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SHA3-256: 1d53b14dfcb00a1788a84bf740501a7d9141c854f38266f9fbf0f43e480ccc59
User & Date: gawthrop@users.sourceforge.net on 1998-01-22 13:17:37
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Context
1998-01-22
13:25:22
Added END;; to output file. check-in: ccc44264a7 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
13:17:37
Initial revision check-in: 1d53b14dfc user: gawthrop@users.sourceforge.net tags: origin/master, trunk
10:39:01
Initial revision check-in: d611ac00e5 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
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Added mttroot/mtt/bin/trans/sm2smc_r version [fd501bda09]. 


















































































































































































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#! /bin/sh

     ###################################### 
     ##### Model Transformation Tools #####
     ######################################

# Bourne shell script: sm2smc_r
# state matrices to controller canonical form + related matrices
# P.J.Gawthrop  12 Jan 1997
# Copyright (c) P.J.Gawthrop 1997

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


# Inform user
echo Creating $1_smc.r -- NOTE this is for SISO systems only.

# Remove the old log file
rm -f sm2smc_r.log

# Use reduce to accomplish the transformation
reduce >sm2smc_r.log << EOF

in "$1_def.r";
in "$1_sm.r";
in "$1_tf.r";

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


OFF Echo;
OFF Nat;

% Find the controllability matrix
MATRIX MTTCon(MTTNx,MTTNX);
MTTAB := MTTB;
FOR j := 1:MTTNx DO
  BEGIN
   FOR i := 1:MTTNx DO 
      MTTCon(i,j) := MTTAB(i,1);
   MTTAB := MTTA*MTTAB;
  END;


%Canonical forms:
% This statement makes Gs a scalar transfer function
Gs := MTTtf(1,1);

% Numerator and denominator polynomials
bs := num(gs);
as := den(gs);

% extract coeficients and divide by coeff of s^n
% reverse operator puts list with highest oder coeffs first
ai := reverse(coeff(as,s));
a0 := first(ai);
MTTn := length(ai) - 1;


% Normalised coeficients;
ai := reverse(coeff(as/a0,s));
bi := reverse(coeff(bs/a0,s));
MTTm := length(bi)-1;

% Zap the (unity) first element of ai list;
ai := rest(ai);

% System in controller form
% MTTA_c matrix
matrix MTTA_c(MTTn,MTTn);

% First row is ai coefficients
for i := 1:MTTn do
  MTTA_c(1,i) := -part(ai,i);

% (MTTn-1)x(MTTn-1) unit matrix in lower left-land corner (if n>1)
if MTTn>1 then
  for i := 1:MTTn-1 do
    MTTA_c(i+1,i) := 1;

% B_c vector;
matrix MTTB_c(MTTn,1);
MTTB_c(1,1) := 1;

% C_c vector;
matrix MTTC_c(1,MTTn);
for i := 1:MTTm+1 do
  MTTC_c(1,i+MTTn-MTTm-1) := part(bi,i);

% D_c
MTTD_c := MTTD;

%Controllability matrix of controllable form
MATRIX MTTCon_c(MTTNx,MTTNX);
MTTAB := MTTB_c;
FOR j := 1:MTTNx DO
  BEGIN
   FOR i := 1:MTTNx DO 
      MTTCon_c(i,j) := MTTAB(i,1);
   MTTAB := MTTA_c*MTTAB;
  END;

% Transformation matrix;
MTTT_c := MTTCon_c*MTTCon^(-1);



%Create the output file
OUT "$1_smc.r";

%Write out the matrices.

% Controllable form
write "%  - Controller form";
MTT_Matrix := MTTA_c$ 
MTT_Matrix_name := "MTTA_c"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$

MTT_Matrix := MTTB_c$ 
MTT_Matrix_name := "MTTB_c"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNu$
Reduce_Matrix()$

MTT_Matrix := MTTC_c$ 
MTT_Matrix_name := "MTTC_c"$
MTT_Matrix_n := MTTNy$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$

MTT_Matrix := MTTD_c$ 
MTT_Matrix_name := "MTTD_c"$
MTT_Matrix_n := MTTNy$
MTT_Matrix_m := MTTNu$
Reduce_Matrix()$


write "%  - Controllability matrix";
MTT_Matrix := MTTCon$ 
MTT_Matrix_name := "MTTCon"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$


write "%  -Controllability matrix - controller form";
MTT_Matrix := MTTCon_c$ 
MTT_Matrix_name := "MTTCon_c"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$

write "%  - Transformation matrix - controller form";
MTT_Matrix := MTTT_c$ 
MTT_Matrix_name := "MTTT_c"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$

write "END;";

SHUT "$1_smc.r";
quit;

EOF

# Now invoke the standard error handling.
mtt_error_r sm2smc_r.log








Added mttroot/mtt/bin/trans/sm2smo_r version [8e11a95aec].








































































































































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#! /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








Added mttroot/mtt/bin/trans/smc2ssk_r version [cfec28a0d7].





























































































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#! /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
###############################################################
## $Id$
## $Log$
###############################################################


# Inform user
echo Creating $1_ssk.r -- NOTE this is for SISO systems only.

# 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 := MTTNu$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$

write "%  - Gain matrix - physical form";
MTT_Matrix := MTTK$ 
MTT_Matrix_name := "MTTK"$
MTT_Matrix_n := MTTNu$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$

SHUT "$1_ssk.r";
quit;

EOF

# Now invoke the standard error handling.
mtt_error_r smc2ssk_r.log








Added mttroot/mtt/bin/trans/smo_r2tex version [a95bf75594].














































































































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#! /bin/sh

     ###################################### 
     ##### Model Transformation Tools #####
     ######################################

# Bourne shell script: smo_r2tex
# Reduce constrained-state matrices to LaTex constrained-state matrices.
# P.J.Gawthrop  January 8th 1997
# Copyright (c) P.J.Gawthrop, 1997

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


# Inform user
echo Creating $1_smo.tex

# Remove the old log file
rm -f smo_r2tex.log

# Use reduce to accomplish the transformation
reduce >smo_r2tex.log<< EOF

%Read the definitions file
in "$1_def.r";

%Read the observer-form matrices file
in "$1_smo.r";


%Read the simplification file
in "$1_simp.r";

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

OFF Echo;
OFF Nat;
OFF EXP;
%ON Rounded;
%Precision 5;


OUT "$1_smo.tex";

%Write out the canonical matrices
write "%Canonical-form  matrices $1";
write "%File: $1_smo.tex";
write"";


% Observable form
MTT_Matrix := MTTA_o$ 
MTT_Matrix_name := "MTTA_o"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
LaTeX_Matrix()$

MTT_Matrix := MTTB_o$ 
MTT_Matrix_name := "MTTB_o"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNu$
LaTeX_Matrix()$

MTT_Matrix := MTTC_o$ 
MTT_Matrix_name := "MTTC_o"$
MTT_Matrix_n := MTTNy$
MTT_Matrix_m := MTTNx$
LaTeX_Matrix()$

MTT_Matrix := MTTD_o$ 
MTT_Matrix_name := "MTTD_o"$
MTT_Matrix_n := MTTNu$
MTT_Matrix_m := MTTNu$
LaTeX_Matrix()$

write "%  - Observability matrix";
MTT_Matrix := MTTObs$ 
MTT_Matrix_name := "MTTObs"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
LaTeX_Matrix()$

write "%  -Observability matrix - Observer form";
MTT_Matrix := MTTObs_o$ 
MTT_Matrix_name := "MTTObs_o"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
LaTeX_Matrix()$

write "%  - Transformation matrix - Observer form";
MTT_Matrix := MTTT_o$ 
MTT_Matrix_name := "MTTT_o"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
LaTeX_Matrix()$


SHUT "$1_smo.tex";
quit;
EOF








Added mttroot/mtt/bin/trans/ssk_r2tex version [eb173156c7].













































































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#! /bin/sh

     ###################################### 
     ##### Model Transformation Tools #####
     ######################################

# Bourne shell script: ssk_r2tex
# Reduce constrained-state matrices to LaTex constrained-state matrices.
# P.J.Gawthrop  January 8th 1997
# Copyright (c) P.J.Gawthrop, 1997

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


# Inform user
echo Creating $1_ssk.tex

# Remove the old log file
rm -f ssk_r2tex.log

# Use reduce to accomplish the transformation
reduce >ssk_r2tex.log<< EOF

%Read the definitions file
in "$1_def.r";

%Read the smconical-form matrices file
in "$1_ssk.r";


%Read the simplification file
in "$1_simp.r";

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

OFF Echo;
OFF Nat;
OFF EXP;
%ON Rounded;
%Precision 5;


OUT "$1_ssk.tex";

%Write out the canonical matrices
write "%Canonical-form  matrices $1";
write "%File: $1_ssk.tex";
write"";


write "%  - Gain matrix - controller form";
MTT_Matrix := MTTK_c$ 
MTT_Matrix_name := "MTTK_c"$
MTT_Matrix_n := MTTNu$
MTT_Matrix_m := MTTNx$
Latex_Matrix()$

write "%  - Gain matrix - physical form";
MTT_Matrix := MTTK$ 
MTT_Matrix_name := "MTTK"$
MTT_Matrix_n := MTTNu$
MTT_Matrix_m := MTTNx$
Latex_Matrix()$

SHUT "$1_ssk.tex";
quit;
EOF






















MTT: Model Transformation Tools
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