/usr/share/octave/packages/control-2.6.2/estim.m is in octave-control 2.6.2-1build1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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 | ## 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 -*-
## @deftypefn {Function File} {@var{est} =} estim (@var{sys}, @var{l})
## @deftypefnx {Function File} {@var{est} =} estim (@var{sys}, @var{l}, @var{sensors}, @var{known})
## Return state estimator for a given estimator gain.
##
## @strong{Inputs}
## @table @var
## @item sys
## @acronym{LTI} model.
## @item l
## State feedback matrix.
## @item sensors
## Indices of measured output signals y from @var{sys}. If omitted, all outputs are measured.
## @item known
## Indices of known input signals u (deterministic) to @var{sys}. All other inputs to @var{sys}
## are assumed stochastic. If argument @var{known} is omitted, no inputs u are known.
## @end table
##
## @strong{Outputs}
## @table @var
## @item est
## State-space model of estimator.
## @end table
## @seealso{kalman, place}
## @end deftypefn
## Author: Lukas Reichlin <lukas.reichlin@gmail.com>
## Created: November 2009
## Version: 0.2
function est = estim (sys, l, sensors = [], known = [])
if (nargin < 2 || nargin > 4)
print_usage ();
endif
if (! isa (sys, "lti"))
error ("estim: first argument must be an LTI system");
endif
[a, b, c, d, e, tsam] = dssdata (sys, []);
if (isempty (sensors))
sensors = 1 : rows (c);
endif
m = length (known);
n = rows (a);
p = length (sensors);
b = b(:, known);
c = c(sensors, :);
d = d(sensors, known);
f = a - l*c;
g = [b - l*d, l];
h = [c; eye(n)];
j = [d, zeros(p, p); zeros(n, m), zeros(n, p)];
## k = e;
est = dss (f, g, h, j, e, tsam);
## TODO: inname, stname, outname
endfunction
%!shared m, m_exp
%! sys = ss (-2, 1, 1, 3);
%! est = estim (sys, 5);
%! [a, b, c, d] = ssdata (est);
%! m = [a, b; c, d];
%! m_exp = [-7, 5; 1, 0; 1, 0];
%!assert (m, m_exp, 1e-4);
%!shared m, m_exp
%! sys = ss (-1, 2, 3, 4);
%! est = estim (sys, 5);
%! [a, b, c, d] = ssdata (est);
%! m = [a, b; c, d];
%! m_exp = [-16, 5; 3, 0; 1, 0];
%!assert (m, m_exp, 1e-4);
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