/usr/share/octave/packages/control-2.6.2/__conred_sb16ad__.m is in octave-control 2.6.2-1build1.
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##
## 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 -*-
## @deftypefn{Function File} {[@var{Kr}, @var{info}] =} __conred_sb16ad__ (@var{method}, @dots{})
## Backend for btaconred and spaconred.
## @end deftypefn
## Author: Lukas Reichlin <lukas.reichlin@gmail.com>
## Created: December 2011
## Version: 0.1
function [Kr, info] = __conred_sb16ad__ (method, varargin)
if (nargin < 3)
print_usage ();
endif
if (method != "bta" && method != "spa")
error ("modred: invalid method");
endif
G = varargin{1};
K = varargin{2};
varargin = varargin(3:end);
if (! isa (G, "lti"))
error ("%sconred: first argument must be an LTI system", method);
endif
if (! isa (K, "lti"))
error ("%sconred: second argument must be an LTI system", method);
endif
if (nargin > 3) # *conred (G, K, ...)
if (is_real_scalar (varargin{1})) # *conred (G, K, nr)
varargin = horzcat (varargin(2:end), {"order"}, varargin(1));
endif
if (isstruct (varargin{1})) # *conred (G, K, opt, ...), *conred (G, K, nr, opt, ...)
varargin = horzcat (__opt2cell__ (varargin{1}), varargin(2:end));
endif
## order placed at the end such that nr from *conred (G, K, nr, ...)
## and *conred (G, K, nr, opt, ...) overrides possible nr's from
## key/value-pairs and inside opt struct (later keys override former keys,
## nr > key/value > opt)
endif
nkv = numel (varargin); # number of keys and values
if (rem (nkv, 2))
error ("%sconred: keys and values must come in pairs", method);
endif
[a, b, c, d, tsam, scaled] = ssdata (G);
[ac, bc, cc, dc, tsamc, scaledc] = ssdata (K);
[p, m] = size (G);
[pc, mc] = size (K);
dt = isdt (G);
if (p != mc || m != pc)
error ("%sconred: dimensions of controller (%dx%d) and plant (%dx%d) don't match", ...
method, pc, mc, p, c);
endif
## default arguments
alpha = __modred_default_alpha__ (dt);
tol1 = 0.0;
tol2 = 0.0;
jobc = jobo = 0;
bf = true; # balancing-free
weight = 3;
equil = scaled && scaledc;
ordsel = 1;
ncr = 0;
negfb = false; # positive feedback controller
## handle keys and values
for k = 1 : 2 : nkv
key = lower (varargin{k});
val = varargin{k+1};
switch (key)
case "weight"
switch (lower (val(1)))
case "n" # none
weight = 0;
case {"l", "o"} # left, output
weight = 1;
case {"r", "i"} # right, input
weight = 2;
case {"b", "p"} # both, performance
weight = 3;
otherwise
error ("%sconred: '%s' is an invalid value for key weight", method, val);
endswitch
case {"order", "ncr", "nr"}
[ncr, ordsel] = __modred_check_order__ (val, rows (ac));
case "tol1"
tol1 = __modred_check_tol__ (val, "tol1");
case "tol2"
tol2 = __modred_check_tol__ (val, "tol2");
case "alpha"
alpha = __modred_check_alpha__ (val, dt);
case "method"
switch (tolower (val))
case "sr"
bf = false;
case "bfsr"
bf = true;
otherwise
error ("modred: '%s' is an invalid approach", val);
endswitch
case {"jobc", "gram-ctrb"}
jobc = __modred_check_gram__ (val, "gram-ctrb");
case {"jobo", "gram-obsv"}
jobo = __modred_check_gram__ (val, "gram-obsv");
case {"equil", "equilibrate", "equilibration", "scale", "scaling"}
scaled = __modred_check_equil__ (val);
case "feedback"
negfb = __conred_check_feedback_sign__ (val);
otherwise
warning ("%sconred: invalid property name '%s' ignored", method, key);
endswitch
endfor
## handle model reduction approach
if (method == "bta" && ! bf) # 'B': use the square-root Balance & Truncate method
jobmr = 0;
elseif (method == "bta" && bf) # 'F': use the balancing-free square-root Balance & Truncate method
jobmr = 1;
elseif (method == "spa" && ! bf) # 'S': use the square-root Singular Perturbation Approximation method
jobmr = 2;
elseif (method == "spa" && bf) # 'P': use the balancing-free square-root Singular Perturbation Approximation method
jobmr = 3;
else
error ("%smodred: invalid jobmr option"); # this should never happen
endif
## handle negative feedback controllers
if (negfb)
[ac, bc, cc, dc] = ssdata (-K);
endif
## perform model order reduction
[acr, bcr, ccr, dcr, ncr, hsvc, ncs] = __sl_sb16ad__ (a, b, c, d, dt, equil, ncr, ordsel, alpha, jobmr, ...
ac, bc, cc, dc, ...
weight, jobc, jobo, tol1, tol2);
## assemble reduced order controller
Kr = ss (acr, bcr, ccr, dcr, tsamc);
## handle negative feedback controllers
if (negfb)
Kr = -Kr;
endif
## assemble info struct
info = struct ("ncr", ncr, "ncs", ncs, "hsvc", hsvc);
endfunction
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