/usr/share/octave/packages/control-2.6.2/@lti/mtimes.m is in octave-control 2.6.2-1build1.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 | ## Copyright (C) 2009-2014 Lukas F. Reichlin
##
## This file is part of LTI Syncope.
##
## LTI Syncope is free software: you can redistribute it and/or modify
## it under the terms of the GNU General Public License as published by
## the Free Software Foundation, either version 3 of the License, or
## (at your option) any later version.
##
## LTI Syncope is distributed in the hope that it will be useful,
## but WITHOUT ANY WARRANTY; without even the implied warranty of
## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
## GNU General Public License for more details.
##
## You should have received a copy of the GNU General Public License
## along with LTI Syncope. If not, see <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
## Matrix multiplication of @acronym{LTI} objects. If necessary, object conversion
## is done by sys_group. Used by Octave for "sys1 * sys2".
## Author: Lukas Reichlin <lukas.reichlin@gmail.com>
## Created: September 2009
## Version: 0.2
function sys = mtimes (sys2, sys1)
if (nargin != 2) # prevent sys = mtimes (sys1, sys2, sys3, ...)
error ("lti: mtimes: this is a binary operator");
endif
[p1, m1] = size (sys1);
[p2, m2] = size (sys2);
if (m2 != p1)
error ("lti: mtimes: system dimensions incompatible: (%dx%d) * (%dx%d)",
p2, m2, p1, m1);
endif
M22 = zeros (m2, p2);
M21 = eye (m2, p1);
M12 = zeros (m1, p2);
M11 = zeros (m1, p1);
M = [M22, M21;
M12, M11];
out_idx = 1 : p2;
in_idx = m2 + (1 : m1);
sys = __sys_group__ (sys2, sys1);
sys = __sys_connect__ (sys, M);
sys = __sys_prune__ (sys, out_idx, in_idx);
endfunction
## Alternative code: consistency vs. compatibility
#{
M11 = zeros (m1, p1);
M12 = zeros (m1, p2);
M21 = eye (m2, p1);
M22 = zeros (m2, p2);
M = [M11, M12;
M21, M22];
out_idx = p1 + (1 : p2);
in_idx = 1 : m1;
sys = __sys_group__ (sys1, sys2);
#}
## Don't forget to adapt @tf/__sys_connect__.m draft code
## mtimes
%!shared sysmat, sysmat_exp
%! sys1 = ss ([0, 1; -3, -2], [0; 1], [-5, 1], [2]);
%! sys2 = ss ([-10], [1], [-40], [5]);
%! sys3 = sys2 * sys1;
%! [A, B, C, D] = ssdata (sys3);
%! sysmat = [A, B; C, D];
%! A_exp = [ -10 -5 1
%! 0 0 1
%! 0 -3 -2 ];
%! B_exp = [ 2
%! 0
%! 1 ];
%! C_exp = [ -40 -25 5 ];
%! D_exp = [ 10 ];
%! sysmat_exp = [A_exp, B_exp; C_exp, D_exp];
%!assert (sysmat, sysmat_exp)
## Cascade inter-connection of two systems in state-space form
## Test from SLICOT AB05MD
## TODO: order of united state vector: consistency vs. compatibility?
#%!shared M, Me
#%! A1 = [ 1.0 0.0 -1.0
#%! 0.0 -1.0 1.0
#%! 1.0 1.0 2.0 ];
#%!
#%! B1 = [ 1.0 1.0 0.0
#%! 2.0 0.0 1.0 ].';
#%!
#%! C1 = [ 3.0 -2.0 1.0
#%! 0.0 1.0 0.0 ];
#%!
#%! D1 = [ 1.0 0.0
#%! 0.0 1.0 ];
#%!
#%! A2 = [-3.0 0.0 0.0
#%! 1.0 0.0 1.0
#%! 0.0 -1.0 2.0 ];
#%!
#%! B2 = [ 0.0 -1.0 0.0
#%! 1.0 0.0 2.0 ].';
#%!
#%! C2 = [ 1.0 1.0 0.0
#%! 1.0 1.0 -1.0 ];
#%!
#%! D2 = [ 1.0 1.0
#%! 0.0 1.0 ];
#%!
#%! sys1 = ss (A1, B1, C1, D1);
#%! sys2 = ss (A2, B2, C2, D2);
#%! sys = sys2 * sys1;
#%! [A, B, C, D] = ssdata (sys);
#%! M = [A, B; C, D];
#%!
#%! Ae = [ 1.0000 0.0000 -1.0000 0.0000 0.0000 0.0000
#%! 0.0000 -1.0000 1.0000 0.0000 0.0000 0.0000
#%! 1.0000 1.0000 2.0000 0.0000 0.0000 0.0000
#%! 0.0000 1.0000 0.0000 -3.0000 0.0000 0.0000
#%! -3.0000 2.0000 -1.0000 1.0000 0.0000 1.0000
#%! 0.0000 2.0000 0.0000 0.0000 -1.0000 2.0000 ];
#%!
#%! Be = [ 1.0000 2.0000
#%! 1.0000 0.0000
#%! 0.0000 1.0000
#%! 0.0000 1.0000
#%! -1.0000 0.0000
#%! 0.0000 2.0000 ];
#%!
#%! Ce = [ 3.0000 -1.0000 1.0000 1.0000 1.0000 0.0000
#%! 0.0000 1.0000 0.0000 1.0000 1.0000 -1.0000 ];
#%!
#%! De = [ 1.0000 1.0000
#%! 0.0000 1.0000 ];
#%!
#%! Me = [Ae, Be; Ce, De];
#%!
#%!assert (M, Me, 1e-4);
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