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Comment:New argument to add zero columns -- useful if less basis functions than inputs
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SHA3-256: 937f6b5b7530a451fb73328eeb6c9bfded08195381029d102242fd3557f91192
User & Date: gawthrop@users.sourceforge.net on 2002-04-28 15:38:06
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Context
2002-04-28
18:41:27
Fixed [ 549658 ] awk should be gawk.
Replaced calls to awk with call to gawk. check-in: ad35120331 user: geraint@users.sourceforge.net tags: origin/master, trunk
15:38:06
New argument to add zero columns -- useful if less basis functions than inputs check-in: 937f6b5b75 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
15:36:55
Modified to handle less basis functions than total inputs check-in: e499d1b480 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
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Modified mttroot/mtt/lib/control/PPP/ppp_ustar.m from [0be0149c8e] to [84e1f5fdcb]. 

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function Ustar = ppp_ustar (A_u,n_u,tau,order,packed)

  ## usage:  Us = ppp_ustar(A_u,n_u,tau,order,packed)
  ##
  ## Computes the U* matrix at time tau in terms of A_u
  ## n_u : Number of system inputs
  ## If tau is a vector, computes U* at each tau and puts into a row vector:
  ## If packed==1
  ##     Ustar = [Ustar(tau_1) Ustar(tau_2) ...]
  ## else Ustar = [Ustar(tau_1); Ustar(tau_2) ...]


  ## Copyright (C) 1999 by Peter J. Gawthrop
  ## 	$Id$	

  if nargin<2
    n_u = 1;
  endif
  
  if nargin<3
    tau = 0;
  endif
  
  if nargin<4
    order = 0;
  endif
  
  if nargin<5
    packed=1;
  endif




  

  [n,m] = size(A_u);		# Size of composite A_u matrix
  N = m;			# Number of U* functions per input  
  nm = n/m;

  if (nm != n_u)&&(n!=m)	# Check consistency

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function Ustar = ppp_ustar (A_u,n_u,tau,order,packed,n_zero)

  ## usage:  Us = ppp_ustar(A_u,n_u,tau,order,packed)
  ##
  ## Computes the U* matrix at time tau in terms of A_u
  ## n_u : Number of system inputs
  ## If tau is a vector, computes U* at each tau and puts into a row vector:
  ## If packed==1
  ##     Ustar = [Ustar(tau_1) Ustar(tau_2) ...]
  ## else Ustar = [Ustar(tau_1); Ustar(tau_2) ...]
  ## n_zero extra zero columns appended

  ## Copyright (C) 1999 by Peter J. Gawthrop
  ## 	$Id$	

  if nargin<2
    n_u = 1;
  endif
  
  if nargin<3
    tau = 0;
  endif
  
  if nargin<4
    order = 0;
  endif
  
  if nargin<5
    packed=1;
  endif
  
  if nargin<6
    n_zero=0;
  endif
  

  [n,m] = size(A_u);		# Size of composite A_u matrix
  N = m;			# Number of U* functions per input  
  nm = n/m;

  if (nm != n_u)&&(n!=m)	# Check consistency
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    if (packed==1)
      Ustar = [Ustar ustar];
    else
      Ustar = [Ustar; ustar];
    endif
  endfor






endfunction








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    if (packed==1)
      Ustar = [Ustar ustar];
    else
      Ustar = [Ustar; ustar];
    endif
  endfor

  if (n_zero>0)
    [N,M] = size(Ustar);
    Ustar = [Ustar zeros(N, n_zero)];
  endif
  
endfunction

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