ADDED mttroot/mtt/bin/trans/abg2cr_m2txt
Index: mttroot/mtt/bin/trans/abg2cr_m2txt
==================================================================
--- /dev/null
+++ mttroot/mtt/bin/trans/abg2cr_m2txt
@@ -0,0 +1,48 @@
+#! /bin/sh
+
+ ######################################
+ ##### Model Transformation Tools #####
+ ######################################
+
+# Bourne shell script: abg2cr_m2txt
+
+# Abg file to constitutive relationship conversion
+# P.J.Gawthrop march 2000
+# Copyright (C) 2000 by Peter J. Gawthrop
+
+
+
+# Inform user
+if [ -f "$1_cr.txt" ]; then
+ echo "Using $1_cr.txt"
+ exit
+else
+ echo "Creating $1_cr.txt"
+fi
+
+
+rm -f mtt_error
+
+
+# This is the main transformation using awk
+# And remove crs with same name as system
+grep 'cr = ' $1_abg.m | awk '
+BEGIN {
+# Include lin cr anyway.
+print "lin"
+}
+{
+ crs=substr($3,2,length($3)-3);
+ N=split(crs,cr,";");
+ for (i=1;i<=N;i++){
+ if (length(cr[i])>0)
+ print cr[i];
+ }
+}' 2>mtt_error.txt | sort -u | grep -v none | grep -v '\$[0-9]'> $1_cr.txt
+
+# Now invoke the standard error handling.
+mtt_error mtt_error.txt
+
+
+
+
ADDED mttroot/mtt/bin/trans/cse2ode_r
Index: mttroot/mtt/bin/trans/cse2ode_r
==================================================================
--- /dev/null
+++ mttroot/mtt/bin/trans/cse2ode_r
@@ -0,0 +1,115 @@
+#! /bin/sh
+
+ ######################################
+ ##### Model Transformation Tools #####
+ ######################################
+
+# Bourne shell script: cse2ode_r
+# Reduce constrained-state equations to ode.
+# P.J.Gawthrop 10th May 199, 8th August 1991, April 1994, Dec 1994
+# Copyright (c) P.J.Gawthrop, 1991, 1994.
+
+###############################################################
+## Version control history
+###############################################################
+## $Id$
+## $Log$
+## Revision 1.2 1997/01/06 21:17:10 peterg
+## Removed: OFF Exp; OFF GCD;
+##
+## Revision 1.1 1996/08/25 10:05:45 peter
+## Initial revision
+##
+###############################################################
+
+# Create the reduce output code
+def2write_r $1 ode
+def2write_r $1 odeo
+
+#Inform user
+echo Creating $1_ode.r
+echo Creating $1_odeo.r
+
+# Remove the old log file
+rm -f cse2ode_r.log
+
+# Use reduce to accomplish the transformation
+$SYMBOLIC >cse2ode_r.log << EOF
+
+%Read the formatting function
+in "$MTTPATH/trans/reduce_matrix.r";
+
+%Read the definitions file
+in "$1_def.r";
+
+%Read the substitution file
+in "$1_subs.r";
+
+%Read the constrained-state equations file
+in "$1_cse.r";
+
+IF MTTNx>0 THEN
+ IF MTTNz>0 THEN
+ MTTdXX := MTTE^(-1)*MTTEdX
+ ELSE
+ MTTdXX := MTTEdX;
+
+%Remove all dX terms from y - a rather nasty method, sorry!
+ MTTdX1 := 0;
+ MTTdX2 := 0;
+ MTTdX3 := 0;
+ MTTdX4 := 0;
+ MTTdX5 := 0;
+ MTTdX6 := 0;
+ MTTdX7 := 0;
+ MTTdX8 := 0;
+ MTTdX9 := 0;
+ MTTdX10 := 0;
+ MTTdX11 := 0;
+ MTTdX12 := 0;
+ MTTdX13 := 0;
+ MTTdX14 := 0;
+ MTTdX15 := 0;
+ MTTdX16 := 0;
+ MTTdX17 := 0;
+ MTTdX18 := 0;
+ MTTdX19 := 0;
+ MTTdX20 := 0;
+
+%Substitute dX into y;
+IF MTTNz>0 THEN
+ IF MTTNx>0 THEN
+ MTTY := MTTY + MTTEyx*MTTdX;
+
+OFF Echo;
+OFF Nat;
+
+MTTdX := MTTdXX;
+
+%Write out the ordinary differential equations.
+OUT "$1_ode.r";
+write "%File: $1_ode.r";
+in ("$1_ode_write.r");
+write "in ""$1_odeo.r"";";
+write "END;";
+SHUT "$1_ode.r";
+
+%Write out the output equations
+OUT "$1_odeo.r";
+write "%File: $1_odeo.r";
+in ("$1_odeo_write.r");
+write "END;";
+SHUT "$1_odeo.r";
+quit;
+EOF
+
+# Now invoke the standard error handling.
+mtt_error_r cse2ode_r.log
+
+
+
+
+
+
+
+
ADDED mttroot/mtt/bin/trans/cse2rfe_r
Index: mttroot/mtt/bin/trans/cse2rfe_r
==================================================================
--- /dev/null
+++ mttroot/mtt/bin/trans/cse2rfe_r
@@ -0,0 +1,181 @@
+#! /bin/sh
+
+ ######################################
+ ##### Model Transformation Tools #####
+ ######################################
+
+# Bourne shell script: cse2rfe_r
+# Reduce constrained-state equations to robot matrices
+# Experimental version!
+# State vector should have momenta in odd rows,angles in even;
+# the last row should have the gravity velocity term.
+# There should be one output (only) for each joint velocity.
+# P.J.Gawthrop, Nov 92, Dec 93, May 1994
+# Copyright (c) P.J.Gawthrop, 1992, May 1994.
+
+###############################################################
+## Version control history
+###############################################################
+## $Id$
+## $Log$
+## Revision 1.2 1996/12/05 12:10:00 peterg
+## Version history added.
+##
+###############################################################
+
+# Inform user
+echo Creating $1_rfe.r
+
+# Remove the old log file
+rm -f cse2rfe_r.log
+
+# Use reduce to accomplish the transformation
+reduce >cse2rfe_r.log << EOF
+
+IN "$1_def.r";
+IN "$1_sympar.r";
+IN "$1_csm.r";
+IN "$1_cse.r";
+
+MTTN2 := MTTNy;
+
+
+%Find E11 and E12 matrices
+MATRIX MTTE11(MTTN2,MTTN2), MTTE12(MTTN2,MTTN2);
+FOR i := 1:MTTN2 DO
+ FOR j := 1:MTTN2 DO
+ BEGIN
+ MTTE11(i,j) := MTTE(2*i-1,2*j-1);
+ MTTE12(i,j) := MTTE(2*i-1,2*j);
+ END;
+
+%Find inertia matrix
+MATRIX MTTImi(MTTN2,MTTN2);
+FOR i := 1:MTTN2 DO
+ BEGIN
+ MTTImi(i,i) := MTTC(i,2*i-1);
+ END;
+
+MTTIm := MTTImi^-1;
+
+%Find gravity matrix if there is an extra gravity state
+MATRIX MTTG(MTTN2,1);
+MTTNy2 := 2*MTTNy;
+IF ( (MTTNx-1)/MTTNy2 = 1) THEN
+FOR i := 1:MTTN2 DO
+ BEGIN
+ MTTG(i,1) := MTTE(2*i-1,MTTNx);
+ END;
+
+
+
+%Find V matrix from RHS of equation
+MTTu1 := 0;
+MTTu2 := 0;
+MTTu3 := 0;
+MTTu4 := 0;
+MTTu5 := 0;
+MTTu6 := 0;
+
+MTTx2 := theta_1;
+MTTx4 := theta_2;
+MTTx6 := theta_3;
+MTTx8 := theta_4;
+MTTx10 := theta_5;
+MTTx12 := theta_6;
+
+MTTx1 := dot_theta_1*MTTIm(1,1);
+MTTx3 := dot_theta_2*MTTIm(2,2);
+MTTx5 := dot_theta_3*MTTIm(2,3);
+
+MATRIX MTTdt(6,1);
+MTTdt(1,1) := dot_theta_1;
+MTTdt(2,1) := dot_theta_2;
+MTTdt(3,1) := dot_theta_3;
+MTTdt(4,1) := dot_theta_4;
+MTTdt(5,1) := dot_theta_5;
+MTTdt(6,1) := dot_theta_6;
+
+MATRIX dtheta(MTTN2,1);
+FOR i := 1:MTTN2 DO
+ BEGIN
+ dtheta(i,1) := MTTdt(i,1);
+ END;
+
+MATRIX MTTVrhs(MTTN2,1);
+MATRIX MTTV(MTTN2,1);
+FOR i := 1:MTTN2 DO
+ BEGIN
+ MTTVrhs(i,1) := MTTEdX(2*i-1,1);
+ END;
+
+%Find V matrix
+MTTV := MTTE12*dtheta - MTTVrhs;
+
+%Find C matrix
+MATRIX MTTC(MTTN2,MTTN2);
+k := 0;
+FOR i := 1:MTTN2 DO
+ FOR j := 1:MTTN2 DO
+ BEGIN
+ coeffs := coeff(MTTV(i,1),MTTdt(j,1));
+ IF length(coeffs)>2 THEN co := part(coeffs,3) ELSE co := 0;
+ MTTC(i,j) := co;
+ END;
+
+%Find B matrix
+MTTN3 := MTTN2*(MTTN2-1)/2;
+
+IF MTTN3>0 THEN
+BEGIN
+MATRIX MTTB(MTTN2,MTTN3);
+FOR i := 1:MTTN2 DO
+BEGIN
+ counter := 0;
+ FOR j := 1:MTTN2-1 DO
+ BEGIN
+ coeffs := coeff(MTTV(i,1),MTTdt(j,1));
+ IF length(coeffs)>1 THEN co := part(coeffs,2) ELSE co := 0;
+ FOR k := j+1:MTTN2 DO
+ BEGIN
+ counter := counter+1;
+ coeffs2 := coeff(co,MTTdt(k,1));
+ IF length(coeffs2)>1 THEN co2 := part(coeffs2,2) ELSE co2 := 0;
+ MTTB(i,counter) := co2;
+ END;
+ END;
+END;
+END;
+
+OFF Echo;
+OFF Nat;
+ON NERO;
+
+OUT "$1_rfe.r";
+
+%% M
+write "MATRIX MTTM(", MTTN2, ",", MTTN2, ")";
+MTTM := MTTE11*MTTIm;
+
+%% V
+write "MATRIX MTTRV(", MTTN2, ",1)";
+MTTRV := MTTV;
+
+%%
+
+write "MATRIX MTTRC(", MTTN2, ",", MTTN2, ")";
+MTTRC := MTTC;
+
+IF MTTN3>0 THEN
+ BEGIN
+ write "MATRIX MTTRB(", MTTN2, ",", MTTN3, ")";
+ MTTRB := MTTRB;
+END;
+
+write "MATRIX MTTRG(", MTTN2, ", 1)";
+MTTRG := MTTG;
+
+write ";END;"$
+SHUT "$1_rfe.r";
+quit;
+EOF
ADDED mttroot/mtt/bin/trans/csm2sm_r
Index: mttroot/mtt/bin/trans/csm2sm_r
==================================================================
--- /dev/null
+++ mttroot/mtt/bin/trans/csm2sm_r
@@ -0,0 +1,127 @@
+#! /bin/sh
+
+ ######################################
+ ##### Model Transformation Tools #####
+ ######################################
+
+# Bourne shell script: csm2sm_r
+# Constrained-state equation to linear constrained-state matrices conversion
+# P.J.Gawthrop 6th September 1991, May 1994
+# Copyright (c) P.J.Gawthrop, 1991, 1994, 1996
+
+###############################################################
+## Version control history
+###############################################################
+## $Id$
+## $Log$
+## Revision 1.2 1996/08/25 10:11:32 peter
+## Added END in output file.
+## Error handling.
+##
+## Revision 1.1 1996/08/19 15:06:16 peter
+## Initial revision
+##
+###############################################################
+
+# Create the reduce output code
+def2write_r $1 $2
+
+# Inform user
+echo Creating $1_$2.r
+
+case $2 in
+ sm)
+ rep=csm;
+ ;;
+ ssm)
+ rep=scsm
+ ;;
+ *)
+ echo Representation must be sm or ssm
+esac
+
+# Remove the old log file
+rm -f csm2sm_r.log
+
+# Use reduce to accomplish the transformation
+$SYMBOLIC >csm2sm_r.log << EOF
+
+in "$1_def.r";
+in "$1_$rep.r";
+in "$1_cr.r";
+%%in "$1_sympar.r";
+
+OFF Echo;
+OFF Nat;
+
+% Find MTTA and MTTB : the A and B matrices
+
+MTTinvE := MTTE^(-1);
+MTTA := MTTinvE*MTTA;
+MTTB := MTTinvE*MTTB;
+
+% Create the matrix declarations
+OUT "$1_$2.r1";
+write "MATRIX MTTA(", MTTNx, ",", MTTNx, ")$";
+write "MATRIX MTTB(", MTTNx, ",", MTTNu, ")$";
+write "MATRIX MTTC(", MTTNy, ",", MTTNx, ")$";
+write "MATRIX MTTD(", MTTNy, ",", MTTNu, ")$";
+SHUT "$1_$2.r1";
+
+%Create the output file
+OUT "$1_$2.r2";
+write "%File: $1_ode.r";
+
+write "% New constants";
+write "MTTNx := ", MTTNx, ";";
+write "MTTNy := ", MTTNy, ";";
+
+in ("$1_sm_write.r");
+
+%Write out the matrices.
+% IF MTTNx>0 THEN
+% BEGIN
+% write "matrix MTTA(", MTTNx, ",", MTTNx, ");";
+% FOR i := 1:MTTNx DO
+% FOR j := 1:MTTNx DO IF MTTA(i,j) NEQ 0 THEN
+% write "MTTA(", i, ",", j, ") := ", MTTA(i,j);
+% END;
+
+% IF MTTNx>0 THEN
+% IF MTTNu>0 THEN
+% BEGIN
+% write "matrix MTTB(", MTTNx, ",", MTTNu, ");";
+% FOR i := 1:MTTNx DO
+% FOR j := 1:MTTNu DO IF MTTB(i,j) NEQ 0 THEN
+% write "MTTB(", i, ",", j, ") := ", MTTB(i,j);
+% END;
+
+% %Write it out
+% IF MTTNy>0 THEN
+% IF MTTNx>0 THEN
+% BEGIN
+% write "matrix MTTC(", MTTNy, ",", MTTNx, ");";
+% FOR i := 1:MTTNy DO
+% FOR j := 1:MTTNx DO IF MTTC(i,j) NEQ 0 THEN
+% write "MTTC(", i, ",", j, ") := ", MTTC(i,j);
+% END;
+
+% IF MTTNy>0 THEN IF MTTNu>0 THEN
+% BEGIN
+% write "matrix MTTD(", MTTNy, ",", MTTNu, ");";
+% FOR i := 1:MTTNy DO
+% FOR j := 1:MTTNu DO IF MTTD(i,j) NEQ 0 THEN
+% write "MTTD(", i, ",", j, ") := ", MTTD(i,j);
+% END;
+
+write "END;";
+
+SHUT "$1_$2.r2";
+quit;
+
+EOF
+
+cat $1_$2.r1 $1_$2.r2 > $1_$2.r
+
+# Now invoke the standard error handling.
+mtt_error_r csm2sm_r.log
ADDED mttroot/mtt/bin/trans/csm_r2m
Index: mttroot/mtt/bin/trans/csm_r2m
==================================================================
--- /dev/null
+++ mttroot/mtt/bin/trans/csm_r2m
@@ -0,0 +1,114 @@
+#! /bin/sh
+
+ ######################################
+ ##### Model Transformation Tools #####
+ ######################################
+
+# Bourne shell script: csm_r2m
+# Reduce constained state-space A,B,C,D and E matrices to Matlab
+# P.J.Gawthrop July 1990, Feb 1991, May 1991, Sep 91, Dec 93, Jan 94, May 94.
+# Copyright (c) P.J.Gawthrop, 1989, 1990, 1991, 1993, 1994.
+
+###############################################################
+## Version control history
+###############################################################
+## $Id$
+## $Log$
+## Revision 1.2 1996/08/19 18:40:02 peter
+## read in the nuim_par function etc.
+##
+## Revision 1.1 1996/08/19 16:27:04 peter
+## Initial revision
+##
+###############################################################
+
+# Inform user
+echo Creating $1_$2.m
+
+# Remove the old log file
+rm -f csm_r2m.log
+
+# Use reduce to accomplish the transformation
+reduce >csm_r2m.log << EOF
+
+%Read in the definitions file
+in "$1_def.r";
+
+%Read the reduce state-space A,B,C and D matrices file
+in "$1_$2.r";
+
+%Set up the number of argument variables to zero in case the user has forgotten
+MTTNVar := 0;
+
+%Read in the parameter file
+%%in "$1_sympar.r";
+
+
+OUT "$1_$2.m";
+
+%Headings - Matlab style
+%(Note. The ;; are deleted by for2mat)
+
+IF MTTNvar>0 THEN
+BEGIN
+ write "function [MTTA,MTTB,MTTC,MTTD,MTTE] = $1_$2(...";
+ FOR i := 1:MTTNvar DO
+ BEGIN
+ IF i<MTTNvar THEN write MTTVar(i,1), ",..."
+ ELSE write MTTVar(i,1), ");;";
+ END;
+END
+ELSE write "function [MTTA,MTTB,MTTC,MTTD,MTTE] = $1_$2;;";
+
+
+IF MTTNvar>0 THEN
+BEGIN
+ write "%function [MTTA,MTTB,MTTC,MTTD,MTTE] = $1_$2(...";
+ FOR i := 1:MTTNvar DO
+ BEGIN
+ IF i<MTTNvar THEN write "%", MTTVar(i,1), ",..."
+ ELSE write "%", MTTVar(i,1), ");;";
+ END;
+END
+ELSE write "%function [MTTA,MTTB,MTTC,MTTD,MTTE] = $1_$2;;";
+
+
+write "%Linearised constrained-state matrices for system $1";
+write "%File $1_$2.m";
+write "%Generated by MTT";
+
+IF MTTNvar>0 THEN
+BEGIN
+ write "% Read in the parameters";
+ write "[ ...;;";
+ FOR i := 1:MTTNvar DO
+ BEGIN
+ IF i<MTTNvar THEN write MTTVar(i,1), ",..."
+ ELSE write MTTVar(i,1), "] = $1_numpar"
+ END;
+ write "% Read in the arguments";
+ write "$1_args";
+END;
+
+%Fortran switches - one line expressions
+OFF echo;
+ON fort$
+cardno!* := 1$
+fortwidth!* := 100$
+OFF period$
+
+write "MTTA = zeros(", MTTNx, ",", MTTNx, ");";
+write "MTTB = zeros(", MTTNx, ",", MTTNu, ");";
+write "MTTC = zeros(", MTTNy, ",", MTTNx, ");";
+write "MTTD = zeros(", MTTNy, ",", MTTNu, ");";
+write "MTTE = zeros(", MTTNx, ",", MTTNx, ");";
+
+ON NERO; % Suppress zero elements.
+MTTA := MTTA;
+MTTB := MTTB;
+MTTC := MTTC;
+MTTD := MTTD;
+MTTE := MTTE;
+
+SHUT "$1_$2.m";
+
ADDED mttroot/mtt/bin/trans/csm_r2tex
Index: mttroot/mtt/bin/trans/csm_r2tex
==================================================================
--- /dev/null
+++ mttroot/mtt/bin/trans/csm_r2tex
@@ -0,0 +1,83 @@
+#! /bin/sh
+
+ ######################################
+ ##### Model Transformation Tools #####
+ ######################################
+
+# Bourne shell script: csm_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.
+
+# Inform user
+echo Creating $1_$2.tex
+
+# Remove the old log file
+rm -f csm_r2tex.log
+
+# Use reduce to accomplish the transformation
+reduce >csm_r2tex.log << EOF
+
+%Read the definitions file
+in "$1_def.r";
+
+%Read the constrained-state matrices file
+in "$1_$2.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;
+
+OUT "$1_$2.tex";
+
+%Write out the constrained-state matrices.
+write "%constrained-state matrices $1";
+write "%File: $1_$2.tex";
+write"";
+
+write "%constrained-state matrices";
+
+MTT_Matrix := MTTA$
+MTT_Matrix_name := "MTTA"$
+MTT_Matrix_n := MTTNx$
+MTT_Matrix_m := MTTNx$
+LaTeX_Matrix()$
+
+MTT_Matrix := MTTB$
+MTT_Matrix_name := "MTTB"$
+MTT_Matrix_n := MTTNx$
+MTT_Matrix_m := MTTNu$
+LaTeX_Matrix()$
+
+MTT_Matrix := MTTC$
+MTT_Matrix_name := "MTTC"$
+MTT_Matrix_n := MTTNy$
+MTT_Matrix_m := MTTNx$
+LaTeX_Matrix()$
+
+MTT_Matrix := MTTD$
+MTT_Matrix_name := "MTTD"$
+MTT_Matrix_n := MTTNu$
+MTT_Matrix_m := MTTNu$
+LaTeX_Matrix()$
+
+MTT_Matrix := MTTE$
+MTT_Matrix_name := "MTTE"$
+MTT_Matrix_n := MTTNx$
+MTT_Matrix_m := MTTNx$
+LaTeX_Matrix()$
+
+SHUT "$1_$2.tex";
+quit;
+EOF
ADDED mttroot/mtt/bin/trans/dat2gdat
Index: mttroot/mtt/bin/trans/dat2gdat
==================================================================
--- /dev/null
+++ mttroot/mtt/bin/trans/dat2gdat
@@ -0,0 +1,128 @@
+#! /bin/sh
+
+ ######################################
+ ##### Model Transformation Tools #####
+ ######################################
+
+# Bourne shell script: dat2gdat
+
+# Converts a data file in data format to gplot data format
+
+# Copyright (c) P.J.Gawthrop, 1997.
+
+###############################################################
+## Version control history
+###############################################################
+## $Id$
+## $Log$
+## Revision 1.8 1998/09/29 20:01:27 peterg
+## 4th argument for nyquist style files - ie differnt x for each y
+##
+## Revision 1.7 1997/12/04 22:10:32 peterg
+## Handles argument list - variable names.
+##
+## Revision 1.6 1997/05/22 10:34:05 peterg
+## Changed argument structure.
+##
+## Revision 1.5 1997/05/22 10:11:19 peterg
+## Fixed parametetr bug
+##
+# Revision 1.4 1997/05/16 13:03:10 peterg
+# Now selects variables to display.
+#
+# Revision 1.3 1996/08/26 13:02:58 peterg
+# Cahged awk to awk.
+#
+# Revision 1.2 1996/08/15 11:49:11 peter
+# Puts a blank line at the end of the file:
+# this allows user to cat files for use in gnuplot.
+#
+## Revision 1.1 1996/08/14 09:13:52 peter
+## Initial revision
+##
+###############################################################
+
+echo Creating $1_$2.gdat
+rm -f $1_$2.gdat
+
+DifferentX=$4;
+
+# Convert multi-columns into gnuplot format -
+# ie stack two columns vertically separated by blank lines
+
+#Get the desired data index
+which=`name2index $1 "$3"`
+
+if [ -z "$DifferentX" ]; then
+awk '
+BEGIN{
+ row=0; col=0;
+}
+{
+ if (row==0) {
+ N=split(which,Which,",");
+ }
+ row++;
+ j=1;
+ if (Which[1]==0) {
+ x[row] = $1;
+ for (i=1; i<NF; i++) {
+ ycol = i+1;
+ y[row,j++] = $ycol;
+ }
+ }
+ else {
+ xcol = Which[1];
+ x[row] = $xcol
+ for (i=1; i<N; i++) {
+ ycol = Which[i+1];
+ y[row,j++] = $ycol;
+ }
+ }
+ cols=j-1;
+}
+END {
+ rows = row;
+ for (col = 1; col <= cols; col++) {
+ for (row = 1; row <= rows; row++) {
+ print x[row], y[row,col]
+ };
+ if (col<=cols) {
+ printf("\n")
+ }
+ }
+}' which="$which" <$1_$2.dat > $1_$2.gdat
+
+else
+awk '
+BEGIN{
+ row=0; col=0;
+}
+{
+ row++; cols=NF/2
+ for (i=1; i<=cols; i++) {
+ ycol=2*i;
+ xcol=ycol-1;
+ x[row,i] = $xcol
+ y[row,i] = $ycol;
+ }
+}
+END {
+ rows = row;
+ for (col = 1; col <= cols; col++) {
+ for (row = 1; row <= rows; row++) {
+ print x[row,col], y[row,col]
+ };
+ if (col<=cols) {
+ printf("\n")
+ }
+ }
+}' <$1_$2.dat > $1_$2.gdat
+
+fi
+
+
+
+
+
+
ADDED mttroot/mtt/bin/trans/dat2sdat
Index: mttroot/mtt/bin/trans/dat2sdat
==================================================================
--- /dev/null
+++ mttroot/mtt/bin/trans/dat2sdat
@@ -0,0 +1,45 @@
+#! /bin/sh
+
+ ######################################
+ ##### Model Transformation Tools #####
+ ######################################
+
+# Bourne shell script: dat2sdat
+
+# Structure file - dat to sdat conversion
+# P.J.Gawthrop April 1997
+# Copyright (c) P.J.Gawthrop, 1997, 1999
+
+###############################################################
+## Version control history
+###############################################################
+## $Id$
+## $Log$
+## Revision 1.1 1999/03/28 21:29:40 peterg
+## Initial revision
+##
+###############################################################
+
+if [ "$2" = "odes" ]; then
+ which="state"
+else
+ which="output"
+fi
+
+awk '
+BEGIN{
+printf("Time");
+}
+{
+ if ($1==which)
+ printf(" %s(%s)", $3, $5);
+}
+END{
+printf("\n");
+}
+' SYSTEM=$1 which=$which < $1_struc.txt
+
+cat $1_$2.dat
+
+
+
ADDED mttroot/mtt/bin/trans/dm_r2tex
Index: mttroot/mtt/bin/trans/dm_r2tex
==================================================================
--- /dev/null
+++ mttroot/mtt/bin/trans/dm_r2tex
@@ -0,0 +1,163 @@
+#! /bin/sh
+
+ ######################################
+ ##### Model Transformation Tools #####
+ ######################################
+
+# Bourne shell script: dm_r2tex
+# Reduce descriptor matrices to LaTex descriptor matrices.
+# P.J.Gawthrop 9 June 1990, 8th July 1990, 14 Feb 1991, 10th May 1991, 4th June 1991
+# Copyright (c) P.J.Gawthrop, 1990, 1991.
+
+#Inform user
+echo Creating $1_dm.tex
+
+# Remove the old log file
+rm -f dm_r2tex.log
+
+# Use reduce to accomplish the transformation
+reduce >dm_r2tex.log << EOF
+
+%Read the definitions file
+in "$1_def.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";
+
+%Number of descriptor variables
+MTTN := MTTNx + 2*MTTNz + MTTNyz;
+
+%Read the descriptor matrices file
+in "$1_dm.r";
+
+OFF Echo;
+OFF Nat;
+
+OUT "$1_dm.tex";
+
+%Write out the descriptor matrices.
+write "%Descriptor matrices $1";
+write "%File: $1_dm.tex";
+write"";
+
+write "%Descriptor matrices";
+
+%IF (MTTNz+MTTNyz) NEQ 0 THEN
+%BEGIN
+% write "% - E matrix";
+% write "\begin{equation}";
+% write "MTTE = MTTI_0(", MTTNx+MTTNz, ",", MTTNz+MTTNyz, ")";
+% write "\end{equation}";
+%END;
+
+
+IF MTTN NEQ 0 THEN
+IF (MTTNz+MTTNyz) > 0 THEN
+BEGIN
+write "% - E matrix";
+write "\begin{equation}";
+write "MTTE = \begin{pmatrix}";
+ FOR Row := 1:MTTN DO
+ BEGIN
+ FOR Col := 1:MTTN DO
+ BEGIN
+ Write "{", MTTE(Row,Col), "}";
+ IF Col<MTTN THEN Write "&"
+ END;
+
+ IF Row<MTTN THEN Write "\cr";
+ END;
+ Write "\end{pmatrix}";
+write "\end{equation}";
+END;
+
+
+
+IF MTTN NEQ 0 THEN
+BEGIN
+write "% - A matrix";
+write "\begin{equation}";
+write "MTTA = \begin{pmatrix}";
+ FOR Row := 1:MTTN DO
+ BEGIN
+ FOR Col := 1:MTTN DO
+ BEGIN
+ Write "{", MTTA(Row,Col), "}";
+ IF Col<MTTN THEN Write "&"
+ END;
+
+ IF Row<MTTN THEN Write "\cr";
+ END;
+ Write "\end{pmatrix}";
+write "\end{equation}";
+END;
+
+IF MTTN NEQ 0 THEN IF MTTNu NEQ 0 THEN
+BEGIN
+write "% - B matrix";
+write "\begin{equation}";
+write "MTTB = \begin{pmatrix}";
+ FOR Row := 1:MTTN DO
+ BEGIN
+ FOR Col := 1:MTTNu DO
+ BEGIN
+ Write "{", MTTB(Row,Col), "}";
+ IF Col<MTTNu THEN Write "&"
+ END;
+
+ IF Row<MTTN THEN Write "\cr";
+ END;
+ Write "\end{pmatrix}";
+write "\end{equation}";
+END;
+
+IF MTTN NEQ 0 THEN IF MTTNy NEQ 0 THEN
+BEGIN
+write "% - C matrix";
+write "\begin{equation}";
+write "MTTC = \begin{pmatrix}";
+ FOR Row := 1:MTTNy DO
+ BEGIN
+ FOR Col := 1:MTTN DO
+ BEGIN
+ Write "{", MTTC(Row,Col), "}";
+ IF Col<MTTN THEN Write "&"
+ END;
+
+ IF Row<MTTNy THEN Write "\cr";
+ END;
+ Write "\end{pmatrix}";
+write "\end{equation}";
+END;
+
+IF MTTNy NEQ 0 THEN IF MTTNu NEQ 0 THEN
+BEGIN
+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;
+
+ IF Row<MTTNy THEN Write "\cr";
+ END;
+ Write "\end{pmatrix}";
+write "\end{equation}";
+END;
+
+
+
+
+SHUT "$1_dm.tex";
+quit;
+EOF
Index: mttroot/mtt/bin/trans/lbl2cr_txt2r
==================================================================
--- mttroot/mtt/bin/trans/lbl2cr_txt2r
+++ mttroot/mtt/bin/trans/lbl2cr_txt2r
@@ -13,10 +13,13 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+# Revision 1.3 1996/11/03 21:11:44 peterg
+# Removed END; statement
+#
## Revision 1.2 1996/11/02 10:20:53 peterg
## Created from lbl2sympar
##
###############################################################
@@ -28,13 +31,13 @@
#Write some file headers
echo "%% constitutive relationship file ($1_cr.r)" > $1_cr.r
echo "%% Generated by MTT at `date`" >> $1_cr.r
-# This is the main transformation using gawk
-gawk -f $MTTPATH/trans/awk/lbl2cr.awk <$1_lbl.txt 2>mtt_error.txt | \
+# This is the main transformation using awk
+awk -f $MTTPATH/trans/awk/lbl2cr.awk <$1_lbl.txt 2>mtt_error.txt | \
sh >> $1_cr.r
# Now invoke the standard error handling.
#mtt_error mtt_error.txt
Index: mttroot/mtt/bin/trans/lbl2sympar_txt2r
==================================================================
--- mttroot/mtt/bin/trans/lbl2sympar_txt2r
+++ mttroot/mtt/bin/trans/lbl2sympar_txt2r
@@ -13,10 +13,13 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+# Revision 1.6 1996/12/07 19:39:51 peterg
+# Minor debugging.
+#
## Revision 1.5 1996/09/12 17:18:44 peter
## Don't add an RCS header ..
##
## Revision 1.4 1996/08/30 19:01:21 peter
## Added headers to sympar file.
@@ -40,13 +43,13 @@
#Write some file headers
echo "%% Symbolic parameter file ($1_sympar.r)" > $1_sympar.r
echo "%% Generated by MTT at `date`" >> $1_sympar.r
-# This is the main transformation using gawk
+# This is the main transformation using awk
tr ';' ',' < $1_lbl.txt | \
-gawk -f $MTTPATH/trans/awk/lbl2sympar.awk >> $1_sympar.r 2>mtt_error.txt
+awk -f $MTTPATH/trans/awk/lbl2sympar.awk | sort >> $1_sympar.r 2>mtt_error.txt
# Now invoke the standard error handling.
mtt_error mtt_error.txt
Index: mttroot/mtt/bin/trans/lbl_txt2tex
==================================================================
--- mttroot/mtt/bin/trans/lbl_txt2tex
+++ mttroot/mtt/bin/trans/lbl_txt2tex
@@ -12,10 +12,13 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+## Revision 1.9 2000/11/16 13:11:06 peterg
+## Included PAR and UNITS declarations
+##
## Revision 1.8 1999/02/17 21:42:19 peterg
## Replaced print by printf to avoid extra nl in paragraph command.
##
## Revision 1.7 1998/07/27 12:56:26 peterg
## Splits up | separated expressions.
@@ -123,13 +126,21 @@
}' >> $1_lbl.tex
cat <<EOF >> $1_lbl.tex
\end{description}
EOF
-
+# Write the actual lbl file
+cat >> $1_lbl.tex <<EOF
+\subsubsection*{The label file: $1\_lbl.txt}
+\begin{verbatim}
+EOF
+cat $1_lbl.txt >> $1_lbl.tex
+cat >> $1_lbl.tex <<EOF
+\end{verbatim}
+EOF
ADDED mttroot/mtt/bin/trans/lde_r2tex
Index: mttroot/mtt/bin/trans/lde_r2tex
==================================================================
--- /dev/null
+++ mttroot/mtt/bin/trans/lde_r2tex
@@ -0,0 +1,106 @@
+#! /bin/sh
+
+ ######################################
+ ##### Model Transformation Tools #####
+ ######################################
+
+# Bourne shell script: lde_r2tex
+# Reduce differential-algebraic to LaTex differential-algebraic equations.
+# P.J.Gawthrop 10th May 1991, April 1994
+# Copyright (c) P.J.Gawthrop, 1991, 1994, 1996.
+
+###############################################################
+## Version control history
+###############################################################
+## $Id$
+## $Log$
+## Revision 1.3 1998/01/23 15:51:01 peterg
+## Repleace eqnarray by equation + aligned -- this works with Latex2html
+##
+## Revision 1.2 1996/12/20 08:59:10 peterg
+## Now writes out mtti instead of mtt_{i} -- lets latex_tidy do the
+## conversion.
+##
+## Revision 1.1 1996/12/20 08:53:57 peterg
+## Initial revision
+##
+###############################################################
+
+# Inform user
+echo Creating $1_lde.tex
+
+# Remove the old log file
+rm -f lde_r2tex.log
+
+# Use reduce to accomplish the transformation
+reduce >lde_r2tex.log << EOF
+
+%Read the definitions file
+in "$1_def.r";
+
+%Read the differential-algebraic equations file
+in "$1_lde.r";
+
+%Read the symbolic parameter file
+%%in "$1_sympar.r";
+
+
+
+OFF Echo;
+OFF Nat;
+
+%Read the substitution file
+IN "$1_subs.r";
+
+%Read the simplifying expressions file
+IN "$1_simp.r";
+
+OUT "$1_lde.tex";
+
+%Write out the differential-algebraic equations.
+
+write "%File: $1_lde.tex";
+
+write "%ordinary differential equations";
+write "% Generated by MTT";
+
+IF MTTNyz>0 THEN
+BEGIN
+ write"\begin{equation} \label{eq_$1_lde_x}";
+ write"\begin{aligned}";
+ FOR Row := 1:MTTNx DO
+ BEGIN
+ write "{";
+ write MTTl(Row,1);
+ write "}";
+ write " &= 0";
+ IF Row<MTTNx THEN write "\cr";
+ END;
+ write"\end{aligned}";
+ write"\end{equation}";
+END;
+
+
+IF MTTNy>0 THEN
+BEGIN
+ write"\begin{equation} \label{eq_$1_lde_y}";
+ write"\begin{aligned}";
+ FOR Row := 1:MTTNy DO
+ BEGIN
+ write "MTTy", Row, " &= ";
+ write "{";
+ write MTTy(Row,1);
+ write "}";
+ IF Row<MTTNy THEN write "\cr";
+ END;
+ write"\end{aligned}";
+ write"\end{equation}";
+END;
+
+
+
+
+
+SHUT "$1_lde.tex";
+quit;
+EOF
Index: mttroot/mtt/bin/trans/matlab_header
==================================================================
--- mttroot/mtt/bin/trans/matlab_header
+++ mttroot/mtt/bin/trans/matlab_header
@@ -4,13 +4,14 @@
##### Model Transformation Tools #####
######################################
# Bourne shell script: matlab_header
# Generic octave function header
+
#Write some file headers
-echo "function [A,B,C,D,E] = $1_$2"
+echo "function [$3] = $1_$2"
echo "% $2 function for system $1 ($1_$2.m)"
echo "% Generated by MTT at `date`"
echo
#Globals
Index: mttroot/mtt/bin/trans/matlab_matrix.r
==================================================================
--- mttroot/mtt/bin/trans/matlab_matrix.r
+++ mttroot/mtt/bin/trans/matlab_matrix.r
@@ -10,17 +10,20 @@
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% % $Id$
% % $Log$
+% % Revision 1.1 1998/03/22 10:26:47 peterg
+% % Initial revision
+% %
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Load the general translator package
LOAD GENTRAN;
GENTRANLANG!* := 'FORTRAN;
ON GENTRANSEG;
-MAXEXPPRINTLEN!* := 80;
+MAXEXPPRINTLEN!* := 400;
PROCEDURE matlab_Matrix;
BEGIN
ON NERO;
write "mtt_matrix = zeros(", mtt_matrix_n, ",", mtt_matrix_m, ");";
Index: mttroot/mtt/bin/trans/mtt_error
==================================================================
--- mttroot/mtt/bin/trans/mtt_error
+++ mttroot/mtt/bin/trans/mtt_error
@@ -12,10 +12,13 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+## Revision 1.7 1998/03/06 17:14:09 peterg
+## Cospetic change to message
+##
## Revision 1.6 1998/03/05 10:17:41 peterg
## Cosmetic change
##
## Revision 1.5 1998/03/05 10:14:37 peterg
## Toned down the error warning message
@@ -40,11 +43,11 @@
# Test for errors and print if any
err_length=`wc -c <$error_file | awk '{print $1}'`
if [ "$err_length" != "0" ]
then
echo "INFORMATION: An MTT transformation has generated the following messages"
- echo " (which may not be important)"
+# echo " (which may not be important)"
cat $error_file
exit 1
else
exit 0
fi
Index: mttroot/mtt/bin/trans/mtt_getsize
==================================================================
--- mttroot/mtt/bin/trans/mtt_getsize
+++ mttroot/mtt/bin/trans/mtt_getsize
@@ -15,19 +15,29 @@
while [ -n "`echo $1 | grep '^-'`" ]; do
case $1 in
-internal )
internal=yes;
;;
+ -external )
+ external=yes;
+ ;;
*)
echo "$1 is an invalid argument - ignoring";
exit ;;
esac
shift
done
if [ -n "$internal" ]; then
- grep "MTT$2[^(]" $1_ese.r | wc -l
+ name=MTT$2"[0-9]"; # echo $name
+ grep -i "$name" $1_ese.r | wc -l
+ exit
+fi
+
+if [ -n "$external" ]; then
+ name="^MTT"$2"("; #echo $name
+ grep -i "$name" $1_ese.r | wc -l
exit
fi
## The original version for external sizes.
if [ "$2" = "xx" ]; then
Index: mttroot/mtt/bin/trans/obs_r2m
==================================================================
--- mttroot/mtt/bin/trans/obs_r2m
+++ mttroot/mtt/bin/trans/obs_r2m
@@ -120,10 +120,11 @@
else
lang_header $1 obs m x,u yy > $1_obs.m1
fi
# Put together the pieces
+matlab_tidy $1_obs.m2
matlab_tidy $1_obs.m3
cat $1_obs.m? >$1_obs.m
rm -f $1_obs.m?
Index: mttroot/mtt/bin/trans/obs_r2tex
==================================================================
--- mttroot/mtt/bin/trans/obs_r2tex
+++ mttroot/mtt/bin/trans/obs_r2tex
@@ -12,10 +12,13 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+## Revision 1.1 1998/04/07 08:30:20 peterg
+## Initial revision
+##
# 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.
@@ -41,10 +44,13 @@
%Read the obs file
in "$1_obs.r";
%Read the Obs function parameters
in "$1_obspar.r";
+
+%Read the substitution file
+in "$1_subs.r";
%Read the simplification parameters
in "$1_simp.r";
%Read the formatting function
@@ -54,17 +60,10 @@
OFF Nat;
OFF EXP;
OUT "$1_obs.tex";
-% Write the obs vector (YY)
-MTT_Matrix := MTTYY$
-MTT_Matrix_name := "MTTO"$
-MTT_Matrix_n := (MTTGPCNY+1)*MTTNy$
-MTT_Matrix_m := 1$
-LaTeX_Matrix()$
-
% Write the affine form
IF affine=1 THEN
BEGIN
MTT_Matrix := MTTObs_o$
MTT_Matrix_name := "MTTO_o"$
@@ -75,9 +74,19 @@
MTT_Matrix := MTTObs_h$
MTT_Matrix_name := "MTTO_h"$
MTT_Matrix_n := (MTTGPCNy+1)*MTTNy$
MTT_Matrix_m := (MTTGPCNu+1)*MTTNu$
LaTeX_Matrix()$
+END
+ELSE
+BEGIN
+% Write the obs vector (YY)
+ MTT_Matrix := MTTYY$
+ MTT_Matrix_name := "MTTO"$
+ MTT_Matrix_n := (MTTGPCNY+1)*MTTNy$
+ MTT_Matrix_m := 1$
+ LaTeX_Matrix()$
END;
+
SHUT "$1_obs.tex";
quit;
EOF
Index: mttroot/mtt/bin/trans/ode2odes_m
==================================================================
--- mttroot/mtt/bin/trans/ode2odes_m
+++ mttroot/mtt/bin/trans/ode2odes_m
@@ -13,10 +13,13 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+## Revision 1.17 1998/06/27 14:49:16 peterg
+## No change
+##
## Revision 1.16 1998/06/25 08:47:23 peterg
## Put correct arguments for _input -- (x,t)
##
## Revision 1.15 1998/05/21 16:20:27 peterg
## Modified to include explicit algebraic loop solution
@@ -143,11 +146,12 @@
for t=T'
X = [X; xx'];
ts = t;
for i=1:STEPFACTOR
x = xx(1:nx);
- xx = $1_ode(xx,ts);
+ u = $1_input(xx,ts);
+ xx = $1_ode(xx,u,ts);
ts = ts + dt;
dx = xx(1:nx);
x = x + dx*dt;
xx(1:nx) = x;
end;
@@ -154,19 +158,20 @@
end;
elseif strcmp(method,'implicitl')
%Euler integration
X=[];
dt = (T(2)-T(1))/STEPFACTOR;
- u = $1_input(x,t);
- A = $1_sm(x,u);
+ u = $1_input(x,u,t);
+ A = $1_smx(x,u);
inverse = inv(eye(nx) - dt*A);
for t=T'
X = [X; xx'];
ts = t;
+ u = $1_input(x,t);
for i=1:STEPFACTOR
x = xx(1:nx);
- xx = $1_ode(xx,ts);
+ xx = $1_ode(xx,u,ts);
ts = ts + dt;
dx = xx(1:nx);
x = inverse*(x + dt*(dx - A*x));
xx(1:nx) = x;
end;
@@ -180,12 +185,12 @@
X = [X; xx'];
ts = t;
for i=1:STEPFACTOR
x = xx(1:nx);
u = $1_input(x,t);
- A = $1_sm(x,u);
- xx = $1_ode(xx,ts);
+ A = $1_smx(x,u);
+ xx = $1_ode(xx,u,ts);
ts = ts + dt;
dx = xx(1:nx);
x = (One-A*dt)\(x + dt*(dx - A*x));
xx(1:nx) = x;
end;
@@ -201,11 +206,12 @@
if ny>0 % compute y and print it
i = 0; Y=[];
for t=T'
i = i+1; X(i,:);
- y = $1_odeo(X(i,:)',t);
+ u = $1_input(x,t);
+ y = $1_odeo(X(i,:)',u,t);
Y = [Y; y'];
end;
write_matrix([T,Y], '$1_odeso');
end;
Index: mttroot/mtt/bin/trans/ode2odess_m
==================================================================
--- mttroot/mtt/bin/trans/ode2odess_m
+++ mttroot/mtt/bin/trans/ode2odess_m
@@ -13,10 +13,13 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+## Revision 1.4 2000/10/17 11:07:59 peterg
+## *** empty log message ***
+##
## Revision 1.3 1998/05/19 19:27:04 peterg
## Zapped all the parameter stuff
##
## Revision 1.2 1996/09/13 19:40:51 peter
## Fixed problem with default paramaters.
@@ -39,22 +42,23 @@
###############################################################
echo Creating $1_odess.m
rm -f ode2odess_m.log
+Nx=`mtt_getsize $1 x` # States
+Nxx=`mtt_getsize $1 xx` # States x States
+Nu=`mtt_getsize $1 u` # Inputs
+Ny=`mtt_getsize $1 y` # Inputs
$MATRIX << EOF > ode2odess_m.log 2>mtt_error.txt
%Read in parameters
- $1_numpar;
-
- [nx,ny,nu,nz,nyz] = $1_def;
-
+ par = $1_numpar;
%Read in simulation parameters
- $1_simpar;
- T = [0:DT:LAST];
+ simpar=$1_simpar;
+ T = [0:simpar.dt:simpar.last];
t=0; %Just in case it appears in the parameter list.
%Defaults
@@ -61,11 +65,11 @@
if exist('T')==0
T=[0:0.1:1]
end;
if exist('x0')==0
- x0 = zeros(nx,1);
+ x0 = zeros($Nx,1);
end;
[n,m]=size(T);
if m>n
T=T';
@@ -72,23 +76,27 @@
end;
global t;
function dx=f(x)
global t
- dx = $1_ode(x,t);
+ par = $1_numpar;
+ u = $1_input(x,zeros($Ny,1),t,par);
+ dx = $1_ode(x,u,t,par);;
endfunction;
i=0;
+x = x0;
for t=T'
- i=i+1;
- x(i,:) = fsolve('f',x0)';
+ u = $1_input(x,zeros($Ny,1),t,par);
+ y(i) = $1_odeo(x,u,t,par)';
+ mtt_write(t,x,y,$Nx,$Ny); # Write it out
+ x = fsolve('f',x)';
end;
i=0;
for t=T'
i=i+1;
- y(i,:) = $1_odeo(x(i,:),t)';
end;
write_matrix([T,x], '$1_odess');
write_matrix([T,y], '$1_odesso');
Index: mttroot/mtt/bin/trans/ode2smx_lang
==================================================================
--- mttroot/mtt/bin/trans/ode2smx_lang
+++ mttroot/mtt/bin/trans/ode2smx_lang
@@ -12,10 +12,13 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+## Revision 1.11 1998/11/26 10:32:34 peterg
+## Include subs.r
+##
## Revision 1.10 1998/11/17 17:10:22 peterg
## Read in the constitutive relationship file as well
##
## Revision 1.9 1998/08/27 07:06:25 peterg
## Just genrate xj once.
@@ -187,11 +190,12 @@
EOF
if [ "$lang" = "m" ]; then
mv $1_smx.$lang mtt_junk
- lang_header $1 smx m 'mttx,mttu,mttdt' '[mtta,mttax]' > $1_smx.m
+# lang_header $1 smx m 'mttx,mttu,mttdt' '[mtta,mttax]' > $1_smx.m
+ mtt_header $1 $2 m
cat mtt_junk | mtt_p2m >> $1_smx.m
rm -f mtt_junk
# mv $1_smxx.$lang mtt_junk
# lang_header $1 smxx m 'mttx,mttu,mttxx,mttdt' '[mttax]' > $1_smxx.m
Index: mttroot/mtt/bin/trans/odeso_dat2sdat
==================================================================
--- mttroot/mtt/bin/trans/odeso_dat2sdat
+++ mttroot/mtt/bin/trans/odeso_dat2sdat
@@ -13,34 +13,17 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+## Revision 1.1 1999/03/28 21:29:40 peterg
+## Initial revision
+##
###############################################################
# Inform user
echo "Creating $1_odeso.sdat"
-rm -f mtt_error
-
-# This is the main transformation using gawk
-gawk '
-
-BEGIN{
-printf("Time");
-}
-{ if ($1=="output")
- printf(" %s(%s)", $3, $5);
-}
-END{
-printf("\n");
-}
-' SYSTEM=$1 < $1_struc.txt > $1_odeso.sdat 2>mtt_error.txt
-
-cat $1_odeso.dat >> $1_odeso.sdat 2>>mtt_error.txt
-
-# Now invoke the standard error handling.
-mtt_error mtt_error.txt
-
+dat2sdat $1 odeso | dat2siag > $1_odeso.sdat
Index: mttroot/mtt/bin/trans/rdae2dae_r
==================================================================
--- mttroot/mtt/bin/trans/rdae2dae_r
+++ mttroot/mtt/bin/trans/rdae2dae_r
@@ -12,10 +12,13 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+## Revision 1.4 2000/09/04 08:42:53 peterg
+## Put in extra echo to space output
+##
## Revision 1.3 2000/09/02 15:55:11 peterg
## Now doesn't include def files in da files
##
## Revision 1.2 2000/09/01 13:36:15 peterg
## Added -partition option
@@ -171,58 +174,58 @@
SHUT "$daename";
quit;
EOF
-if [ -n "$partition" ]; then
- rm -f mtt_junk
- # Now for the subsystems
- # Find subsystems
- subsystems=`mtt_get_subsystems $1`
-
- for subsystem in $subsystems; do
- echo Doing $subsystem
- ucname="MTT_"$subsystem"_uc"
-
- Nu=`mtt_getsize -internal $subsystem"_1" u`
- echo Nu $Nu
-
- # Use symbolic algebra to accomplish the transformation
- $SYMBOLIC >$logname << EOF
-
- %Read the formatting function
- in "$MTTPATH/trans/reduce_matrix.r";
-
- % Definitions
- in "$defname";
-
- % Elementary system equations
- in "$rdaename";
-
- OFF Echo;
- OFF Nat;
-
- %Create the output file
- OUT "mtt_junk";
- % Connecting inputs
- MTT_Matrix := $ucname $
- MTT_Matrix_name := "$ucname" $
- MTT_Matrix_n := $Nu $
- MTT_Matrix_m := 1$
- Reduce_Matrix()$
-
- shut "mtt_junk";
-EOF
- echo >> $1_dae.r
- echo %Connections for subsystem $subsystem >> $1_dae.r
- echo >> $1_dae.r
-
- cat mtt_junk >> $1_dae.r
- rm -rf mtt_junk
- done
-fi
+#if [ -n "$partition" ]; then
+# rm -f mtt_junk
+# # Now for the subsystems
+# # Find subsystems
+# subsystems=`mtt_get_subsystems $1`
+#
+# for subsystem in $subsystems; do
+# echo Doing $subsystem
+# ucname="MTT_"$subsystem"_uc"
+#
+# Nu=`mtt_getsize -internal $subsystem u`
+# echo Nu $Nu
+#
+# # Use symbolic algebra to accomplish the transformation
+# $SYMBOLIC >$logname << EOF
+#
+# %Read the formatting function
+# in "$MTTPATH/trans/reduce_matrix.r";
+#
+# % Definitions
+# in "$defname";
+#
+# % Elementary system equations
+# in "$rdaename";
+#
+# OFF Echo;
+# OFF Nat;
+#
+# %Create the output file
+# OUT "mtt_junk";
+# % Connecting inputs
+# MTT_Matrix := $ucname $
+# MTT_Matrix_name := "$ucname" $
+# MTT_Matrix_n := $Nu $
+# MTT_Matrix_m := 1$
+# Reduce_Matrix()$
+#
+# shut "mtt_junk";
+#EOF
+# echo >> $1_dae.r
+# echo %Connections for subsystem $subsystem >> $1_dae.r
+# echo >> $1_dae.r
+#
+# cat mtt_junk >> $1_dae.r
+# rm -rf mtt_junk
+# done
+#fi
echo "END;" >> $1_dae.r
# Now invoke the standard error handling.
mtt_error_r $logname
Index: mttroot/mtt/bin/trans/reps_txt2tk
==================================================================
--- mttroot/mtt/bin/trans/reps_txt2tk
+++ mttroot/mtt/bin/trans/reps_txt2tk
@@ -11,10 +11,13 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+## Revision 1.4 2000/04/05 07:37:27 peterg
+## *** empty log message ***
+##
## Revision 1.3 1999/08/18 06:15:48 peterg
## Stripped down to just representations menu - see mtt_make_menu
##
## Revision 1.2 1999/03/09 00:03:19 peterg
## Revisions for xmtt
@@ -22,13 +25,14 @@
## Revision 1.1 1998/10/20 08:13:14 peterg
## Initial revision
##
###############################################################
+sep='|'; # Separates the languages from the rest.
# Create reps menu
-awk --field-separator='|' '{
+awk --field-separator=$sep '{
# Find the rep and the title
split($1,REP," ");
rep=REP[1];
# find the languages
@@ -41,30 +45,24 @@
sub(/\*/,"",$1);
printf("\n# Menus for representation %s\n", rep)
printf(".rep.rep add cascade -label \"%s\" -menu .rep.rep.%s\n", $1, rep);
printf("menu .rep.rep.%s\n", rep);
for (i=1;i<=N;i++) {
- printf(" set mtt {mtt $args $system %s %s} \n", rep, LANG[i]);
- printf(".rep.rep.%s add command -label \"%s\" ", rep, LANG[i]);
- printf(" -command \"exec echo $mtt &; exec $mtt &\" \n");
+ lang = LANG[i];
+ printf(" set mtt {mtt_pause $args $system %s %s} \n", rep, lang);
+ title = sprintf("Output_log_for_representation_%s_(language_%s)", rep, lang);
+ printf(".rep.rep.%s add command -label \"%s\" ", rep, lang);
+ printf(" -command \"exec xterm -title %s -e $mtt &\" \n", title);
}
}
else {
printf("\n# Menus for representation %s\n", rep)
printf(".repall.repall add cascade -label \"%s\" -menu .repall.repall.%s\n", $1, rep);
printf("menu .repall.repall.%s\n", rep);
for (i=1;i<=N;i++) {
- printf(" set mtt {mtt $args $system %s %s} \n", rep, LANG[i]);
+ printf(" set mtt {mtt $args $system %s %s; mtt_pause} \n", rep, LANG[i]);
printf(".repall.repall.%s add command -label \"%s\" ", rep, LANG[i]);
printf(" -command \"exec echo $mtt &; exec $mtt &\" \n");
}
}
}'
-
-
-
-
-
-
-
-
Index: mttroot/mtt/bin/trans/sm2can_r
==================================================================
--- mttroot/mtt/bin/trans/sm2can_r
+++ mttroot/mtt/bin/trans/sm2can_r
@@ -2,96 +2,371 @@
######################################
##### Model Transformation Tools #####
######################################
-# Bourne shell script: csm2sm_r
-# Constrained-state equation to linear constrained-state matrices conversion
-# P.J.Gawthrop 6th September 1991, May 1994
-# Copyright (c) P.J.Gawthrop, 1991, 1994, 1996
+# Bourne shell script: sm2can_r
+# state matrices to various canonical forms.
+# P.J.Gawthrop 12 Jan 1997
+# Copyright (c) P.J.Gawthrop 1997
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
-## Revision 1.2 1996/08/25 10:11:32 peter
-## Added END in output file.
-## Error handling.
-##
-## Revision 1.1 1996/08/19 15:06:16 peter
-## Initial revision
-##
###############################################################
+
# Inform user
-echo Creating $1_sm.r
+echo Creating $1_can.r -- NOTE this is for SISO systems only.
# Remove the old log file
-rm -f csm2sm_r.log
+rm -f sm2can_r.log
# Use reduce to accomplish the transformation
-reduce >csm2sm_r.log << EOF
+reduce >sm2can_r.log << EOF
in "$1_def.r";
-in "$1_csm.r";
-in "$1_cr.r";
-in "$1_sympar.r";
+in "$1_sm.r";
+in "$1_tf.r";
+
+%Read the formatting function
+in "$MTTPATH/trans/reduce_matrix.r";
+
OFF Echo;
OFF Nat;
-% Find MTTA and MTTB : the A and B matrices
+% Find the controllability and observibility matrices.
+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;
+
+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;
+
+%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;
+
+%Observable form.
+MTTA_o := tp(MTTA_c);
+MTTB_o := tp(MTTC_c);
+MTTC_o := tp(MTTB_c);
+MTTD_o := 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);
+
+%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;
+
+%%%% Controller design %%%%%
+
+% gain in controller form:
+matrix MTTk_c(1,mttn);
+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) - part(ai,i);
+
+% Gain in physical form
+MTTk := MTTk_c*MTTT_c;
+
+%%%% Observer design %%%%%
+% gain in Observer form:
+matrix MTTl_o(MTTn,1);
+matrix alpha_o(9,1);
+alpha_o(1,1) := alpha_o1;
+alpha_o(2,1) := alpha_o2;
+alpha_o(3,1) := alpha_o3;
+alpha_o(4,1) := alpha_o4;
+alpha_o(5,1) := alpha_o5;
+alpha_o(6,1) := alpha_o6;
+alpha_o(7,1) := alpha_o7;
+alpha_o(8,1) := alpha_o8;
+alpha_o(9,1) := alpha_o9;
+
+for i := 1:MTTNx DO
+ MTTL_o(i,1) := alpha_o(i,1) - part(ai,i);
+
+% Gain in physical form
+MTTL := MTTT_o*MTTL_o;
+
+% Steady-state stuff
+% Create the matrix [A B; C D];
+matrix ABCD(MTTn+1,MTTn+1);
+for i := 1:MTTNx do
+ for j := 1:MTTNx do
+ ABCD(i,j) := MTTA(i,j);
+
+for i :=1:MTTNx do
+ ABCD(i,MTTNx+1) := MTTB(i,1);
+
+for j := 1:MTTNx do
+ ABCD(MTTNx+1,j) := MTTC(1,j);
+
+ABCD(MTTNx+1,MTTNx+1) := MTTD(1,1);
+
+matrix zero_one(MTTNx+1,1);
+zero_one(MTTNx+1,1) := 1;
+
+%Find N vector
+Nxu := ABCD^(-1)*zero_one;
+
+%Extract the parts
+MATRIX MTTX_r(MTTNx,1);
+FOR i := 1:MTTNx DO
+ MTTX_r(i,1) := Nxu(i,1);
+
+MTTu_r := Nxu(MTTNx+1,1);
+
+
+% Compensator
-MTTinvE := MTTE^(-1);
-MTTA := MTTinvE*MTTA;
-MTTB := MTTinvE*MTTB;
+matrix zero(MTTNx,1);
+%State matrices
+MTTA_comp := MTTA - MTTL*MTTC - MTTB*MTTK;
+MTTB_comp := -MTTL;
+MTTC_comp := -MTTK;
+%Transfer function
+%Ds := C_d*((s*MTTI - A_d)^(-1))*B_d;
+%MTTTFC := Ds;
%Create the output file
-OUT "$1_sm.r";
+OUT "$1_can.r";
%Write out the matrices.
-IF MTTNx>0 THEN
-BEGIN
- write "matrix MTTA(", MTTNx, ",", MTTNx, ");";
- FOR i := 1:MTTNx DO
- FOR j := 1:MTTNx DO IF MTTA(i,j) NEQ 0 THEN
- write "MTTA(", i, ",", j, ") := ", MTTA(i,j);
-END;
-
-IF MTTNx>0 THEN
-IF MTTNu>0 THEN
-BEGIN
- write "matrix MTTB(", MTTNx, ",", MTTNu, ");";
- FOR i := 1:MTTNx DO
- FOR j := 1:MTTNu DO IF MTTB(i,j) NEQ 0 THEN
- write "MTTB(", i, ",", j, ") := ", MTTB(i,j);
-END;
-
-%Write it out
-IF MTTNy>0 THEN
-IF MTTNx>0 THEN
-BEGIN
- write "matrix MTTC(", MTTNy, ",", MTTNx, ");";
- FOR i := 1:MTTNy DO
- FOR j := 1:MTTNx DO IF MTTC(i,j) NEQ 0 THEN
- write "MTTC(", i, ",", j, ") := ", MTTC(i,j);
-END;
-
-IF MTTNy>0 THEN IF MTTNu>0 THEN
-BEGIN
- write "matrix MTTD(", MTTNy, ",", MTTNu, ");";
- FOR i := 1:MTTNy DO
- FOR j := 1:MTTNu DO IF MTTD(i,j) NEQ 0 THEN
- write "MTTD(", i, ",", j, ") := ", MTTD(i,j);
-END;
-
+
+% Controllable form
+MTT_Matrix := MTTA_c$
+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()$
+
+
+% 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()$
+
+write "% - Controllability matrix";
+MTT_Matrix := MTTCon$
+MTT_Matrix_name := "MTTCon"$
+MTT_Matrix_n := MTTNx$
+MTT_Matrix_m := MTTNx$
+Reduce_Matrix()$
+
+write "% -Observability matrix";
+MTT_Matrix := MTTObs$
+MTT_Matrix_name := "MTTObs"$
+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 "% - 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()$
+
+
+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()$
+
+write "% - Observer Gain matrix - observer form";
+MTT_Matrix := MTTL_o$
+MTT_Matrix_name := "MTTL_o"$
+MTT_Matrix_n := MTTNx$
+MTT_Matrix_m := MTTNy$
+Reduce_Matrix()$
+
+write "% - Gain matrix - physical form";
+MTT_Matrix := MTTL$
+MTT_Matrix_name := "MTTL"$
+MTT_Matrix_n := MTTNx$
+MTT_Matrix_m := MTTNy$
+Reduce_Matrix()$
+
+
+% Controllable form
+MTT_Matrix := MTTA_comp$
+MTT_Matrix_name := "MTTA_comp"$
+MTT_Matrix_n := MTTNx$
+MTT_Matrix_m := MTTNx$
+Reduce_Matrix()$
+
+MTT_Matrix := MTTB_comp$
+MTT_Matrix_name := "MTTB_comp"$
+MTT_Matrix_n := MTTNx$
+MTT_Matrix_m := MTTNu$
+Reduce_Matrix()$
+
+MTT_Matrix := MTTC_comp$
+MTT_Matrix_name := "MTTC_comp"$
+MTT_Matrix_n := MTTNy$
+MTT_Matrix_m := MTTNx$
+Reduce_Matrix()$
+
+
+KX := MTTK*MTTX_r;
+MTTu_r := MTTu_r + KX(1,1);
+
+
+
+MTTu_r := MTTu_r;
write "END;";
-SHUT "$1_sm.r";
+SHUT "$1_can.r";
quit;
EOF
# Now invoke the standard error handling.
-mtt_error_r csm2sm_r.log
+mtt_error_r sm2can_r.log
Index: mttroot/mtt/bin/trans/sm2ir_m
==================================================================
--- mttroot/mtt/bin/trans/sm2ir_m
+++ mttroot/mtt/bin/trans/sm2ir_m
@@ -17,24 +17,24 @@
rm -f sm2ir_m.log
rm -f $1_ir.m
rm -f $1_iro.m
rm -f mtt_error
-if [ "$2" = "" ];
-then
- PARAMS='T=[0:0.1:10];u0=ones(nu,1);x0=zeros(nx,1);'
- echo Using default parameter $PARAMS
-else
- PARAMS=$2;
-fi
+# if [ "$2" = "" ];
+# then
+# PARAMS='T=[0:0.1:10];u0=ones(nu,1);x0=zeros(nx,1);'
+# echo Using default parameter $PARAMS
+# else
+# PARAMS=$2;
+# fi
# PARAMS="$PARAMS ;"
$MATRIX << EOF > sm2ir_m.log 2>mtt_error.txt
% Read in the numeric system parameters
- $1_numpar;
+ mttpar = $1_numpar;
[nx,ny,nu,nz,nyz] = $1_def;
t=0; %Just in case it appears in the parameter list.
$PARAMS
@@ -56,11 +56,11 @@
[n,m]=size(T);
if m>n
T=T';
end;
- [A,B,C,D] = $1_sm;
+ [A,B,C,D] = $1_sm(mttpar);
[y,x] = sm2ir(A,B,C,D,T,u0,x0);
if nx>0
write_matrix([T x], '$1_ir');
end;
Index: mttroot/mtt/bin/trans/smc2ssk_r
==================================================================
--- mttroot/mtt/bin/trans/smc2ssk_r
+++ mttroot/mtt/bin/trans/smc2ssk_r
@@ -12,22 +12,41 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+## Revision 1.3 1998/02/09 14:16:52 peterg
+## Writes end statement to the o/p file
+##
## Revision 1.2 1998/01/23 09:30:36 peterg
## Fixed a sign error - the coeficients of a(s) appear with - signs in
## the A_c matrix!
##
## Revision 1.1 1998/01/22 13:16:16 peterg
## Initial revision
##
###############################################################
+Nu=`mtt_getsize $1 u`
+Ny=`mtt_getsize $1 y`
+
+if [ "$Nu" = "1" ]; then
+ if [ "$Ny" = "1" ]; then
+ blurb=' for this siso system'
+ else
+ blurb=" using first output of $Ny"
+ fi
+else
+ if [ "$Ny" = "1" ]; then
+ blurb=" using first input of $Nu"
+ else
+ blurb=" using first input of $Nu and using first output of $Ny"
+ fi
+fi
# Inform user
-echo Creating $1_ssk.r -- NOTE this is for SISO systems only.
+echo Creating $1_ssk.r $blurb
# Remove the old log file
rm -f smc2ssk_r.log
# Use reduce to accomplish the transformation
@@ -74,18 +93,18 @@
%Write out the matrices.
write "% - Gain matrix - controller form";
MTT_Matrix := MTTK_c$
MTT_Matrix_name := "MTTK_c"$
-MTT_Matrix_n := MTTNu$
+MTT_Matrix_n := 1$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$
write "% - Gain matrix - physical form";
MTT_Matrix := MTTK$
MTT_Matrix_name := "MTTK"$
-MTT_Matrix_n := MTTNu$
+MTT_Matrix_n := 1$
MTT_Matrix_m := MTTNx$
Reduce_Matrix()$
write "END;";
Index: mttroot/mtt/bin/trans/ssk2ctf_r
==================================================================
--- mttroot/mtt/bin/trans/ssk2ctf_r
+++ mttroot/mtt/bin/trans/ssk2ctf_r
@@ -11,10 +11,13 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+## Revision 1.2 1998/02/09 14:04:00 peterg
+## Renamed matrix to cTF;
+##
## Revision 1.1 1998/02/09 13:54:34 peterg
## Initial revision
##
###############################################################
@@ -47,11 +50,11 @@
B_d := -MTTL;
C_d := -MTTK;
D_d := 0;
%Transfer function
-MTTGc := C_d*((s*MTTI - A_d)^(-1))*B_d;
+MTTcTF := C_d*((s*MTTI - A_d)^(-1))*B_d;
%Create the output file
OUT "$1_ctf.r";
%Write out the matrices.
Index: mttroot/mtt/bin/trans/struc_txt2tex
==================================================================
--- mttroot/mtt/bin/trans/struc_txt2tex
+++ mttroot/mtt/bin/trans/struc_txt2tex
@@ -13,10 +13,13 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+# Revision 1.3 1997/12/06 19:10:41 peterg
+# Reverted to tabular --- from supertabular
+#
# Revision 1.2 1997/04/15 11:17:58 peterg
# Uses supertabular for long tables.
#
# Revision 1.1 1997/04/15 09:49:04 peterg
# Initial revision
@@ -31,40 +34,42 @@
#Write some file headers
echo "%% Structure file ($1_struc.txt)" > $1_struc.tex
echo "%% Generated by MTT at `date`" >> $1_struc.tex
-# This is the main transformation using gawk
-sed 's/_/\\_/g' < $1_struc.txt | gawk '
-#function header(what){
-# print " \\centering";
-# print " \\tablefirsthead{\\hline %";
-# print " \\multicolumn{4}{|c|}{\\bf List of " what "s for system " SYSTEM "} \\\\";
-# print " \\hline";
-# print " & Component & System & Repetition \\\\";
-# print " \\hline}";
-#
-# print " \\tablehead{\\hline %";
-# print " \\multicolumn{4}{|c|}{\\bf List of " what "s for system " SYSTEM " (continued)} \\\\";
-# print " \\hline";
-# print " & Component & System & Repetition \\\\";
-# print " \\hline}";
-#
-# print " \\tabletail{\\hline}";
-# print " \\begin{supertabular}{|l|l|l|l|}";
-#}
-function header(what){
- print "\\begin{table}[htbp]";
- print " \\begin{tabular}{|l|l|l|l|}"; print " \\hline";
- print " & Component & System & Repetition \\\\";
- print " \\hline";
-}
+# This is the main transformation using awk
+sed 's/_/\\_/g' < $1_struc.txt | awk '
+function header(what){
+ print " \\centering";
+ print " \\tablefirsthead{\\hline %";
+ print " \\multicolumn{4}{|c|}{\\bf List of " what "s for system " SYSTEM "} \\\\";
+ print " \\hline";
+ print " & Component & System & Repetition \\\\";
+ print " \\hline}";
+
+ print " \\tablehead{\\hline %";
+ print " \\multicolumn{4}{|c|}{\\bf List of " what "s for system " SYSTEM " (continued)} \\\\";
+ print " \\hline";
+ print " & Component & System & Repetition \\\\";
+ print " \\hline}";
+
+ print " \\tabletail{\\hline}";
+ print " \\begin{supertabular}{|l|l|l|l|}";
+}
+#function header(what){
+# print "\\begin{table}[htbp]";
+# print " \\centering";
+# print " \\begin{tabular}{|l|l|l|l|}"; print " \\hline";
+# print " & Component & System & Repetition \\\\";
+# print " \\hline";
+#}
function footer(what){
print " \\hline";
- print " \\end{tabular}";
+ print " \\end{supertabular}";
+# print " \\end{tabular}";
# print " \\caption{" what "}";
- print "\\end{table}";
+# print "\\end{table}";
print " \\bigskip";
print " \\bigskip";
}
BEGIN{
Index: mttroot/mtt/bin/trans/sub2subs
==================================================================
--- mttroot/mtt/bin/trans/sub2subs
+++ mttroot/mtt/bin/trans/sub2subs
@@ -12,11 +12,13 @@
# echo the name of the subsystems one level down
sh $1\_sub.sh "echo "
# Create the corresponding subsystems -- quietly!
-(sh $1\_sub.sh "mtt -q " " sub sh") >/dev/null
+#(sh $1\_sub.sh "mtt -q " " sub sh") #>/dev/null
+(sh $1\_sub.sh " cmp2sub_m2sh " " ") >/dev/null
+
# Recursively execute the subsystem files
sh $1\_sub.sh "sub2subs "
Index: mttroot/mtt/bin/trans/tex2doc
==================================================================
--- mttroot/mtt/bin/trans/tex2doc
+++ mttroot/mtt/bin/trans/tex2doc
@@ -13,16 +13,20 @@
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
+# Revision 1.2 1996/08/30 10:19:11 peter
+# New path for awk script.
+#
## Revision 1.1 1996/08/18 20:00:20 peter
## Initial revision
##
###############################################################
# Inform user
echo "Creating $1_$2.doc"
-# This is the main transformation using gawk
-gawk -f $MTTPATH/trans/awk/tex2doc.awk $1_$2.txt > $1_$2.doc
+# This is the main transformation using awk
+awk -f $MTTPATH/trans/awk/tex2doc.awk \
+system_name=$1 representation=$2 > $1_$2.doc