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## Copyright (C) 1996, 1998, 1999, 2000, 2002, 2003, 2004, 2005, 2006,
## 2007 Auburn University. All rights reserved.
##
##
## This program 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.
##
## This program 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 this program; see the file COPYING. If not, see
## <http://www.gnu.org/licenses/>.
## -*- texinfo -*-
## @deftypefn {Function File} {@var{sys} =} sysgroup (@var{asys}, @var{bsys})
## Combines two systems into a single system.
##
## @strong{Inputs}
## @table @var
## @item asys
## @itemx bsys
## System data structures.
## @end table
##
## @strong{Output}
## @table @var
## @item sys
## @math{sys = @r{block diag}(asys,bsys)}
## @end table
## @example
## @group
## __________________
## | ________ |
## u1 ----->|--> | asys |--->|----> y1
## | -------- |
## | ________ |
## u2 ----->|--> | bsys |--->|----> y2
## | -------- |
## ------------------
## Ksys
## @end group
## @end example
## The function also rearranges the internal state-space realization of @var{sys}
## so that the continuous states come first and the discrete states come last.
## If there are duplicate names, the second name has a unique suffix appended
## on to the end of the name.
## @end deftypefn
## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
## Created: August 1995
## modified by John Ingram July 1996
## A. S. Hodel: modified for variable number of arguments 1999
function sys = sysgroup (varargin)
if (nargin < 1)
print_usage ();
endif
## collect all arguments
arglist = {};
for kk = 1:nargin
arglist(kk) = varargin{kk};
if (! isstruct (arglist{kk}))
error ("sysgroup: argument %d is not a data structure", kk);
endif
endfor
if (nargin == 2)
## the usual case; group the two systems together
Asys = arglist{1};
Bsys = arglist{2};
## extract information from Asys, Bsys to consruct sys
Asys = sysupdate (Asys, "ss");
Bsys = sysupdate (Bsys, "ss");
[n1, nz1, m1, p1] = sysdimensions (Asys);
[n2, nz2, m2, p2] = sysdimensions (Bsys);
[Aa, Ab, Ac, Ad, Atsam, An, Anz, Ast, Ain, Aout, Ayd] = sys2ss (Asys);
[Ba, Bb, Bc, Bd, Btsam, Bn, Bnz, Bst, Bin, Bout, Byd] = sys2ss (Bsys);
nA = An + Anz;
nB = Bn + Bnz;
if (p1*m1*p2*m2 == 0)
error ("sysgroup: argument lacks inputs and/or outputs");
elseif (Atsam + Btsam > 0 && Atsam * Btsam == 0)
warning ("sysgroup: creating combination of continuous and discrete systems")
elseif (Atsam != Btsam)
error ("sysgroup: Asys.tsam=%e, Bsys.tsam =%e", Atsam, Btsam);
endif
if (nA*nB > 0)
A12 = zeros (nA, nB);
else
A12 = [];
endif
A = [Aa, A12; A12', Ba];
if (nA*m2 > 0)
B12 = zeros (nA, m2);
else
B12 = [];
endif
if (nB*m1 > 0)
B21 = zeros (nB, m1);
else
B21 = [];
endif
if (isempty(Ab))
Ab = [];
endif
if (isempty (Bb))
Bb = [];
endif
B = [Ab, B12; B21, Bb];
if (p1*nB > 0)
C12 = zeros (p1, nB);
else
C12 = [];
endif
if (p2*nA > 0)
C21 = zeros (p2, nA);
else
C21 = [];
endif
C = [Ac, C12; C21, Bc];
if (p1*m2 > 0)
D12 = zeros (p1, m2);
else
D12 = [];
endif
if (p2*m1 > 0)
D21 = zeros (p2, m1);
else
D21 = [];
endif
D = [Ad, D12; D21, Bd];
tsam = max (Atsam, Btsam);
## construct combined signal names; stnames must check for pure gain blocks
if (isempty (Ast))
stname = Bst;
elseif (isempty (Bst))
stname = Ast;
else
stname= __sysconcat__ (Ast, Bst);
endif
inname = __sysconcat__ (Ain, Bin);
outname = __sysconcat__ (Aout, Bout);
## Sort states into continuous first, then discrete
dstates = ones (1, (nA+nB));
if (An)
dstates(1:(An)) = zeros (1, An);
endif
if (Bn)
dstates((nA+1):(nA+Bn)) = zeros (1, Bn);
endif
[tmp, pv] = sort (dstates);
A = A(pv,pv);
B = B(pv,:);
C = C(:,pv);
stname = stname (pv);
## check for duplicate signal names
inname = __sysgroupn__ (inname, "input");
stname = __sysgroupn__ (stname, "state");
outname = __sysgroupn__ (outname, "output");
## mark discrete outputs
outlist = find ([Ayd, Byd]);
## build new system
sys = ss (A, B, C, D, tsam, An+Bn, Anz+Bnz, stname, inname, outname);
else
## multiple systems (or a single system); combine together one by one
sys = arglist{1};
for kk = 2:length(arglist)
printf ("sysgroup: kk=%d\n", kk);
sys = sysgroup (sys, arglist{kk});
endfor
endif
endfunction
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