\input texinfo

@setfilename control.info

@settitle Octave Control Systems Toolbox (@acronym{OCST})

@titlepage
@title  Octave Control Systems Toolbox (@acronym{OCST})
@subtitle Version 1.0.0
@subtitle July 2008
@author Dr A Scottedward Hodel
@page
@vskip 0pt plus 1filll
Copyright @copyright{} 2008 A Scottedward Hodel

Permission is granted to make and distribute verbatim copies of
this manual provided the copyright notice and this permission notice
are preserved on all copies.

Permission is granted to copy and distribute modified versions of this
manual under the conditions for verbatim copying, provided that the entire
resulting derived work is distributed under the terms of a permission
notice identical to this one.

Permission is granted to copy and distribute translations of this manual
into another language, under the same conditions as for modified versions.
@end titlepage

@contents

@ifinfo
@node Top, Introduction
@top
@end ifinfo

@menu
* Introduction:: Introduction
* sysstruct:: System Data Structure
* sysinterface:: System Construction and Interface Functions
* sysdisp:: System display functions
* blockdiag:: Block Diagram Manipulations
* numerical:: Numerical Functions
* sysprop:: System Analysis-Properties
* systime:: System Analysis-Time Domain
* sysfreq:: System Analysis-Frequency Domain
* cacsd:: Controller Design
* misc:: Miscellaneous Functions (Not yet properly filed/documented)
@end menu

@node Introduction
@chapter Introduction

The Octave Control Systems Toolbox (@acronym{OCST}) was initially developed
by Dr.@: A. Scottedward Hodel 
@email{a.s.hodel@@eng.auburn.edu} with the assistance
of his students
@itemize @bullet
@item R. Bruce Tenison @email{btenison@@dibbs.net}, 
@item David C. Clem,
@item John E. Ingram @email{John.Ingram@@sea.siemans.com}, and 
@item Kristi McGowan.  
@end itemize
This development was supported in part by @acronym{NASA}'s Marshall Space Flight 
Center as part of an in-house @acronym{CACSD} environment.  Additional important 
contributions were made by Dr. Kai Mueller @email{mueller@@ifr.ing.tu-bs.de}
and Jose Daniel Munoz Frias (@code{place.m}).

An on-line menu-driven tutorial is available via @code{DEMOcontrol};
beginning @acronym{OCST} users should start with this program. 

@DOCSTRING(DEMOcontrol)

@menu
* sysstruct::                   
* sysinterface::                
* sysdisp::                     
* blockdiag::                   
* numerical::                   
* sysprop::                     
* systime::                     
* sysfreq::                     
* cacsd::                       
* misc::                        
@end menu

@node sysstruct
@chapter System Data Structure

@menu
* sysstructvars::               
* sysstructtf::                 
* sysstructzp::                 
* sysstructss::                 
@end menu

The @acronym{OCST} stores all dynamic systems in
a single data structure format that can represent continuous systems,
discrete-systems, and mixed (hybrid) systems in state-space form, and
can also represent purely continuous/discrete systems in either
transfer function or pole-zero form. In order to
provide more flexibility in treatment of discrete/hybrid systems, the
@acronym{OCST} also keeps a record of which system outputs are sampled.

Octave structures are accessed with a syntax much like that used
by the C programming language.  For consistency in
use of the data structure used in the @acronym{OCST}, it is recommended that
the system structure access m-files be used (@pxref{sysinterface}).
Some elements of the data structure are absent depending on the internal
system representation(s) used.  More than one system representation
can be used for @acronym{SISO} systems; the @acronym{OCST} m-files ensure that all representations
used are consistent with one another.

@DOCSTRING(sysrepdemo)

@node sysstructvars
@section Variables common to all @acronym{OCST} system formats

The data structure elements (and variable types) common to all  system
representations are listed below; examples of the initialization
and use of the system data structures are given in subsequent sections and
in the online demo @code{DEMOcontrol}.
@table @var
@item n
@itemx nz
The respective number of continuous and discrete states
in the system (scalar)

@item inname
@itemx outname
list of name(s) of the system input, output signal(s). (list of strings)

@item sys
System status vector.  (vector)

This vector indicates both what representation was used to initialize
the system data structure (called the primary system type) and which
other representations are currently up-to-date with the primary system
type (@pxref{structaccess}).

The value of the first element of the vector indicates the primary
system type.

@table @asis
@item 0
for tf form (initialized with @code{tf2sys} or @code{fir2sys})

@item 1
for zp form (initialized with @code{zp2sys})

@item 2
for ss form (initialized with @code{ss2sys})
@end table

The next three elements are boolean flags that indicate whether tf, zp,
or ss, respectively, are ``up to date" (whether it is safe to use the
variables associated with these representations).  These flags are
changed when calls are made to the @code{sysupdate} command.

@item tsam
 Discrete time sampling period  (nonnegative scalar).
 @var{tsam} is set to 0 for continuous time systems.

@item yd
 Discrete-time output list (vector)

 indicates which outputs are discrete time (i.e.,
    produced by D/A converters) and which are continuous time.
    yd(ii) = 0 if output ii is continuous, = 1 if discrete.
@end table

The remaining variables of the  system data structure are only present
if the corresponding entry of the @code{sys} vector is true (=1).

@node sysstructtf
@section @code{tf} format variables

@table @var
@item num
 numerator coefficients   (vector)

@item den
 denominator coefficients   (vector)

@end table

@node sysstructzp
@section @code{zp} format variables

@table @var
@item zer
 system zeros   (vector)

@item pol
 system poles    (vector)

@item k
 leading coefficient   (scalar)

@end table

@node sysstructss
@section @code{ss} format variables

@table @var
@item a
@itemx b
@itemx c
@itemx d
The usual state-space matrices. If a system has both
        continuous and discrete states, they are sorted so that
        continuous states come first, then discrete states

@strong{Note} some functions (e.g., @code{bode}, @code{hinfsyn}) 
will not accept systems with both discrete and continuous states/outputs

@item stname
names of system states   (list of strings)

@end table

@node sysinterface
@chapter System Construction and Interface Functions

Construction and manipulations of the @acronym{OCST} system data structure
(@pxref{sysstruct}) requires attention to many details in order
to ensure that data structure contents remain consistent.  Users
are strongly encouraged to use the system interface functions
in this section.  Functions for the formatted display in of system
data structures are given in @ref{sysdisp}.

@menu
* fir2sys::                     
* ss2sys::                      
* tf2sys::                      
* zp2sys::                      
* structaccess::                
@end menu

@node fir2sys
@section Finite impulse response system interface functions

@DOCSTRING(fir2sys)

@DOCSTRING(sys2fir)

@node ss2sys
@section State space system interface functions

@DOCSTRING(ss)

@DOCSTRING(ss2sys)

@DOCSTRING(sys2ss)

@node tf2sys
@section Transfer function system interface functions

@DOCSTRING(tf)

@DOCSTRING(tf2sys)

@DOCSTRING(sys2tf)

@node zp2sys
@section Zero-pole system interface functions

@DOCSTRING(zp)

@DOCSTRING(zp2sys)

@DOCSTRING(sys2zp)

@node structaccess
@section Data structure access functions

@DOCSTRING(syschnames)

@DOCSTRING(syschtsam)

@DOCSTRING(sysdimensions)

@DOCSTRING(sysgetsignals)

@DOCSTRING(sysgettype)

@DOCSTRING(syssetsignals)

@DOCSTRING(sysupdate)

@DOCSTRING(minfo)

@DOCSTRING(sysgettsam)

@node sysdisp
@chapter System display functions

@DOCSTRING(sysout)

@DOCSTRING(tfout)

@DOCSTRING(zpout)

@node blockdiag
@chapter Block Diagram Manipulations

@xref{systime}.

Unless otherwise noted, all parameters (input,output) are
system data structures.

@DOCSTRING(bddemo)

@DOCSTRING(buildssic)

@DOCSTRING(jet707)

@DOCSTRING(ord2)

@DOCSTRING(sysadd)

@DOCSTRING(sysappend)

@DOCSTRING(sysconnect)

@DOCSTRING(syscont)

@DOCSTRING(sysdisc)

@DOCSTRING(sysdup)

@DOCSTRING(sysgroup)

@DOCSTRING(sysmult)

@DOCSTRING(sysprune)

@DOCSTRING(sysreorder)

@DOCSTRING(sysscale)

@DOCSTRING(syssub)

@DOCSTRING(ugain)

@DOCSTRING(wgt1o)

@DOCSTRING(parallel)

@DOCSTRING(sysmin)

@node numerical
@chapter Numerical Functions

@DOCSTRING(are)

@DOCSTRING(dare)

@DOCSTRING(dre)

@DOCSTRING(dgram)

@DOCSTRING(dlyap)

@DOCSTRING(gram)

@DOCSTRING(lyap)

@DOCSTRING(qzval)

@DOCSTRING(zgfmul)

@DOCSTRING(zgfslv)

@DOCSTRING(zginit)

@DOCSTRING(zgreduce)

@DOCSTRING(zgrownorm)

@DOCSTRING(zgscal)

@DOCSTRING(zgsgiv)

@DOCSTRING(zgshsr)

@strong{References}
@table @strong
@item  ZGEP
 Hodel, @cite{Computation of Zeros with Balancing}, 1992, Linear Algebra
 and its Applications
@item @strong{Generalized CG}
 Golub and Van Loan, @cite{Matrix Computations, 2nd ed} 1989.
@end table

@node sysprop
@chapter System Analysis-Properties

@DOCSTRING(analdemo)

@DOCSTRING(abcddim)

@DOCSTRING(ctrb)

@DOCSTRING(h2norm)

@DOCSTRING(hinfnorm)

@DOCSTRING(obsv)

@DOCSTRING(pzmap)

@DOCSTRING(is_abcd)

@DOCSTRING(is_controllable)

@DOCSTRING(is_detectable)

@DOCSTRING(is_dgkf)

@DOCSTRING(is_digital)

@DOCSTRING(is_observable)

@DOCSTRING(is_sample)

@DOCSTRING(is_siso)

@DOCSTRING(is_stabilizable)

@DOCSTRING(is_signal_list)

@DOCSTRING(is_stable)

@node systime
@chapter System Analysis-Time Domain

@DOCSTRING(c2d)

@DOCSTRING(d2c)

@DOCSTRING(dmr2d)

@DOCSTRING(damp)

@DOCSTRING(dcgain)

@DOCSTRING(impulse)

@DOCSTRING(step)

@node sysfreq
@chapter System Analysis-Frequency Domain

@strong{Demonstration/tutorial script}
@DOCSTRING(frdemo)

@DOCSTRING(bode)

@DOCSTRING(bode_bounds)

@DOCSTRING(freqchkw)

@DOCSTRING(ltifr)

@DOCSTRING(nyquist)

@DOCSTRING(nichols)

@DOCSTRING(tzero)

@DOCSTRING(tzero2)

@node cacsd
@chapter Controller Design

@DOCSTRING(dgkfdemo)

@DOCSTRING(hinfdemo)

@DOCSTRING(dlqe)

@DOCSTRING(dlqr)

@DOCSTRING(dkalman)

@DOCSTRING(h2syn)

@DOCSTRING(hinf_ctr)

@DOCSTRING(hinfsyn)

@DOCSTRING(hinfsyn_chk)

@DOCSTRING(hinfsyn_ric)

@DOCSTRING(lqe)

@DOCSTRING(lqg)

@DOCSTRING(lqr)

@DOCSTRING(lsim)

@DOCSTRING(place)

@node misc
@chapter Miscellaneous Functions (Not yet properly filed/documented)

@DOCSTRING(axis2dlim)

@DOCSTRING(moddemo)

@DOCSTRING(prompt)

@DOCSTRING(rldemo)

@DOCSTRING(rlocus)

@DOCSTRING(sortcom)

@DOCSTRING(ss2tf)

@DOCSTRING(ss2zp)

@DOCSTRING(starp)

@DOCSTRING(tf2ss)

@DOCSTRING(tf2zp)

@DOCSTRING(zp2ss)

@DOCSTRING(zp2tf)

@bye

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