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function []=ssprint(sl,out)
//ssprint(sl [,out]) pretty print of a linear system in state-space form
// sl=(A,B,C,D) syslin list.
// out=output (default out=%io(2))
// See also texprint.
//Examples:
// a=[1 1;0 1];b=[0 1;1 0];c=[1,1];d=[3,2];
// ssprint(syslin('c',a,b,c,d))
// ssprint(syslin('d',a,b,c,d))
//!
// Copyright INRIA
[lhs,rhs]=argn(0)
mess='system cannot be displayed in this page'
fil=%f
if rhs==1 then
out=%io(2),
else
if type(out)==10 then
out=file('open',out,'unknown')
fil=%t
end
end
deff('[ta]=%cv(x)',['[m,n]=size(x);';
'if m*n==0 then ta='' '',return,end';
'frmt=format();frmt=10**frmt(2)/maxi([1,norm(coeff(x))]);';
'x=round(frmt*x)/frmt;';
't=[];for k=1:m,t=[t;''|''],end;';
'ta=t;for k=1:n,';
' aa=string(x(:,k)),';
' for l=1:m,';
' if part(aa(l),1)<>''-'' then ';
' aa(l)='' ''+aa(l),';
' end,';
' end,';
' n=maxi(length(aa)),';
' aa=part(aa+blank,1:n),';
' ta=ta+aa+part(blank,1),';
'end;ta=ta+t;'])
//
// d(x)=ax + bu
//-------------
write(out,' ')
sgn='.';if sl(7)<>'c' then sgn='+',end
ll=lines();ll=ll(1)
[a,b,c,d]=sl(2:5)
na=size(a,'r')
[nc,nb]=size(d)
if na>0 then
blank=[];for k=1:na,blank=[blank;' '],end
ta=%cv(a);
tb=%cv(b);
//
blank=part(blank,1:4)
if na==1 then
t=[sgn+' ';'x = ']+[' ';ta]+[' ';'x']
else
blank([na/2,na/2+1])=[sgn+' ';'x = ']
t=blank+ta;
end
if nb>0 then
if na==1 then
t=t+[' ';' + ']+[' ';tb]+[' ';'u ']
else
blank([na/2,na/2+1])=[' ';'x + ']
t=t+blank+tb
t(na/2+1)=t(na/2+1)+'u '
end
end
n1=maxi(length(t))+1
//
n2=maxi(length(t))
if n2<ll then
write(out,t)
else
if n1<ll,
if n2-n1<ll then
write(out,part(t,1:n1)),
write(out,' ')
write(out,part(t,n1+1:n2),'(3x,a)')
else
error(mess)
end;
else
error(mess)
end;
end;
end
//
//y = cx + du
//-----------
if nc==0 then if fil then file('close',out);end;return,end
write(out,' ')
blank=[];for k=1:nc,blank=[blank;' '],end
if na==0 then
td=%cv(d)
if nc==1 then
t='y = '+td+'u'
else
blank(nc/2+1)='y = '
t=blank+td
t(nc/2+1)=t(nc/2+1)+'u '
end
n1=maxi(length(t))+1
else
tc=%cv(c);td=%cv(d)
blank=part(blank,1:4);
if nc==1 then
t='y = '+tc
else
blank(nc/2+1)='y = '
t=blank+tc;
end
withd=d<>[]
if withd then withd=norm(d,1)>0,end
if withd then
if nc==1 then
t=t+'x + '+td
else
blank(nc/2+1)='x + '
t=t+blank+td
t(nc/2+1)=t(nc/2+1)+'u '
end
n1=maxi(length(t))+1
else
if nc==1 then
t=t+'x '
else
t(nc/2+1)=t(nc/2+1)+'x '
end
end;
end
n2=maxi(length(t))
if n2<ll then
write(out,t)
else
if n1<ll,
if n2-n1<ll then
write(out,part(t,1:n1)),
write(out,' ')
write(out,part(t,n1+1:n2),'(3x,a)')
else
error(mess)
end
else
error(mess)
end
end
if fil then file('close',out),end
endfunction
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