function sr = dm2sr(A,B,C,D,E,T,u0,x0); % sr = dm2sr(A,B,C,D,E,T); % Descriptor matrix to impulse response. % NB At the moment - this assumes that E is unity ..... % A,B,C,D,E - descriptor matrices % T vector of time points % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.3 1996/08/11 19:33:24 peter % %% Replaced exp by expm - whoops! % %% % %% Revision 1.2 1996/08/11 10:37:40 peter % %% Corrected mistake in step-response calculation. % %% % %% Revision 1.1 1996/08/11 09:42:40 peter % %% Initial revision % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% [Ny,Nu] = size(D); [Ny,Nx] = size(C); if nargin<7 u0 = zeros(Nu,1); u0(1) = 1; end; if nargin<8 x0 = zeros(Nx,1); end; [N,M] = size(T); if M>N T = T'; N = M; end; one = eye(Nx); sr = zeros(N,Ny); i = 0; for t = T' i=i+1; expAt = expm(A*t); SR = C*( ( A\(expAt-one) )*B*u0 + expAt*x0) + D*u0; sr(i,:) =SR'; end;