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comparison scripts/control/is_controllable.m @ 3228:dbcc24961c44

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[project @ 1998-12-09 18:42:12 by jwe]
author jwe
date Wed, 09 Dec 1998 18:42:13 +0000
parents ba1c7cdc6090
children 28aba52a2368
comparison
equal deleted inserted replaced
3227:e090571062ee 3228:dbcc24961c44
35 # is_observable, is_stabilizable, is_detectable, krylov, krylovb 35 # is_observable, is_stabilizable, is_detectable, krylov, krylovb
36 36
37 # Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993. 37 # Written by A. S. Hodel (scotte@eng.auburn.edu) August, 1993.
38 # Updated by A. S. Hodel (scotte@eng.auburn.edu) Aubust, 1995 to use krylovb 38 # Updated by A. S. Hodel (scotte@eng.auburn.edu) Aubust, 1995 to use krylovb
39 # Updated by John Ingram (ingraje@eng.auburn.edu) July, 1996 for packed systems 39 # Updated by John Ingram (ingraje@eng.auburn.edu) July, 1996 for packed systems
40 # SYS_INTERNAL accesses members of packed system structure 40 # $Revision: 1.15 $
41 # $Revision: 1.14 $
42 41
43 deftol = 1; # assume default tolerance 42 deftol = 1; # assume default tolerance
44 if(nargin < 1 | nargin > 3) 43 if(nargin < 1 | nargin > 3)
45 usage(sprintf("[retval,U] = %s\n\t%s", "is_controllable(a {, b ,tol})", ... 44 usage("[retval,U] = %s\n\t%s", "is_controllable(a {, b ,tol})", ...
46 "is_controllable(sys{,tol})")); 45 "is_controllable(sys{,tol})");
47 elseif(is_struct(a)) 46 elseif(is_struct(a))
48 # system structure passed. 47 # system structure passed.
49 sys = sysupdate(a,"ss"); 48 sys = sysupdate(a,"ss");
50 [a,bs] = sys2ss(sys); 49 [a,bs] = sys2ss(sys);
51 if(nargin > 2) 50 if(nargin > 2)
66 65
67 # check for default tolerance 66 # check for default tolerance
68 if(deftol) tol = 1000*eps; endif 67 if(deftol) tol = 1000*eps; endif
69 68
70 # check tol dimensions 69 # check tol dimensions
71 if( !is_sample(tol) ) 70 if( !is_scalar(tol) )
72 error("is_controllable: tol must be a positive scalar!"); 71 error("is_controllable: tol(%dx%d) must be a scalar", ...
72 rows(tol),columns(tol));
73 elseif( !is_sample(tol) )
74 error("is_controllable: tol=%e must be positive",tol);
73 endif 75 endif
74 76
75 # check dimensions compatibility 77 # check dimensions compatibility
76 n = is_square (a); 78 n = is_square (a);
77 [nr, nc] = size (b); 79 [nr, nc] = size (b);
78 80
79 if (n == 0 | n != nr | nc == 0) 81 if (n == 0 | n != nr | nc == 0)
80 warning(["is_controllable: a=(",num2str(rows(a)),"x", ... 82 warning("is_controllable: a=(%dx%d), b(%dx%d)",rows(a),columns(a),nr,nc);
81 num2str(columns(a)),"), b=(",num2str(nr),"x",num2str(nc),")"])
82 retval = 0; 83 retval = 0;
83 else 84 else
84 # call block-krylov subspace routine to get an orthogonal basis 85 # call block-krylov subspace routine to get an orthogonal basis
85 # of the controllable subspace. 86 # of the controllable subspace.
86 if(nc == 1) 87 if(nc == 1)
87 [U,H,Ucols] = krylov(a,b,n,tol); 88 [U,H,Ucols] = krylov(a,b,n,tol,1);
88 U = U(:,1:Ucols); 89 U = U(:,1:Ucols);
89 else 90 else
90 [U,Ucols] = krylovb(a,b,n,tol); 91 [U,Ucols] = krylovb(a,b,n,tol);
91 U = U(:,1:Ucols); 92 U = U(:,1:Ucols);
92 endif 93 endif