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__freqresp__.m

## Copyright (C) 1996, 1998, 2000, 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/>.

## Undocumented internal function.

## -*- texinfo -*-
## @deftypefn {Function File} {} __freqresp__ (@var{sys}, @var{USEW}, @var{w})
## Frequency response function - used internally by @command{bode}, @command{nyquist}.
## minimal argument checking; ``do not attempt to do this at home''.
##
## @strong{Inputs}
## @table @var
## @item sys
## system data structure
## @item USEW
## returned by @code{freqchkw}
## @item optional
## must be present if @var{USEW} is true (nonzero)
## @end table
## @strong{Outputs}
## @table @var
## @item @var{out}
## vector of finite @math{G(j*w)} entries (or @math{||G(j*w)||} for @acronym{MIMO})
## @item w
## vector of corresponding frequencies
## @end table
## @end deftypefn

## Author: R. Bruce Tenison <btenison@eng.auburn.edu>
## Created: July 11, 1994

function [ff, w] = __freqresp__ (sys, USEW, w);

  ## SYS_INTERNAL accesses members of system data structure

  ## Check Args
  if (nargin < 2 || nargin > 4)
    print_usage ();
  elseif (USEW && nargin < 3)
    error ("USEW = 1 but w was not passed.");
  elseif (USEW && isempty (w))
    warning ("USEW = 1 but w is empty; setting USEW=0");
    USEW = 0;
  endif

  DIGITAL = is_digital (sys);

  ## compute default w if needed
  if (! USEW)
    if (is_siso (sys))
      sys = sysupdate (sys, "zp");
      [zer, pol] = sys2zp (sys);
    else
      zer = tzero (sys);
      pol = eig (sys2ss (sys));
    endif

    ## get default frequency range
    [wmin, wmax] = bode_bounds (zer, pol, DIGITAL, sysgettsam (sys));
    w = logspace (wmin, wmax, 50);
  else
    w = reshape (w, 1, length (w));         # make sure it's a row vector
  endif

  ## now get complex values of s or z
  if (DIGITAL)
    jw = exp (i*w*sysgettsam(sys));
  else
    jw = i*w;
  endif

  [nn, nz, mm, pp] = sysdimensions (sys);

  ## now compute the frequency response - divide by zero yields a warning
  if (strcmp (sysgettype (sys), "zp"))
    ## zero-pole form (preferred)
    [zer, pol, sysk] = sys2zp (sys);
    ff = ones (size (jw));
    l1 = min (length(zer)*(1-isempty(zer)), length(pol)*(1-isempty(pol)));
    for ii = 1:l1
      ff = ff .* (jw - zer(ii)) ./ (jw - pol(ii));
    endfor

    ## require proper  transfer function, so now just get poles.
    for ii = (l1+1):length(pol)
      ff = ff ./ (jw - pol(ii));
    endfor
    ff = ff*sysk;
  elseif (strcmp (sysgettype (sys), "tf"))
    ## transfer function form
    [num, den] = sys2tf (sys);
    ff = polyval (num, jw) ./ polyval (den, jw);
  elseif (mm==pp)
    ## The system is square; do state-space form bode plot
    [sysa, sysb, sysc, sysd, tsam, sysn, sysnz] = sys2ss (sys);
    n = sysn + sysnz;
    for ii = 1:length(jw);
      ff(ii) = det (sysc*((jw(ii).*eye(n)-sysa)\sysb)+sysd);
    endfor
  else
    ## Must be state space... bode
    [sysa, sysb, sysc, sysd, tsam, sysn, sysnz] = sys2ss (sys);
    n = sysn + sysnz;
    for ii = 1:length(jw);
      ff(ii) = norm (sysc*((jw(ii)*eye(n)-sysa)\sysb)+sysd);
    endfor
  endif

  w = reshape (w, 1, length (w));
  ff = reshape (ff, 1, length (ff));

endfunction


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