#! /bin/sh
######################################
##### Model Transformation Tools #####
######################################
# Bourne shell script: sm2smo_r
# state matrices to cobserver form
# P.J.Gawthrop 12 Jan 1997
# Copyright (c) P.J.Gawthrop 1998
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################
# Inform user
echo Creating $1_smo.r -- NOTE this is for SISO systems only.
# Remove the old log file
rm -f sm2smo_r.log
# Use reduce to accomplish the transformation
reduce >sm2smo_r.log << EOF
in "$1_def.r";
in "$1_sm.r";
in "$1_smc.r";
%Read the formatting function
in "$MTTPATH/trans/reduce_matrix.r";
OFF Echo;
OFF Nat;
% Find observibility matrix.
MATRIX MTTObs(MTTNx,MTTNX);
MTTCA := MTTC;
FOR i := 1:MTTNx DO
BEGIN
FOR j := 1:MTTNx DO
MTTObs(i,j) := MTTCA(1,j);
MTTCA := MTTCA*MTTA;
END;
%Observable form (dual of controller form)
MTTA_o := tp(MTTA_c);
MTTB_o := tp(MTTC_c);
MTTC_o := tp(MTTB_c);
MTTD_o := MTTD;
%Observability matrix of observer form
MATRIX MTTObs_o(MTTNx,MTTNX);
MTTCA := MTTC_o;
FOR i := 1:MTTNx DO
BEGIN
FOR j := 1:MTTNx DO
MTTObs_o(i,j) := MTTCA(1,j);
MTTCA := MTTCA*MTTA_o;
END;
% Transformation matrix;
MTTT_o := MTTObs^(-1)*MTTObs_o;
%Create the output file
OUT "$1_smo.r";
%Write out the matrices.
% Observable form
MTT_Matrix := MTTA_o$
MTT_Matrix_name := "MTTA_o"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$
MTT_Matrix := MTTB_o$
MTT_Matrix_name := "MTTB_o"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNu$
Reduce_Matrix()$
MTT_Matrix := MTTC_o$
MTT_Matrix_name := "MTTC_o"$
MTT_Matrix_n := MTTNy$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$
MTT_Matrix := MTTD_o$
MTT_Matrix_name := "MTTD_o"$
MTT_Matrix_n := MTTNy$
MTT_Matrix_m := MTTNu$
Reduce_Matrix()$
write "% -Observability matrix";
MTT_Matrix := MTTObs$
MTT_Matrix_name := "MTTObs"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$
write "% -Observability matrix - Observer form";
MTT_Matrix := MTTObs_o$
MTT_Matrix_name := "MTTObs_o"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$
write "% - Transformation matrix - Observer form";
MTT_Matrix := MTTT_o$
MTT_Matrix_name := "MTTT_o"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$
SHUT "$1_smo.r";
quit;
EOF
# Now invoke the standard error handling.
mtt_error_r sm2smo_r.log