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  • Committer: Bazaar Package Importer
  • Author(s): Torsten Werner
  • Date: 2002-03-21 16:57:43 UTC
  • Revision ID: james.westby@ubuntu.com-20020321165743-e9mv12c1tb1plztg
Tags: upstream-2.6
Import upstream version 2.6

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macros/robust/sensi.sci
 
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function [Se,R,T]=sensi(G,Sk,flag)
 
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// [Se,R,T]=sensi(G,Sk) computes sensitivity functions
 
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// If flag='o' or no flag:
 
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// [Se;R;T]= [inv(eye+G*K);K*inv(eye+G*K);G*K*inv(eye+G*K)];
 
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// 
 
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// flag='i'
 
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// [Si,Ri,Ti]= [inv(eye+K*G);G*inv(eye+K*G);K*G*inv(eye+K*G)];
 
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//!
 
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// Copyright INRIA
 
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[LHS,RHS]=argn(0);
 
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if RHS==2 then flag='o';end
 
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select flag
 
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  case 'o'
 
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G1=G(1);Sk1=Sk(1);
 
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ssflag=0;
 
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if G1(1)=='r' then G=tf2ss(G);ssflag=1;end
 
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if Sk1(1)=='r' then Sk=tf2ss(Sk);ssflag=ssflag+1;end
 
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[ny,nu]=size(G);Iu=eye(nu,nu);Iy=eye(ny,ny);
 
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Ouy=zeros(nu,ny);Oyu=zeros(ny,nu);Ouu=zeros(nu,nu);
 
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Oyy=zeros(ny,ny);
 
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W1=[Iy,Oyu,Oyy;
 
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    Ouy,Iu,Ouy;
 
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   -Iy,Oyu,Iy;
 
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    Iy,Oyu,Oyy];
 
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W2=[Iy,-G;
 
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    Ouy,Iu;
 
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    Iy,Oyu];
 
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SRT=lft(W1*W2,Sk);
 
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Se=SRT(1:ny,:);
 
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R=SRT((ny+1):(ny+nu),:);
 
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T=SRT((nu+ny+1):(nu+ny+ny),:);
 
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if ssflag >0 then
 
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   Se=ss2tf(Se);R=ss2tf(R);T=ss2tf(T);
 
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end
 
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  case 'i'
 
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G1=G(1);Sk1=Sk(1);
 
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ssflag=0;
 
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if G1(1)=='r' then G=tf2ss(G);ssflag=1;end
 
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if Sk1(1)=='r' then Sk=tf2ss(Sk);ssflag=ssflag+1;end
 
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[ny,nu]=size(G);Iu=eye(nu,nu);Iy=eye(ny,ny);
 
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Ouy=zeros(nu,ny);Oyu=zeros(ny,nu);Ouu=zeros(nu,nu);
 
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Oyy=zeros(ny,ny);
 
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 W1=[Iu,-Iu;
 
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     Oyu,Oyu;
 
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     Ouu,Iu;
 
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     Oyu,Oyu];
 
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 W2=[Ouy;Iy;Ouy;Iy];
 
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 W3=[Iu,-Iu];
 
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 P=W1+W2*G*W3;
 
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SRT=lft(P,Sk);
 
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Se=SRT(1:nu,:);
 
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R=SRT((nu+1):(ny+nu),:);
 
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T=SRT((nu+ny+1):(nu+ny+nu),:);
 
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if ssflag >0 then
 
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   Se=ss2tf(Se);R=ss2tf(R);T=ss2tf(T);
 
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end
 
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end
 
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