' ''rational'' ''parfrac'' ''struct'' ''miir'' ''ss'' ###') error(''); end % two inputs constructors switch nargin case 2 obj = varargin{1}; pl = varargin{2}; if isa(pl, 'plist') if isstruct(obj) %%%%%%%%%% s = ssm(struct, plist) %%%%%%%%%% utils.helper.msg(msg.OPROC1, 'contructing from a structure'); s = fromStruct(s, obj); doValidate = true; elseif isa(obj, 'pzmodel') %%%%%%%%%% s = ssm(pzmodel, plist) %%%%%%%%%% utils.helper.msg(msg.OPROC1, 'constructing from pzmodel %s', varargin{1}.name); s = ssm.ssmFromPzmodel( obj, pl); doValidate = true; elseif isa(obj, 'miir') %%%%%%%%%% s = ssm(miir, plist) %%%%%%%%%% utils.helper.msg(msg.OPROC1, 'constructing from miir %s', varargin{1}.name); s = ssm.ssmFromMiir(obj, pl); doValidate = true; elseif isa(obj, 'ss') %%%%%%%%%% s = ssm(ss, plist) %%%%%%%%%% utils.helper.msg(msg.OPROC1, 'constructing from ss %s', varargin{1}.name); s = ssm.ssmFromss(obj, pl); doValidate = true; elseif isa(obj,'char') && pl.isparam('filename') %%%%%%%%%% s = ssm(filename, plist) %%%%%%%%%% utils.helper.msg(msg.OPROC1, 'constructing from filename %s', varargin{1}.name); filename = varargin{1}; s = s.fromFile(filename); doValidate = false; elseif isa(obj, 'rational') %%%%%%%%%% s = ssm(rational, plist) %%%%%%%%%% utils.helper.msg(msg.OPROC1, 'constructing from rational %s', varargin{1}.name); s = ssm.ssmFromRational(obj,pl); doValidate = true; elseif isa(obj, 'parfrac') %%%%%%%%%% s = ssm(parFrac) %%%%%%%%%% s = ssm.ssmFromParfrac(obj, pl); doValidate = true; elseif isa(obj, 'ssm') && pl.nparams == 0 s = ssm(obj); elseif isa(obj, 'plist') % if for some reason we have two input plists, combine them. %%%%%%%%%% s = ssm(plist, plist) %%%%%%%%%% s = ssm(obj.combine(plist)); return; else error(['### Error: ssm constructor cannot accept input of type : ',class(obj)]); end % Now validate this object if doValidate s.validate(); end elseif (isa(varargin{1}, 'database') || isa(varargin{1}, 'java.sql.Connection')) && isnumeric(varargin{2}) %%%%%%%%%% s = ssm(<database-object>, [IDs]) %%%%%%%%%% utils.helper.msg(msg.OPROC1, 'retrieve from repository'); s = s.fromRepository(plist('conn', varargin{1}, 'id', varargin{2})); elseif ischar(varargin{1}) %%%%%%%%% s = ssm('str1', param1) %%%%%%%%%% s = ssm(plist(varargin{1},varargin{2})); s.validate(); elseif isa(varargin{1}, 'org.apache.xerces.dom.DeferredElementImpl') && ... isa(varargin{2}, 'history') %%%%%%%%%% obj = ssm(DOM node, history-objects) %%%%%%%%%% s = fromDom(s, varargin{1}, varargin{2}); else error('### Unknown two parameter constructor.'); end % contructor with more than 2 inputs, which cannot be the copy % constructor (done at the beggining) otherwise if ischar(varargin{1}) %%%%%%%%%% s = ssm('str1', param1, 'str2', param2 ...) %%%%%%%%%% try vin = plist(varargin{:}); catch error('### Unknown constructor - ssm tried to make a plist with the constructor inputs, but it did not work.'); end s = ssm(vin); else % Try shortcut call with a description try %%%%%%%%%% s = ssm(amats, bmats, cmats,...) %%%%%%%%%% utils.helper.msg(msg.OPROC1, 'attempting building a description'); keynames = {'amats', 'bmats', 'cmats', 'dmats', 'timestep', 'name', 'params'... 'statenames', 'inputnames', 'outputnames' }; pli = plist; for i=1:numel(keynames) if i<=nargin pli.append( plist(keynames{i},varargin{i}) ); end end s = ssm(pli); catch ME error(ME.identifier, '### Unknown constructor with more than 2 arguments.'); end end end end end % -------- constructor ------ %% -------- Declaration of hidden methods -------- methods (Hidden = true) varargout = setA(varargin); varargout = setB(varargin); varargout = setC(varargin); varargout = setD(varargin); function clearNumParams(sys) sys.numparams = plist; end function clearAllUnits(sys) sys.inputs.clearAllUnits; sys.states.clearAllUnits; sys.outputs.clearAllUnits; end % completion and error check varargout = validate(varargin) % copying one ssm varargout = copy(varargin) % process system simplification varargout = doSimplify(varargin) % process parameter setting varargout = doSetParameters(varargin) % process parameter substitution varargout = doSubsParameters(varargin) % re-arrangement of ssm sys = reshuffle(sys, inputs1, inputs2, inputs3, states, outputs, outputStates) % necessary for saving XML files varargout = attachToDom(varargin) end %% -------- Declaration of Public Static methods -------- methods (Static=true, Access=public) function mdls = getBuiltInModels(varargin) mdls = ltpda_uo.getBuiltInModels('ssm'); end function ii = getInfo(varargin) ii = utils.helper.generic_getInfo(varargin{:}, 'ssm'); end function out = VEROUT() out = '$Id: ssm.m,v 1.199 2011/05/13 15:14:39 ingo Exp $'; end function out = SETS() out = [SETS@ltpda_uoh, ... {'From Description'}, ... {'From Pzmodel'}, ... {'From Miir'}, ... {'From Rational'}]; end function plout = getDefaultPlist(set) persistent pl; persistent lastset; if exist('pl', 'var')==0 || isempty(pl) || ~strcmp(lastset, set) pl = ssm.buildplist(set); lastset = set; end plout = pl; end function pl = buildplist(set) if ~utils.helper.ismember(lower(ssm.SETS), lower(set)) error('### Unknown set [%s]', set); end pl = plist(); pl = ssm.addGlobalKeys(pl); pl = buildplist@ltpda_uoh(pl, set); switch lower(set) % Select parameter set case 'default' % overide the default plist pl = ssm.getDefaultPlist('From Description'); case 'from built-in model' % Built-in % This is inherited pl = plist.FROM_BUILT_IN; % withParams --> withparams changed to 'symbolic params' p = param({'symbolic params',['Give a cell-array of parameter names to keep in the expression.<br>',... 'By default this is empty and the model will be returned fully numeric.',... 'You can also specify ''ALL'' to keep all parameters. Some models don''t support this',... 'option; see the specific help of the models for details.']}, {}); pl.append(p); % SETNAMES --> setnames changed to 'param names' p = param({'param names',['Cell-array of parameter names for user defined values.<br>',... 'This way, parameter values can be modified even if they are never used symbolically.']},{}); pl.append(p); % SETVALUES --> setvalues changed to 'param values' p = param({'param values','Array of parameter values for numerical substitutions.'}, paramValue.EMPTY_DOUBLE); pl.append(p); case 'from description' % States p = param({'states','State space blocks.'}, ssmblock.initObjectWithSize(1,0)); pl.append(p); % Outputs p = param({'outputs','Output blocks.'}, ssmblock.initObjectWithSize(1,0)); pl.append(p); % Inputs p = param({'inputs','Input blocks.'}, ssmblock.initObjectWithSize(1,0)); pl.append(p); % Timestep p = param({'timestep',['Timestep of the difference equation. Zero means '... 'the representation is time continuous' ]}, paramValue.DOUBLE_VALUE(0)); pl.append(p); % AMATS p = param({'amats',['A matrix representing a difference/differential term in the state equation.',... 'Specify as a cell-array of matrices.']}, cell(0,0)); pl.append(p); % BMATS p = param({'bmats',['B matrix representing an input coefficient matrix in the state equation.',... 'Specify as a cell-array of matrices.']}, cell(0,0)); pl.append(p); % CMATS p = param({'cmats',['C matrix representing the state projection in the observation equation.',... 'Specify as a cell-array of matrices.']}, cell(0,0)); pl.append(p); % DMATS p = param({'dmats',['D matrix representing the direct feed through term in the observation equation.',... 'Specify as a cell-array of matrices.']}, cell(0,0)); pl.append(p); % Params p = param({'params','Parameter data arrays.'}, {1, {plist}, paramValue.OPTIONAL}); pl.append(p); case 'from pzmodel' p = param({'pzmodel','A pole/zero model object.'}, {1, {pzmodel}, paramValue.OPTIONAL}); pl.append(p); case 'from miir' p = param({'miir','An IIR filter object (MIIR).'}, {1, {miir}, paramValue.OPTIONAL}); pl.append(p); case 'from rational' p = param({'rational','A rational (transfer function) model object.'}, {1, {rational}, paramValue.OPTIONAL}); pl.append(p); end end function obj = initObjectWithSize(n,m) obj = ssm.newarray([n m]); end end % End public static methods %% -------- Declaration of public methods -------- methods varargout = getParams(varargin) varargout = setParams(varargin) varargout = setBlockProperties(varargin) varargout = setBlockNames(varargin) varargout = setBlockDescriptions(varargin) varargout = setPortProperties(varargin) varargout = setPortNames(varargin) varargout = setPortUnits(varargin) varargout = setPortDescriptions(varargin) % change timestep varargout = modifyTimeStep(varargin) % add, change and subsitute parameters varargout = addParameters(varargin) varargout = subsParameters(varargin) varargout = setParameters(varargin) varargout = keepParameters(varargin) varargout = getParameters(varargin) % copy one input block varargout = duplicateInput(varargin) % assemble systems varargout = assemble(varargin) % append systems varargout = append(varargin) % transform into a iir varargout = ssm2miir(varargin) % transform into a pzmodel varargout = ssm2pzmodel(varargin) % transform into ABCD doubles/symb varargout = double(varargin) % returns aos with impulse or step response varargout = resp(varargin) % returns aos with impulse or step response (uses control toolbox) varargout = respcst(varargin) % transform into a matlab ss object varargout = ssm2ss(varargin) % simulation varargout = simulate(varargin) % kalman filter varargout = kalman(varargin) % model simplification (variables) varargout = simplify(varargin) % char varargout = char(varargin) % display varargout = display(varargin) % give minimal realization varargout = MinReal(varargin) % give minimal systematic realization varargout = sMinReal(varargin) % tells if ssm is stable varargout = isStable(varargin) % returns a value for steady state varargout = steadyState(varargin) % returns a value for the system's settling time varargout = settlingTime(varargin) % returns a system with output diferrenciated in regards with parameters varargout = parameterDiff(varargin) % returns the expected output spectrum of the ssm varargout = PSD(varargin) varargout = CPSD(varargin) % takes coupled inputs but does not return individual contributions % fitting ssm parameters varargout = ssmFit(varargin); % reorganize ssm for simulation, PSD, BODE... varargout = reorganize(varargin) % display ports/plists varargout = displayProperties(varargin) end methods (Access = private) end %% -------- Declaration of Hidden Static methods -------- methods (Static=true, Hidden=true) % create from miir varargout = ssmFromMiir(varargin) % create from rational varargout = ssmFromRational(varargin) % create from parfrac object varargout = ssmFromParfrac(varargin) % create from ss varargout = ssmFromss(varargin) % create from plist varargout = ssmFromDescription(varargin) % create from pzmodel varargout = ssmFromPzmodel(varargin) % subroutines for block defined matrix calculus a_out = blockMatRecut(a, rowsizes, colsizes) a_out = blockMatFusion(a, rowsizes, colsizes) c = blockMatMult(varargin) a = blockMatAdd(varargin) a = blockMatIndex(amats, blockIndex1, portIndex1, blockIndex2, portIndex2) a = blockMatIndexSym(amats, blockIndex1, portIndex1, blockIndex2, portIndex2) varargout = blockMatPrune(varargin) a = blockMatFillDiag(a, isizes, jsizes) varargout = loadobj(varargin) varargout = update_struct(varargin) % for built-in models varargout = modelHelper_checkParameters(varargin) varargout = modelHelper_processInputPlist(varargin) [params, numParams] = modelHelper_declareParameters(pl, paramNames, paramValues, paramDescriptions, paramUnits) modelHelper_introScript varargout = buildParamPlist(names, value, description, units, pl); % indexing in a matrix and I/o block arrays, with selection and % permuation matrices varargout = getMatrixSelection(blockMat, colSizes, oldColumns, newColumns, rowSizes, oldRows, newRows) % Chi2 fitting computation varargout = computeChiFit(varargin) % simulation computation [x, y, lastX] = doSimulate(varargin) % bode computation varargout = doBode(a, b, c, d, w, Ts) end methods (Access = protected) varargout = fromStruct(varargin) varargout = fromDom(varargin) end end % End classdef