Hi.
I'm referring to the control package in current svn (r5476).
I propose these changes to the place.m file:
-add the signature "place(a,b,p)" (for Matlab compatibility)
-add 1 test for the old signature
-add 1 test for the new signature
-substitute a hard-coded controllability matrix computation with the
ctrb function
I propose this change to the INDEX file:
-suggest using the place function instead of the acker (Matlab) function
I'm attouching my proposed patch.
Cheers,
Luca Favatella
Index: INDEX
===================================================================
--- INDEX (revisione 5476)
+++ INDEX (copia locale)
@@ -86,4 +86,4 @@
zero=use <f>tzero</f> or <f>tzero2</f>
kalman=use <f>lqe</f>
kalmd=use <f>dlqe</f> or <f>dkalman</f>
-
+ acker=use <f>place</f>
Index: inst/place.m
===================================================================
--- inst/place.m (revisione 5476)
+++ inst/place.m (copia locale)
@@ -18,6 +18,7 @@
## -*- texinfo -*-
## @deftypefn {Function File} [EMAIL PROTECTED] =} place (@var{sys}, @var{p})
+## @deftypefnx {Function File} [EMAIL PROTECTED] =} place (@var{a}, @var{b}, @var{p})
## Computes the matrix @var{K} such that if the state
## is feedback with gain @var{K}, then the eigenvalues of the closed loop
## system (i.e. @math{A-BK}) are those specified in the vector @var{p}.
@@ -42,9 +43,18 @@
## code adaped by A.S.Hodel ([EMAIL PROTECTED]) for use in controls
## toolbox
-function K = place (sys, P)
+function K = place (argin1, argin2, argin3)
- if (nargin != 2)
+ if (nargin == 3)
+
+ ## Ctmp is useful to use ss; it doesn't matter what the value of Ctmp is
+ Ctmp = zeros (1, rows (argin1));
+ sys = ss (argin1, argin2, Ctmp);
+ P = argin3;
+ elseif (nargin == 2)
+ sys = argin1;
+ P = argin2;
+ else
print_usage ();
endif
@@ -86,12 +96,7 @@
## equation in the controllable canonical form.
## first we must calculate the controllability matrix M:
- M = B;
- AA = A;
- for n = 2:nx
- M(:,n) = AA*B;
- AA = AA*A;
- endfor
+ M = ctrb (A, B);
## second, construct the matrix W
PCO = PC(nx:-1:1);
@@ -123,3 +128,12 @@
endfunction
+
+%!shared A, B, C, P, Kexpected
+%! A = [0 1; 3 2];
+%! B = [0; 1];
+%! C = [2 1]; # C is useful to use ss; it doesn't matter what the value of C is
+%! P = [-1 -0.5];
+%! Kexpected = [3.5 3.5];
+%!assert (place (ss (A, B, C), P), Kexpected);
+%!assert (place (A, B, P), Kexpected);
\ No newline at end of file
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