Index: mttroot/mtt/bin/mtt ================================================================== --- mttroot/mtt/bin/mtt +++ mttroot/mtt/bin/mtt @@ -12,10 +12,13 @@ ############################################################### ## Version control history ############################################################### ## $Header$ ## $Log$ +## Revision 1.40 1996/11/09 21:17:38 peterg +## Fixed bug with copying at level 0. +## ## Revision 1.39 1996/11/09 20:22:54 peterg ## VERSION 2.0 ## ## Revision 1.38 1996/11/09 20:17:34 peterg ## Fixed bug with null ARGS argument @@ -381,11 +384,11 @@ # Create an arg file if it doesn't exist $1_args.m: touch $1_args.m #Create empty files (with titles) if not already there -#REPRESENTATION lbl label file (txt) +#SUMMARY lbl label file (txt) $1_lbl.txt: echo Creating $1_lbl.txt ( \ echo "%SUMMARY System $1: "; \ echo "%DESCRIPTION "; \ @@ -395,11 +398,11 @@ echo "% a comment (ie starting with %)"; \ echo "% Component-name CR_name arg1,arg2,..argn"; \ echo "% blank"; \ )> $1_lbl.txt -#REPRESENTATION cr constitutive relationship for each subsystem (r) +#SUMMARY cr constitutive relationship for each subsystem (r) $1_cr.r: $1_sub.sh lbl2cr_txt2r $1 if [ "$level" = "0" ]; then \ mv $1_cr.r MTT_cr.r; \ @@ -415,44 +418,44 @@ if [ "$level" = "0" ]; then \ mv MTT_cr.r $1_cr.r; \ echo 'END;' >> $1_cr.r; \ fi -#REPRESENTATION simp simplification information (r) +#SUMMARY simp simplification information (r) $1_simp.r: echo Creating $1_simp.r ( \ echo "%% Reduce comands to simplify output for system $1 ($1_simp.r)"; \ cat $MTTPATH/trans/m/rcs_header.txt; \ echo 'END;'; \ )> $1_simp.r -#REPRESENTATION numpar numerical parameter declaration (m) +#SUMMARY numpar numerical parameter declaration (m) $1_numpar.m: $1_sympar.r $1_params.m sympar2numpar_r2m $1 -#REPRESENTATION params numerical parameter setting (m) +#SUMMARY params numerical parameter setting (m) $1_params.m: echo Creating $1_params.m ( \ echo "%% Parameter file for system $1 ($1_params.m)"; \ echo "%% This file provides the system params for simulation:";\ cat $MTTPATH/trans/m/rcs_header.txt; \ echo; \ )> $1_params.m -#REPRESENTATION params symbolic parameter setting (r) +#SUMMARY params symbolic parameter setting (r) $1_params.r: echo Creating $1_params.r ( \ echo "%% Parameter file for system $1 ($1_params.r)"; \ echo "%% This file provides symbolic parameters for simplification";\ cat $MTTPATH/trans/m/rcs_header.txt; \ echo 'END;'; \ )> $1_params.r -#REPRESENTATION input input signal definition (m) +#SUMMARY input input signal definition (m) $1_input.m: echo Creating $1_input.m ( \ echo "function u = $1_input(t)"; \ echo "%% Input file for system $1 ($1_input.m)"; \ @@ -464,22 +467,22 @@ echo "% Change the following lines as you wish"; \ echo "u = zeros(nu,1);"; \ echo "u(1) = 1;"; \ )> $1_input.m -#REPRESENTATION sspar steady-state definition (r) +#SUMMARY sspar steady-state definition (r) $1_sspar.r: echo Creating $1_sspar.r (\ echo "%% Reduce steady-state parameter file for $1 ($1_sspar.r)"; \ cat $MTTPATH/trans/m/rcs_header.txt; \ echo 'END;'; \ )> $1_sspar.r -#REPRESENTATION rep report (txt) -#REPRESENTATION rep report (tex) -#REPRESENTATION rep report (view) +#SUMMARY rep report (txt) +#SUMMARY rep report (tex) +#SUMMARY rep report (view) $1_rep.txt: echo Creating $1_rep.txt ( \ echo "%% Outline report file for system $1 ($1_rep.txt)"; \ cat $MTTPATH/trans/m/rcs_header.txt; \ @@ -487,11 +490,11 @@ echo "lbl txt"; \ echo "cbg ps"; \ echo "dae tex"; \ )> $1_rep.txt -#REPRESENTATION rbg raw bond graph (m) +#SUMMARY rbg raw bond graph (m) #Raw bond graph: fig file to mfile $1_rbg.m: $1_abg.fig $1_lbl.txt rbg_fig2m $1 $1_cmp.m: $1_rbg.m $1_fig.fig: $1_rbg.m @@ -498,49 +501,49 @@ #Subsystem creation commands $1_sub.sh: $1_cmp.m cmp2sub_m2sh $1 -#REPRESENTATION sympar symbolic parameters (r) +#SUMMARY sympar symbolic parameters (r) # Lbl to sympar conversion $1_sympar.r: $1_lbl.txt $1_params.r lbl2sympar_txt2r $1 # echo "IN \"$1_params.r\";" >> $1_sympar.r echo 'END;' >> $1_sympar.r -#REPRESENTATION abg acausal bond graph (m) +#SUMMARY abg acausal bond graph (m) #Raw bond graph to acausal bond graph: mfile $1_abg.m: $1_rbg.m $1_sub.sh sh $1_sub.sh "mtt -q -l $level+1 " ' abg m' rbg2abg_m $1 -#REPRESENTATION cbg causal bond graph (m) +#SUMMARY cbg causal bond graph (m) #Acausal bond graph to causal bond graph: mfile $1_cbg.m: $1_abg.m abg2cbg_m $1 -#REPRESENTATION cbg causal bond graph (fig) +#SUMMARY cbg causal bond graph (fig) #Causal bond graph: mfile to fig conversion $1_cbg.fig: $1_cbg.m $1_rbg.m $1_fig.fig cbg_m2fig $1 -#REPRESENTATION ese elementary system equations (r) -#REPRESENTATION def definitions - system orders etc. (r) +#SUMMARY ese elementary system equations (r) +#SUMMARY def definitions - system orders etc. (r) #Elementary system equations + definitions $1_ese.r: $1_cbg.m cbg2ese_m2r $1 $1_def.r: $1_ese.r touch $1_def.r $1_def.m: $1_def.r def_r2m $1; matlab_tidy $1_def.m; -#REPRESENTATION dae differential-algebraic equations (r) -#REPRESENTATION dae differential-algebraic equations (m) -#REPRESENTATION dae differential-algebraic equations (tex) -#REPRESENTATION dae differential-algebraic equations (view) -#REPRESENTATION dae differential-algebraic equations (ps) +#SUMMARY dae differential-algebraic equations (r) +#SUMMARY dae differential-algebraic equations (m) +#SUMMARY dae differential-algebraic equations (tex) +#SUMMARY dae differential-algebraic equations (view) +#SUMMARY dae differential-algebraic equations (ps) #Differential-algebraic equations $1_dae.r: $1_ese.r $1_cr.r $1_sympar.r ese2dae_r $1; tidy $1_dae.r $1_dae.m: $1_def.r $1_dae.r $1_sympar.r dae_r2m $1; matlab_tidy $1_dae.m; matlab_tidy $1_daeo.m @@ -547,79 +550,79 @@ $1_dae.c: $1_def.r $1_dae.r $1_sympar.r dae_r2c $1; c_tidy $1_dae.c $1_dae.tex: $1_dae.r $1_simp.r dae_r2tex $1; latex_tidy $1_dae.tex -#REPRESENTATION cse constrained-state equations (r) -#REPRESENTATION cse constrained-state equations (m) -#REPRESENTATION cse constrained-state equations (tex) -#REPRESENTATION cse constrained-state equations (view) -#REPRESENTATION cse constrained-state equations (ps) +#SUMMARY cse constrained-state equations (r) +#SUMMARY cse constrained-state equations (m) +#SUMMARY cse constrained-state equations (tex) +#SUMMARY cse constrained-state equations (view) +#SUMMARY cse constrained-state equations (ps) #Constrained-state equations $1_cse.r: $1_dae.r $1_def.r $1_sympar.r dae2cse_r $1; tidy $1_cse.r $1_cse.m: $1_def.r $1_cse.r $1_sympar.r cse_r2m $1; matlab_tidy $1_cse.m $1_cse.tex: $1_cse.r $1_sympar.r $1_simp.r cse_r2tex $1; latex_tidy $1_cse.tex -#REPRESENTATION ode ordinary differential equations (r) -#REPRESENTATION ode ordinary differential equations (m) -#REPRESENTATION ode ordinary differential equations (tex) -#REPRESENTATION ode ordinary differential equations (view) -#REPRESENTATION ode ordinary differential equations (ps) +#SUMMARY ode ordinary differential equations (r) +#SUMMARY ode ordinary differential equations (m) +#SUMMARY ode ordinary differential equations (tex) +#SUMMARY ode ordinary differential equations (view) +#SUMMARY ode ordinary differential equations (ps) #Ordinary differential equations $1_ode.r: $1_cse.r $1_def.r $1_sympar.r cse2ode_r $1; tidy $1_ode.r $1_ode.m: $1_def.r $1_ode.r $1_sympar.r ode_r2m $1; matlab_tidy $1_ode.m; matlab_tidy $1_odeo.m $1_ode.tex: $1_ode.r $1_sympar.r $1_simp.r ode_r2tex $1; latex_tidy $1_ode.tex -#REPRESENTATION obs observer equations for CGPC (r) -#REPRESENTATION obs observer equations for CGPC (m) -#REPRESENTATION obs observer equations for CGPC (tex) -#REPRESENTATION obs observer equations for CGPC (view) -#REPRESENTATION obs observer equations for CGPC (ps) +#SUMMARY obs observer equations for CGPC (r) +#SUMMARY obs observer equations for CGPC (m) +#SUMMARY obs observer equations for CGPC (tex) +#SUMMARY obs observer equations for CGPC (view) +#SUMMARY obs observer equations for CGPC (ps) #Observer functions for GPC $1_obs.r: $1_ode.r $1_def.r $1_sympar.r ode2obs_r $1; tidy $1_obs.r $1_obs.m: $1_def.r $1_obs.r $1_sympar.r obs_r2m $1; matlab_tidy $1_obs.m $1_obs.tex: $1_obs.r $1_sympar.r $1_simp.r obs_r2tex $1; latex_tidy $1_obs.tex -#REPRESENTATION rfe robot-form equations (r) -#REPRESENTATION rfe robot-form equations (tex) -#REPRESENTATION rfe robot-form equations (view) -#REPRESENTATION rfe robot-form equations (ps) +#SUMMARY rfe robot-form equations (r) +#SUMMARY rfe robot-form equations (tex) +#SUMMARY rfe robot-form equations (view) +#SUMMARY rfe robot-form equations (ps) #Robot-form equations $1_rfe.r: $1_cse.r $1_csm.r $1_def.r $1_sympar.r cse2rfe_r $1; tidy $1_rfe.r $1_rfe.tex: $1_rfe.r $1_sympar.r rfe_r2tex $1; latex_tidy $1_rfe.tex -#REPRESENTATION ss steady-state equations (r) -#REPRESENTATION ss steady-state equations (m) -#REPRESENTATION ss steady-state equations (tex) -#REPRESENTATION ss steady-state equations (view) -#REPRESENTATION ss steady-state equations (ps) +#SUMMARY ss steady-state equations (r) +#SUMMARY ss steady-state equations (m) +#SUMMARY ss steady-state equations (tex) +#SUMMARY ss steady-state equations (view) +#SUMMARY ss steady-state equations (ps) #Steady-states $1_ss.r: $1_def.r $1_sspar.r $1_sympar.r $1_cr.r $1_dae.r sspar2ss_r $1; tidy $1_ss.r $1_ss.m: $1_def.r $1_sympar.r $1_ss.r ss_r2m $1; matlab_tidy $1_ss.m $1_ss.tex: $1_def.r $1_ss.r $1_sympar.r $1_simp.r ss_r2tex $1; latex_tidy $1_ss.tex -#REPRESENTATION dm descriptor matrices (r) -#REPRESENTATION dm descriptor matrices (m) -#REPRESENTATION dm descriptor matrices (tex) -#REPRESENTATION dm descriptor matrices (view) -#REPRESENTATION dm descriptor matrices (ps) +#SUMMARY dm descriptor matrices (r) +#SUMMARY dm descriptor matrices (m) +#SUMMARY dm descriptor matrices (tex) +#SUMMARY dm descriptor matrices (view) +#SUMMARY dm descriptor matrices (ps) #Linearised system: descriptor matrices $1_dm.r: $1_dae.r $1_def.r $1_cr.r $1_ss.r $1_sympar.r dae2dm_r $1; tidy $1_dm.r $1_dm.m: $1_def.r $1_dm.r $1_sympar.r dm_r2m $1; matlab_tidy $1_dm.m @@ -626,88 +629,88 @@ $1_dm.tex: $1_dm.r $1_sympar.r $1_simp.r dm_r2tex $1; latex_tidy $1_dm.tex -#REPRESENTATION csm constrained-state matrices (r) -#REPRESENTATION csm constrained-state matrices (m) -#REPRESENTATION csm constrained-state matrices (tex) -#REPRESENTATION csm constrained-state matrices (view) -#REPRESENTATION csm constrained-state matrices (ps) +#SUMMARY csm constrained-state matrices (r) +#SUMMARY csm constrained-state matrices (m) +#SUMMARY csm constrained-state matrices (tex) +#SUMMARY csm constrained-state matrices (view) +#SUMMARY csm constrained-state matrices (ps) #Linearised system: constrained-state matrices $1_csm.r: $1_cse.r $1_def.r $1_cr.r $1_ss.r $1_sympar.r cse2csm_r $1; tidy $1_csm.r $1_csm.m: $1_def.r $1_csm.r csm_r2m $1; matlab_tidy $1_csm.m $1_csm.tex: $1_csm.r $1_sympar.r $1_simp.r csm_r2tex $1; latex_tidy $1_csm.tex -#REPRESENTATION sm state matrices (r) -#REPRESENTATION sm state matrices (m) -#REPRESENTATION sm state matrices (tex) -#REPRESENTATION sm state matrices (view) -#REPRESENTATION sm state matrices (ps) +#SUMMARY sm state matrices (r) +#SUMMARY sm state matrices (m) +#SUMMARY sm state matrices (tex) +#SUMMARY sm state matrices (view) +#SUMMARY sm state matrices (ps) #Linearised system: state matrices $1_sm.r: $1_csm.r $1_def.r $1_cr.r $1_ss.r $1_sympar.r csm2sm_r $1; tidy $1_sm.r $1_sm.m: $1_def.r $1_sm.r sm_r2m $1; matlab_tidy $1_sm.m $1_sm.tex: $1_sm.r $1_sympar.r $1_simp.r sm_r2tex $1; latex_tidy $1_sm.tex -#REPRESENTATION tf transfer function (r) -#REPRESENTATION tf transfer function (m) -#REPRESENTATION tf transfer function (tex) -#REPRESENTATION tf transfer function (view) -#REPRESENTATION tf transfer function (ps) +#SUMMARY tf transfer function (r) +#SUMMARY tf transfer function (m) +#SUMMARY tf transfer function (tex) +#SUMMARY tf transfer function (view) +#SUMMARY tf transfer function (ps) #Linearised system: transfer function $1_tf.r: $1_dm.r $1_sympar.r dm2tf_r $1; tidy $1_tf.r $1_tf.m: $1_def.r $1_tf.r tf_r2m $1; matlab_tidy $1_tf.m $1_tf.tex: $1_def.r $1_tf.r $1_sympar.r $1_simp.r tf_r2tex $1; latex_tidy $1_tf.tex -#REPRESENTATION ir impulse response - state (m) -#REPRESENTATION ir impulse response - state (dat) -#REPRESENTATION ir impulse response - state (ps) -#REPRESENTATION ir impulse response - state (view) - -#REPRESENTATION iro impulse response - output (m) -#REPRESENTATION iro impulse response - output (dat) -#REPRESENTATION iro impulse response - output (ps) -#REPRESENTATION iro impulse response - output (view) - -#REPRESENTATION sr step response - state (m) -#REPRESENTATION sr step response - state (dat) -#REPRESENTATION sr step response - state (ps) -#REPRESENTATION sr step response - state (view) - -#REPRESENTATION sro step response - output (m) -#REPRESENTATION sro step response - output (dat) -#REPRESENTATION sro step response - output (ps) -#REPRESENTATION sro step response - output (view) - -#REPRESENTATION odes ode solution - state (m) -#REPRESENTATION odes ode solution - state (dat) -#REPRESENTATION odes ode solution - state (ps) -#REPRESENTATION odes ode solution - state (view) - -#REPRESENTATION odeso ode solution - output (m) -#REPRESENTATION odeso ode solution - output (dat) -#REPRESENTATION odeso ode solution - output (ps) -#REPRESENTATION odeso ode solution - output (view) - -#REPRESENTATION daes dae solution - state (m) -#REPRESENTATION daes dae solution - state (dat) -#REPRESENTATION daes dae solution - state (ps) -#REPRESENTATION daes dae solution - state (view) - -#REPRESENTATION daeso dae solution - output (m) -#REPRESENTATION daeso dae solution - output (dat) -#REPRESENTATION daeso dae solution - output (ps) -#REPRESENTATION daeso dae solution - output (view) +#SUMMARY ir impulse response - state (m) +#SUMMARY ir impulse response - state (dat) +#SUMMARY ir impulse response - state (ps) +#SUMMARY ir impulse response - state (view) + +#SUMMARY iro impulse response - output (m) +#SUMMARY iro impulse response - output (dat) +#SUMMARY iro impulse response - output (ps) +#SUMMARY iro impulse response - output (view) + +#SUMMARY sr step response - state (m) +#SUMMARY sr step response - state (dat) +#SUMMARY sr step response - state (ps) +#SUMMARY sr step response - state (view) + +#SUMMARY sro step response - output (m) +#SUMMARY sro step response - output (dat) +#SUMMARY sro step response - output (ps) +#SUMMARY sro step response - output (view) + +#SUMMARY odes ode solution - state (m) +#SUMMARY odes ode solution - state (dat) +#SUMMARY odes ode solution - state (ps) +#SUMMARY odes ode solution - state (view) + +#SUMMARY odeso ode solution - output (m) +#SUMMARY odeso ode solution - output (dat) +#SUMMARY odeso ode solution - output (ps) +#SUMMARY odeso ode solution - output (view) + +#SUMMARY daes dae solution - state (m) +#SUMMARY daes dae solution - state (dat) +#SUMMARY daes dae solution - state (ps) +#SUMMARY daes dae solution - state (view) + +#SUMMARY daeso dae solution - output (m) +#SUMMARY daeso dae solution - output (dat) +#SUMMARY daeso dae solution - output (ps) +#SUMMARY daeso dae solution - output (view) #Time responses $1_ir.m: $1_sm.m $1_numpar.m $1_params.m $1_args.m $1_def.m sm2ir_m $1 '$ARGS' $1_iro.m: $1_ir.m @@ -723,51 +726,51 @@ $1_daes.m: $1_dae.m $1_numpar.m $1_params.m $1_args.m $1_def.m $1_input.m dae2daes_m $1 '$ARGS' $1_daeso.m: $1_daes.m touch $1_daeso.m -#REPRESENTATION odess ode numerical steady-states - states (m) -#REPRESENTATION odess ode numerical steady-states - states (dat) -#REPRESENTATION odess ode numerical steady-states - states (ps) -#REPRESENTATION odess ode numerical steady-states - states (view) - -#REPRESENTATION odesso ode numerical steady-states - outputs (m) -#REPRESENTATION odesso ode numerical steady-states - outputs (dat) -#REPRESENTATION odesso ode numerical steady-states - outputs (ps) -#REPRESENTATION odesso ode numerical steady-states - outputs (view) +#SUMMARY odess ode numerical steady-states - states (m) +#SUMMARY odess ode numerical steady-states - states (dat) +#SUMMARY odess ode numerical steady-states - states (ps) +#SUMMARY odess ode numerical steady-states - states (view) + +#SUMMARY odesso ode numerical steady-states - outputs (m) +#SUMMARY odesso ode numerical steady-states - outputs (dat) +#SUMMARY odesso ode numerical steady-states - outputs (ps) +#SUMMARY odesso ode numerical steady-states - outputs (view) #Numerical steady states $1_odess.m: $1_ode.m $1_numpar.m $1_params.m $1_args.m $1_def.m $1_input.m ode2odess_m $1 '$ARGS' $1_odesso.m: $1_odess.m touch $1_odesso.m -#REPRESENTATION fr frequency response (m) -#REPRESENTATION fr frequency response (dat) -#REPRESENTATION fr frequency response (ps) -#REPRESENTATION fr frequency response (view) - -#REPRESENTATION lmfr loglog modulus frequency response (m) -#REPRESENTATION lmfr loglog modulus frequency response (dat) -#REPRESENTATION lmfr loglog modulus frequency response (ps) -#REPRESENTATION lmfr loglog modulus frequency response (view) - -#REPRESENTATION lpfr semilog phase frequency response (m) -#REPRESENTATION lpfr semilog phase frequency response (dat) -#REPRESENTATION lpfr semilog phase frequency response (ps) -#REPRESENTATION lpfr semilog phase frequency response (view) - -#REPRESENTATION nyfr Nyquist style frequency response (m) -#REPRESENTATION nyfr Nyquist style frequency response (dat) -#REPRESENTATION nyfr Nyquist style frequency response (ps) -#REPRESENTATION nyfr Nyquist style frequency response (view) - -#REPRESENTATION nifr Nichols style frequency response (m) -#REPRESENTATION nifr Nichols style frequency response (dat) -#REPRESENTATION nifr Nichols style frequency response (ps) -#REPRESENTATION nifr Nichols style frequency response (view) +#SUMMARY fr frequency response (m) +#SUMMARY fr frequency response (dat) +#SUMMARY fr frequency response (ps) +#SUMMARY fr frequency response (view) + +#SUMMARY lmfr loglog modulus frequency response (m) +#SUMMARY lmfr loglog modulus frequency response (dat) +#SUMMARY lmfr loglog modulus frequency response (ps) +#SUMMARY lmfr loglog modulus frequency response (view) + +#SUMMARY lpfr semilog phase frequency response (m) +#SUMMARY lpfr semilog phase frequency response (dat) +#SUMMARY lpfr semilog phase frequency response (ps) +#SUMMARY lpfr semilog phase frequency response (view) + +#SUMMARY nyfr Nyquist style frequency response (m) +#SUMMARY nyfr Nyquist style frequency response (dat) +#SUMMARY nyfr Nyquist style frequency response (ps) +#SUMMARY nyfr Nyquist style frequency response (view) + +#SUMMARY nifr Nichols style frequency response (m) +#SUMMARY nifr Nichols style frequency response (dat) +#SUMMARY nifr Nichols style frequency response (ps) +#SUMMARY nifr Nichols style frequency response (view) #Frequency responses $1_fr.m: $1_dm.m $1_numpar.m $1_params.m $1_args.m $1_def.m dm2fr_m $1 '$ARGS'