#! /bin/sh 
     ###################################### 
     ##### Model Transformation Tools #####
     ######################################

# Bourne shell script: ssk2ctf_r
# Controller gain k and observer gain l to controller TF
# P.J.Gawthrop  Feb 1998
# Copyright (c) P.J.Gawthrop 1998

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


# Inform user
echo Creating $1_ctf.r

# Remove the old log file
rm -f ssk2ctf_r.log

# Use reduce to accomplish the transformation
reduce >ssk2ctf_r.log << EOF

in "$1_def.r";
in "$1_ssk.r";
in "$1_ssl.r";
in "$1_sm.r";

%Read the formatting function
in "$MTTPATH/trans/reduce_matrix.r";


OFF Echo;
OFF Nat;



%State matrices of the compensator
A_d := MTTA - MTTL*MTTC - MTTB*MTTK;
B_d := -MTTL;
C_d := -MTTK;
D_d := 0;

%Transfer function
MTTGc := C_d*((s*MTTI - A_d)^(-1))*B_d;

%Create the output file
OUT "$1_ctf.r"; 
%Write out the matrices.

write "%  - Compensator TF";
MTT_Matrix := MTTGc$
MTT_Matrix_name := "MTTGc"$
MTT_Matrix_n := MTTNu$
MTT_Matrix_m := MTTNy$
Reduce_Matrix()$


SHUT "$1_ctf.r";
quit;

EOF

# Now invoke the standard error handling.
mtt_error_r ssk2ctf_r.log