#! /bin/sh
######################################
##### Model Transformation Tools #####
######################################
# Bourne shell script: smc2ssk_r
# controller-form state matrices to controller gain k
# P.J.Gawthrop Jan 1998
# Copyright (c) P.J.Gawthrop 1998
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.3 1998/02/09 14:16:52 peterg
## Writes end statement to the o/p file
##
## Revision 1.2 1998/01/23 09:30:36 peterg
## Fixed a sign error - the coeficients of a(s) appear with - signs in
## the A_c matrix!
##
## Revision 1.1 1998/01/22 13:16:16 peterg
## Initial revision
##
###############################################################
Nu=`mtt_getsize $1 u`
Ny=`mtt_getsize $1 y`
if [ "$Nu" = "1" ]; then
if [ "$Ny" = "1" ]; then
blurb=' for this siso system'
else
blurb=" using first output of $Ny"
fi
else
if [ "$Ny" = "1" ]; then
blurb=" using first input of $Nu"
else
blurb=" using first input of $Nu and using first output of $Ny"
fi
fi
# Inform user
echo Creating $1_ssk.r $blurb
# Remove the old log file
rm -f smc2ssk_r.log
# Use reduce to accomplish the transformation
reduce >smc2ssk_r.log << EOF
in "$1_def.r";
in "$1_smc.r";
%Read the formatting function
in "$MTTPATH/trans/reduce_matrix.r";
OFF Echo;
OFF Nat;
%%%% Controller design %%%%%
% gain in controller form:
matrix MTTk_c(1,MTTNx);
matrix alpha_c(9,1);
alpha_c(1,1) := alpha_c1;
alpha_c(2,1) := alpha_c2;
alpha_c(3,1) := alpha_c3;
alpha_c(4,1) := alpha_c4;
alpha_c(5,1) := alpha_c5;
alpha_c(6,1) := alpha_c6;
alpha_c(7,1) := alpha_c7;
alpha_c(8,1) := alpha_c8;
alpha_c(9,1) := alpha_c9;
for i := 1:MTTNx do
MTTk_c(1,i) := alpha_c(i,1) + MTTA_c(1,i);
% Gain in physical form
MTTk := MTTk_c*MTTT_c;
%Create the output file
OUT "$1_ssk.r";
%Write out the matrices.
write "% - Gain matrix - controller form";
MTT_Matrix := MTTK_c$
MTT_Matrix_name := "MTTK_c"$
MTT_Matrix_n := 1$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$
write "% - Gain matrix - physical form";
MTT_Matrix := MTTK$
MTT_Matrix_name := "MTTK"$
MTT_Matrix_n := 1$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$
write "END;";
SHUT "$1_ssk.r";
quit;
EOF
# Now invoke the standard error handling.
mtt_error_r smc2ssk_r.log