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1 ## Copyright (C) 1996, 1998 Auburn University. All rights reserved. |
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2 ## |
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3 ## This file is part of Octave. |
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4 ## |
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5 ## Octave is free software; you can redistribute it and/or modify it |
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6 ## under the terms of the GNU General Public License as published by the |
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7 ## Free Software Foundation; either version 2, or (at your option) any |
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8 ## later version. |
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9 ## |
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10 ## Octave is distributed in the hope that it will be useful, but WITHOUT |
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11 ## ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or |
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12 ## FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License |
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13 ## for more details. |
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14 ## |
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15 ## You should have received a copy of the GNU General Public License |
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16 ## along with Octave; see the file COPYING. If not, write to the Free |
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17 ## Software Foundation, 59 Temple Place, Suite 330, Boston, MA 02111 USA. |
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18 |
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19 ## -*- texinfo -*- |
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20 ## @deftypefn {Function File } {[@var{mag}, @var{phase}, @var{w}] =} bode(@var{sys}@{,@var{w}, @var{out_idx}, @var{in_idx}@}) |
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21 ## If no output arguments are given: produce Bode plots of a system; otherwise, |
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22 ## compute the frequency response of a system data structure |
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23 ## |
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24 ## @strong{Inputs} |
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25 ## @table @var |
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26 ## @item sys |
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27 ## a system data structure (must be either purely continuous or discrete; |
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28 ## see is_digital) |
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29 ## @item w |
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30 ## frequency values for evaluation. |
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31 ## |
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32 ## if @var{sys} is continuous, then bode evaluates @math{G(jw)} where |
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33 ## @math{G(s)} is the system transfer function. |
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34 ## |
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35 ## if @var{sys} is discrete, then bode evaluates G(@code{exp}(jwT)), where |
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36 ## @itemize @bullet |
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37 ## @item @var{T}=@code{sysgettsam(@var{sys})} (the system sampling time) and |
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38 ## @item @math{G(z)} is the system transfer function. |
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39 ## @end itemize |
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40 ## |
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41 ## @strong{ Default} the default frequency range is selected as follows: (These |
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42 ## steps are NOT performed if @var{w} is specified) |
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43 ## @enumerate |
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44 ## @item via routine bodquist, isolate all poles and zeros away from |
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45 ## @var{w}=0 (@var{jw}=0 or @math{@code{exp}(jwT)}=1) and select the frequency |
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46 ## range based on the breakpoint locations of the frequencies. |
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47 ## @item if @var{sys} is discrete time, the frequency range is limited |
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48 ## to @math{jwT} in |
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49 ## @ifinfo |
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50 ## [0,2 pi /T] |
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51 ## @end ifinfo |
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52 ## @iftex |
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53 ## @tex |
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54 ## $[0,2\pi/T]$ |
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55 ## @end tex |
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56 ## @end iftex |
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57 ## @item A "smoothing" routine is used to ensure that the plot phase does |
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58 ## not change excessively from point to point and that singular |
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59 ## points (e.g., crossovers from +/- 180) are accurately shown. |
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60 ## |
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61 ## @end enumerate |
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62 ## @item out_idx |
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63 ## @itemx in_idx |
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64 ## the indices of the output(s) and input(s) to be used in |
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65 ## the frequency response; see @code{sysprune}. |
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66 ## @end table |
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67 ## @strong{Outputs} |
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68 ## @table @var |
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69 ## @item mag |
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70 ## @itemx phase |
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71 ## the magnitude and phase of the frequency response |
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72 ## @math{G(jw)} or @math{G(@code{exp}(jwT))} at the selected frequency values. |
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73 ## @item w |
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74 ## the vector of frequency values used |
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75 ## @end table |
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76 ## |
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77 ## @strong{Notes} |
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78 ## @enumerate |
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79 ## @item If no output arguments are given, e.g., |
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80 ## @example |
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81 ## bode(sys); |
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82 ## @end example |
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83 ## bode plots the results to the |
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84 ## screen. Descriptive labels are automatically placed. |
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85 ## |
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86 ## Failure to include a concluding semicolon will yield some garbage |
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87 ## being printed to the screen (@code{ans = []}). |
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88 ## |
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89 ## @item If the requested plot is for an MIMO system, mag is set to |
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90 ## @math{||G(jw)||} or @math{||G(@code{exp}(jwT))||} |
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91 ## and phase information is not computed. |
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92 ## @end enumerate |
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93 ## @end deftypefn |
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94 |
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95 ## Author: John Ingram <ingraje@eng.auburn.edu> |
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96 ## Created: July 10, 1996 |
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97 ## Based on previous code by R. Bruce Tenison, July 13, 1994 |
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98 ## Modified by David Clem November 13, 1994 |
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99 ## again by A. S. Hodel July 1995 (smart plot range, etc.) |
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100 ## Modified by Kai P. Mueller September 28, 1997 (multiplot mode) |
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101 |
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102 function [mag_r, phase_r, w_r] = bode (sys, w, outputs, inputs, plot_style) |
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103 |
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104 ## check number of input arguments given |
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105 if (nargin < 1 | nargin > 5) |
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106 usage("[mag,phase,w] = bode(sys[,w,outputs,inputs,plot_style])"); |
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107 endif |
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108 if(nargin < 2) |
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109 w = []; |
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110 endif |
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111 if(nargin < 3) |
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112 outputs = []; |
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113 endif |
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114 if(nargin < 4) |
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115 inputs = []; |
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116 endif |
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117 if(nargin < 5) |
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118 plot_style = "dB"; |
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119 endif |
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120 |
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121 if (strcmp (plot_style, "dB")) |
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122 do_db_plot = 1; |
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123 elseif (strcmp (plot_style, "mag")) |
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124 do_db_plot = 0; |
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125 else |
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126 error ("bode: invalid value of plot_style specified"); |
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127 endif |
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128 |
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129 [f, w] = bodquist(sys,w,outputs,inputs,"bode"); |
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130 |
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131 [stname,inname,outname] = sysgetsignals(sys); |
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132 systsam = sysgettsam(sys); |
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133 |
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134 ## Get the magnitude and phase of f. |
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135 mag = abs(f); |
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136 phase = arg(f)*180.0/pi; |
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137 |
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138 if (nargout < 1), |
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139 ## Plot the information |
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140 if(gnuplot_has_multiplot) |
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141 oneplot(); |
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142 endif |
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143 gset autoscale; |
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144 if(gnuplot_has_multiplot) |
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145 gset nokey; |
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146 endif |
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147 clearplot(); |
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148 gset data style lines; |
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149 if(is_digital(sys)) |
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150 xlstr = ["Digital frequency w=rad/sec. pi/T=",num2str(pi/systsam)]; |
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151 tistr = "(exp(jwT)) "; |
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152 else |
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153 xlstr = "Frequency in rad/sec"; |
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154 tistr = "(jw)"; |
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155 endif |
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156 xlabel(xlstr); |
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157 if(is_siso(sys)) |
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158 if (gnuplot_has_multiplot) |
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159 subplot(2,1,1); |
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160 endif |
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161 title(["|[Y/U]",tistr,"|, u=", nth(inname,1),", y=",nth(outname,1)]); |
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162 else |
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163 title([ "||Y(", tistr, ")/U(", tistr, ")||"]); |
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164 disp("MIMO plot from") |
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165 disp(outlist(inname," ")); |
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166 disp("to") |
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167 disp(outlist(outname," ")); |
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168 endif |
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169 wv = [min(w), max(w)]; |
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170 if(do_db_plot && max(mag) > 0) |
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171 ylabel("Gain in dB"); |
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172 md = 20*log10(mag); |
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173 axvec = axis2dlim([vec(w),vec(md)]); |
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174 axvec(1:2) = wv; |
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175 axis(axvec); |
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176 else |
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177 ylabel("Gain |Y/U|") |
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178 md = mag; |
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179 endif |
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180 |
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181 grid("on"); |
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182 if (do_db_plot) |
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183 semilogx(w,md); |
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184 else |
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185 loglog(w,md); |
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186 endif |
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187 if (is_siso(sys)) |
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188 if (gnuplot_has_multiplot) |
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189 subplot(2,1,2); |
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190 else |
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191 prompt("Press any key for phase plot"); |
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192 endif |
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193 axvec = axis2dlim([vec(w),vec(phase)]); |
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194 axvec(1:2) = wv; |
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195 axis(axvec); |
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196 xlabel(xlstr); |
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197 ylabel("Phase in deg"); |
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198 title([ "phase([Y/U]", tistr, ... |
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199 "), u=", nth(inname,1),", y=",nth(outname,1)]); |
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200 grid("on"); |
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201 semilogx(w,phase); |
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202 ## This should be the default for subsequent plot commands. |
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203 if(gnuplot_has_multiplot) |
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204 oneplot(); |
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205 endif |
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206 endif |
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207 else |
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208 mag_r = mag; |
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209 phase_r = phase; |
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210 w_r = w; |
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211 endif |
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212 endfunction |
