Overview
| Comment: | Initial revision |
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| Downloads: | Tarball | ZIP archive | SQL archive |
| Timelines: | family | ancestors | descendants | both | origin/master | trunk |
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| SHA3-256: |
1d53b14dfcb00a1788a84bf740501a7d |
| User & Date: | gawthrop@users.sourceforge.net on 1998-01-22 13:17:37 |
| Other Links: | branch diff | manifest | tags |
Context
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1998-01-22
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| 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 | |
Changes
Added mttroot/mtt/bin/trans/sm2smc_r version [fd501bda09].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 |
#! /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].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 |
#! /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].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 |
#! /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].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 |
#! /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].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 |
#! /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
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