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User & Date: gawthrop@users.sourceforge.net on 2000-12-28 12:31:15
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2000-12-28
12:48:53
Put under RCS check-in: 5ca7145984 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
12:31:15
*** empty log message *** check-in: 7c2e142b43 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
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Initial revision check-in: 9928b68158 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
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Modified mttroot/mtt/bin/trans/abg2cbg_m from [021928d3b8] to [592fbd67e0].

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# Acausal bond graph to causal bond graph: mfile format

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.13  1998/07/27 20:30:12  peterg
## *** empty log message ***
##
## Revision 1.12  1998/07/10 08:43:46  peterg
## Added -I switch
##
## Revision 1.11  1998/01/23 13:29:54  peterg
## $RMATRIX --> $MATRIX
##
# Revision 1.10  1996/12/04  21:51:02  peterg
︙
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# P.J.Gawthrop May 1996
# Copyright (c) P.J.Gawthrop, 1996.


# P.J.Gawthrop May 1996
# Copyright (c) P.J.Gawthrop, 1996.

derivative=0;blurb=integral
while [ -n "`echo $1 | grep '^-'`" ]; do
  case $1 in
	-I )
                info=info;;
	-derivative )
                derivative=1; blurb=derivative;;
	*)
		echo "$1 is an invalid argument - ignoring" ;;
  esac
  shift
done

infofile='mtt_info.txt'
errorfile='mtt_error.txt'
typefile="$1_type.sh"

# Remove the old log file
rm -f abg2cbg_m.log
rm -f $1_cbg.m
rm -f $typefile
rm -f $infofile


#Inform user
echo Creating $1_cbg.m
echo "Creating $1_cbg.m (maximise $blurb causality)"
echo Creating $1_type.sh

# Use matrix manipulation to accomplish the transformation
$MATRIX << EOF  >abg2cbg_m.log  #2>mtt_error.txt

  infofilenum  = fopen("$infofile",'w');
  errorfilenum = fopen("$errorfile",'w');
  typefilenum  = fopen("$typefile",'w');

  %Convert from acausal to causal bond graph in m-file form.
  system_name='$1';

  port_bonds = [];
  port_direction = [];
  port_status = [];
  [cbonds,status] = abg2cbg(system_name, '', '', port_bonds, port_direction, port_status, ...
      typefilenum, infofilenum, errorfilenum);
      $derivative,typefilenum, infofilenum, errorfilenum);

EOF

if [ "$info" = "info" ]; then
  cat $infofile
fi

# cp $1_$1_cbg.m $1_cbg.m 2>> mtt_error.txt 

# Print errors, if any.
mtt_error mtt_error.txt

Modified mttroot/mtt/bin/trans/can_r2tex from [b135c10fbf] to [5939f4edfe]. 

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#! /bin/sh

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

# Bourne shell script: sm_r2tex
# Bourne shell script: can_r2tex
# Reduce constrained-state matrices to LaTex constrained-state matrices.
# P.J.Gawthrop  9 Sep 1991, May 1994
# Copyright (c) P.J.Gawthrop, 1991, May 1994, 1996.
# P.J.Gawthrop  January 8th 1997
# Copyright (c) P.J.Gawthrop, 1997

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
# Revision 1.3  1997/06/13  13:50:11  peterg
# Matrices in amstex format
#
# Revision 1.2  1997/04/18  12:54:00  peterg
# No longer does labels.
#
# Revision 1.1  1996/08/19  15:19:23  peter
# Initial revision
#
###############################################################


# Inform user
echo Creating $1_sm.tex
echo Creating $1_can.tex

# Remove the old log file
rm -f sm_r2tex.log
rm -f can_r2tex.log

# Use reduce to accomplish the transformation
reduce >sm_r2tex.log << EOF
reduce >can_r2tex.log<< EOF

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

%Read the constrained-state matrices file
in "$1_sm.r";
%Read the canonical-form matrices file
in "$1_can.r";

%Read the symbolic parameters file
in "$1_sympar.r";
%Read the substitution file
in "$1_subs.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_sm.tex";
OUT "$1_can.tex";

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

write "%constrained-state matrices";

% Controllable form
MTT_Matrix := MTTA_c$ 
MTT_Matrix_name := "MTTA_c"$
IF MTTNx>0 THEN
MTT_Matrix_n := MTTNx$
BEGIN
write "%  - A matrix";
write "\begin{equation}";
write "MTTA = \begin{pmatrix}";
	FOR Row := 1:MTTNx DO
MTT_Matrix_m := MTTNx$
LaTeX_Matrix()$

MTT_Matrix := MTTB_c$ 
MTT_Matrix_name := "MTTB_c"$
MTT_Matrix_n := MTTNx$
	BEGIN
		FOR Col := 1:MTTNx DO
		BEGIN
			Write "{", MTTA(Row,Col), "}";
			IF Col<MTTNx THEN Write "&"
		END;
MTT_Matrix_m := MTTNu$
LaTeX_Matrix()$

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


% Observable form
	IF Row<MTTNx THEN Write "\cr";
	END;
	Write "\end{pmatrix}";
write "\end{equation}";
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()$

write "%  - B matrix";
write "%  - Controllability matrix";
write "\begin{equation}";
write "MTTB = \begin{pmatrix}";
	FOR Row := 1:MTTNx DO
MTT_Matrix := MTTCon$ 
MTT_Matrix_name := "MTTCon"$
MTT_Matrix_n := MTTNx$
	BEGIN
		FOR Col := 1:MTTNu DO
		BEGIN
			Write "{", MTTB(Row,Col), "}";
			IF Col<MTTNu THEN Write "&"
MTT_Matrix_m := MTTNx$
LaTeX_Matrix()$

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

	IF Row<MTTNx THEN Write "\cr";
	END;
	Write "\end{pmatrix}";
write "\end{equation}";
write "%  -Controllability matrix - controller form";
MTT_Matrix := MTTCon_c$ 
MTT_Matrix_name := "MTTCon_c"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
LaTeX_Matrix()$

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

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 "%  - C matrix";
write "%  - Gain matrix - physical form";
write "\begin{equation}";
write "MTTC = \begin{pmatrix}";
	FOR Row := 1:MTTNy DO
MTT_Matrix := MTTK$ 
MTT_Matrix_name := "MTTK"$
	BEGIN
		FOR Col := 1:MTTNx DO
MTT_Matrix_n := MTTNu$
		BEGIN
			Write "{", MTTC(Row,Col), "}";
			IF Col<MTTNx THEN Write "&"
		END;
MTT_Matrix_m := MTTNx$
LaTeX_Matrix()$


	IF Row<MTTNy THEN Write "\cr";
	END;
	Write "\end{pmatrix}";
write "\end{equation}";
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()$

write "%  - Observer Gain matrix - observer form";
MTT_Matrix := MTTL_o$ 
MTT_Matrix_name := "MTTL_o"$
END; %Nx>0
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNy$
LaTeX_Matrix()$

write "%  - D matrix";
write "\begin{equation}";
write "MTTD = \begin{pmatrix}";
	FOR Row := 1:MTTNy DO
	BEGIN
		FOR Col := 1:MTTNu DO
		BEGIN
			Write "{", MTTD(Row,Col), "}";
			IF Col<MTTNu THEN Write "&"
		END;
write "%  - Gain matrix - physical form";
MTT_Matrix := MTTL$ 
MTT_Matrix_name := "MTTL"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNy$
LaTeX_Matrix()$


% Controllable form
MTT_Matrix := MTTA_comp$ 
MTT_Matrix_name := "MTTA_comp"$
MTT_Matrix_n := MTTNx$
MTT_Matrix_m := MTTNx$
LaTeX_Matrix()$

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

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

	IF Row<MTTNy THEN Write "\cr";
	END;
	Write "\end{pmatrix}";


write "\begin{equation}";
  write "MTTur = {", MTTu_r, "}";
write "\end{equation}";

SHUT "$1_sm.tex";
SHUT "$1_can.tex";
quit;
EOF

Modified mttroot/mtt/bin/trans/cbg_m2fig from [1fcb6fbad5] to [b85a89ba68].

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# Copyright (c) P.J.Gawthrop, 1996.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.10  2000/09/14 12:04:48  peterg
## New 2 parameter version
##
## Revision 1.9  1998/01/23 13:31:23  peterg
## $RMATRIX --> $MATRIX
##
## Revision 1.8  1996/12/07 19:23:07  peterg
## Registered agian.
##
# Revision 1.7  1996/11/09  19:04:34  peterg
︙
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# Copy the unchaging part of the figure file
cp $1_fig.fig $2_cbg.fig

#Inform user
echo Creating $2_cbg.fig -- component type $1

# Use  matrix manipulation to accomplish the transformation
$MATRIX   <<EOF  2>mtt_error.txt #> cbg_m2fig.log
$MATRIX   <<EOF  2>mtt_error.txt > cbg_m2fig.log

  system_type = "$1"
  system_name = "$2"

  thick = 3; length = 150; red = 4; blue = 1; green = 12; font = 18;
  cbg2fig(system_name, system_type, '', ...
          length, thick, blue, ...
︙

Modified mttroot/mtt/bin/trans/cse2scse_r from [73797dbbb0] to [f23aba8df6].

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# Arguments
system=$1; 
system_def=$1_def.r
system_cse=$1_cse.r
system_scse=$1_scse.r

# Parameters
n=`echo $2 | sed 's/,/ /g' |wc -w`
n=`echo $2 | sed 's/,/ /g' |wc -w` ## Number of parameters
echo $n_parameters

## Parameter information for reduce.
parameters=`echo $2 | sed 's/,/ /g' |\
 awk '{
   for (i=1; i<=NF; i++) {
      printf("mttpar(%i,1) := %s;\n", i, $i);
      printf("mttcoef(%i,1) := %ss;\n", i, $i);
   }
  }'`

## Update sympar list.
echo Recreating $1_sympar.txt
# Zap any sensitivity coeficients
mv $1_sympar.txt mtt_junk
grep -v MTT_Sensitivity_Coefficients mtt_junk > $1_sympar.txt
matrix="matrix mttpar("$n",1); matrix mttcoef("$n",1);"

echo $parameters
echo $matrix

# Create the new sens coeffs at end of list.
echo $2 | sed 's/,/ /g' |\
awk '{
   for (i=1; i<=NF; i++) {
      printf("%ss\tMTT_Sensitivity_Coefficients\n",$i);
   }
  }' >> $1_sympar.txt

touch $1_sympar.txt

matrix="matrix mttpar("$n",1); matrix mttcoef("$n",1);"

# Number of states
Nx=`grep "MTTNx " <$system_def | awk '{print $3}' | sed 's/;//'`

#Inform user
echo Creating $system_scse "(for parameters $2, $Nx states)"
︙

Modified mttroot/mtt/bin/trans/dae2cse_r from [a8a0f34d9e] to [14e2313fd2].

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# Copyright (c) P.J.Gawthrop 1991, 1992, 1994.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.13  2000/10/11 08:52:46  peterg
## Creates csex (cse with dxe only) rep.
##
## Revision 1.12  2000/10/10 21:00:58  peterg
## New code genration
##
## Revision 1.11  1998/11/26 09:18:55  peterg
## Incluse subs.r
##
## Revision 1.10  1998/11/18 13:50:29  peterg
︙
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echo "Creating $1_csex.r"
echo "Creating $1_cseo.r"

# Remove the old log file
rm -f dae2cse_r.log

# Remove some files
rm -f $1_cse.r? $1_cseo.r?

# Use reduce to accomplish the transformation
$SYMBOLIC >dae2cse_r.log << EOF

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

OFF Echo;
︙
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write "MATRIX MTTE(", MTTNx, ",", MTTNx, ")$"; 
SHUT "$1_cse.r1";

OUT "$1_csex.r1";
write "MATRIX MTTEdx(", MTTNx, ",", 1, ")$"; 
SHUT "$1_csex.r1";

IF MTTNy>0 THEN
BEGIN
OUT "$1_cseo.r1";
write "MATRIX MTTY(", MTTNy, ",", MTTNx, ")$"; 
SHUT "$1_cseo.r1";
  OUT "$1_cseo.r1";
  write "MATRIX MTTY(", MTTNy, ",", MTTNx, ")$"; 
  SHUT "$1_cseo.r1";
END;

%%Create the _cse.r file
OUT "$1_cse.r2";
write "%File: $1_cse.r";
in ("$1_cse_write.r");
write "in ""$1_cseo.r"";";
write "END;";
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OUT "$1_csex.r2";
write "%File: $1_cse.r";
in ("$1_csex_write.r");
write "END;";
SHUT "$1_csex.r2";

%Write out the  output equations
IF MTTNy>0 THEN
BEGIN
OUT "$1_cseo.r2";
write "%File: $1_cseo.r";
in ("$1_cseo_write.r");
write "END;";
SHUT "$1_cseo.r2";
END;
quit;
EOF

touch $1_cseo.r1
touch $1_cseo.r2
cat $1_cse.r1 $1_cse.r2 > $1_cse.r
cat $1_csex.r1 $1_csex.r2 > $1_csex.r
cat $1_cseo.r1 $1_cseo.r2 > $1_cseo.r
cat $1_cse.r1 $1_cse.r2  > $1_cse.r
cat $1_csex.r1 $1_csex.r2  > $1_csex.r
cat $1_cseo.r1 $1_cseo.r2  > $1_cseo.r

if [ "$solve" = "1" ]; then
    echo "Setting MTTNyz=0 in $1_def.r and removing other $1_def files"
    awk '{
     if ($1=="MTTNyz") 
       print "MTTNyz := 0;" 
     else print $0
︙

Modified mttroot/mtt/bin/trans/dir2rep from [c51343aef8] to [2f10632b5f].

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# Copyright (c) P.J.Gawthrop, 1997.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.2  1998/03/11 10:32:11  peterg
## Now uses dir2paths transformation
##
## Revision 1.1  1998/02/05 13:31:25  peterg
## Initial revision
##
###############################################################

dotdot=$2 # Set to ../ if we are in MTT_work

# Inform user
echo "Creating $1_rep.txt (Directory version)"

# Headings
echo "% Verbal description for directory $1 ($1_rep.txt)"> $1_rep.txt
echo "% Generated by MTT on" `date`. >> $1_rep.txt                  	   

# Create paths for all valid examples - ie dir name is system name
dir2paths $1 $2 | \
dir2paths $1 $2 | sed 's/Introduction/AAAAA/g' | sort | sed 's/AAAAA/Introduction/g' | \
awk '{
     print "mtt -t -d " $1,$2 " rep tex";
  }' >> $1_rep.txt

Modified mttroot/mtt/bin/trans/dm_r2m from [c980f7fdc8] to [dc94c23287].

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# Copyright (c) P.J.Gawthrop, 1989, 1990, 1991, 1993,1994.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.7  1998/04/13 11:01:55  peterg
## Now uses generic header : matlab_header
##
# Revision 1.6  1997/04/16  13:43:29  peterg
# Added matrix dimenensions
#
# Revision 1.5  1997/02/24  14:44:28  peterg
# Ignores numerical parameters in global list.
#
## Revision 1.4  1996/08/24 14:16:25  peter
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SHUT "$1_dm.1";


EOF

# Header
matlab_header $1 dm> $1_dm.m
matlab_header $1 dm 'A,B,C,D,E'> $1_dm.m

#Define array sizes.
grep -v 'function' $1_def.m | grep -v '%' >>  $1_dm.m
echo 'mtta = zeros(nx+nyz+2*nz,nx+nyz+2*nz);' >>  $1_dm.m
echo 'mttb = zeros(nx+nyz+2*nz,nu);' >>  $1_dm.m
echo 'mttc = zeros(ny,nx+nyz+2*nz);' >>  $1_dm.m
echo 'mttd = zeros(ny,nu);' >>  $1_dm.m
︙

Modified mttroot/mtt/bin/trans/examples_txt2tk from [357d77bc30] to [1100679dcb].

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    oldN=split(OLDPATH,oldpath,"/"); # Find last example path
    same=1; menu=basemenu;
    while ((path[same]==oldpath[same])&&(same<=N)){
       menu=menu"."tolower(path[same])
       same++
    }
      oldmenu=menu
      for (i=same;i<=N;i++){
      for (i=same;i<N;i++){
        menu=tolower(menu"."path[i])
        category=path[i];
	printf("\n# Example category %s (%i)\n", category, N)
        printf("%s  add  cascade -label \"%s\" -menu %s \n", oldmenu, category, menu);
        printf("menu %s\n", menu)
	oldmenu=menu
      }
    oldN=N
    OLDPATH=PATH
    oldcategory=category
    split($2,EXAMPLE,"_");
    example=$2
    example = EXAMPLE[1];
    printf(" set mtt \"xmtt -example %s\" \n", example); 
    printf("%s add command -label %s -command \"exec $mtt &\"\n", menu, example);
    printf("%s add command -label %s -command \" exec $mtt &\"\n", menu, example);
 }
}'

Modified mttroot/mtt/bin/trans/lang_matrix.r from [4e699aa2c6] to [f4b204b20b].

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% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
% % Revision 1.7  2000/08/29 17:33:59  peterg
% % After much fiddling about ..
% %  now does global optimisation (over all elements of matrix / vector)
% %  still fails for _sm.m
% %
% % Revision 1.6  2000/08/25 09:23:40  peterg
% % Made both names the same!
% %
% % Revision 1.5  2000/08/24 17:12:01  peterg
% % Now optimises using SCOPE
% %
% % Revision 1.4  1998/07/27 17:34:59  peterg
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% %
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



PROCEDURE Lang_Matrix();
BEGIN
%INAME(mtt_o); % Set temp name
GENTRAN mtt_matrix :=: mtt_matrix;

    FOR row := 1:MTT_Matrix_n DO
    BEGIN
      IF MTT_Matrix_m>1 THEN
      BEGIN
        FOR col := 1:MTT_Matrix_m DO
        BEGIN
              IF (row EQ 1) AND (col EQ 1) THEN DELAYOPTS;
              INAME(mtt_o); % Set temp name
              gentran declare mtt_matrix_element:REAL;
              gentran declare mtt_matrix:REAL;
              mtt_matrix_element := mtt_matrix(row,col);
              GENTRAN mtt_matrix(row,col) ::=: mtt_matrix_element;
              IF (row EQ MTT_matrix_n) AND (col EQ MTT_Matrix_m) THEN MAKEOPTS;
            END;
      END
      ELSE
        BEGIN
          IF (row EQ 1) THEN DELAYOPTS;
          INAME(mtt_o); % Set temp name
          GENTRAN mtt_matrix(row) ::=: mtt_matrix(row,1);
          IF (row EQ MTT_matrix_n) THEN MAKEOPTS;
        END;
    END
%     FOR row := 1:MTT_Matrix_n DO
%     BEGIN
%       IF MTT_Matrix_m>1 THEN
%       BEGIN
%         FOR col := 1:MTT_Matrix_m DO
%         BEGIN
%               IF (row EQ 1) AND (col EQ 1) THEN DELAYOPTS;
%               INAME(mtt_o); % Set temp name
%               %SETLENGTH(2); % Adjust optimisation
%               gentran declare mtt_matrix_element:REAL;
%               gentran declare mtt_matrix:REAL;
%               mtt_matrix_element := mtt_matrix(row,col);
%               GENTRAN mtt_matrix(row,col) ::=: mtt_matrix_element;
%               IF (row EQ MTT_matrix_n) AND (col EQ MTT_Matrix_m) THEN MAKEOPTS;
%             END;
%       END
%       ELSE
%         BEGIN
%           IF (row EQ 1) THEN DELAYOPTS;
%           INAME(mtt_o); % Set temp name
%           GENTRAN mtt_matrix(row) ::=: mtt_matrix(row,1);
%           IF (row EQ MTT_matrix_n) THEN MAKEOPTS;
%         END;
%     END
END;

END;;

Modified mttroot/mtt/bin/trans/latex_tidy from [af802e64a1] to [e0750229d8].

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# Copyright (c) P.J.Gawthrop, 1990, 1994

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.16  2000/10/10 21:03:20  peterg
## *** empty log message ***
##
## Revision 1.15  1998/04/07 08:44:11  peterg
## zapped eta - it messes up theta
##
## Revision 1.14  1998/02/25 22:12:07  peterg
## Added , to regexp for subscripts
##
## Revision 1.13  1998/02/18 09:06:07  peterg
︙
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sed \
    -e "s/_\([a-z0-9,]*\)/_{\1}/g" \
    -e "s/\// \\\over /g" \
    -e "s/[0-9a-z_]*mtty/mtty/g" \
    -e "s/[0-9a-z_]*mttu/mttu/g" \
    -e "s/mttx\([0-9]*\)/x_{\1}/g" \
    -e "s/mttex\([0-9]*\)/\\\chi_{\1}/g" \
    -e "s/mttddui\([0-9]*\)/\\\ddot{v}_{\1}/g" \
    -e "s/mttdui\([0-9]*\)/\\\dot{v}_{\1}/g" \
    -e "s/mttui\([0-9]*\)/v_{\1}/g" \
    -e "s/mttu\([0-9]*\)/u_{\1}/g" \
    -e "s/mtty\([0-9]*\)/y_{\1}/g" \
    -e "s/mttz\([0-9]*\)/z_{\1}/g" \
    -e "s/mttdx0/\\\dot x_0/g" \
    -e "s/mttdx/\\\dot x/g" \
    -e "s/mttdz/\\\dot z_/g" \
︙

MTT: Model Transformation Tools
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