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sysprune.m

## Copyright (C) 1996, 1998, 2000, 2002, 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{retsys} =} sysprune (@var{asys}, @var{out_idx}, @var{in_idx})
## Extract specified inputs/outputs from a system
##
## @strong{Inputs}
## @table @var
## @item asys
## system data structure
## @item out_idx
## @itemx in_idx
## Indices or signal names of the outputs and inputs to be kept in the returned
## system; remaining connections are ``pruned'' off.
## May select as [] (empty matrix) to specify all outputs/inputs.
##
## @example
## retsys = sysprune (Asys, [1:3,4], "u_1");
## retsys = sysprune (Asys, @{"tx", "ty", "tz"@}, 4);
## @end example
##
## @end table
##
## @strong{Output}
## @table @var
## @item retsys
## Resulting system.
## @end table
## @example
## @group
##            ____________________
## u1 ------->|                  |----> y1
##  (in_idx)  |       Asys       | (out_idx)
## u2 ------->|                  |----| y2
##   (deleted)-------------------- (deleted)
## @end group
## @end example
## @end deftypefn

## Author: A. S. Hodel <a.s.hodel@eng.auburn.edu>
## Created: August 1995
## Updated by John Ingram 7-15-96

function sys = sysprune (sys, output_idx, input_idx, state_idx)

  if (nargin < 3 || nargin > 4)
    print_usage ();
  elseif (nargin < 4)
    state_idx = [];
  endif

  ## default: no action
  [nn, nz, mm, pp] = sysdimensions (sys);
  if (isempty (output_idx))
    output_idx = 1:pp;
  endif
  if (isempty (input_idx))
    input_idx = 1:mm;
  endif
  if (isempty (state_idx))
    state_idx = 1:(nn+nz);
  endif

  ## check for signal names
  if (is_signal_list (output_idx) || ischar (output_idx))
    output_idx = sysidx (sys, "out", output_idx);
  endif
  if (is_signal_list (input_idx) || ischar (input_idx))
    input_idx = sysidx (sys, "in", input_idx);
  endif

  ## check dimensions
  if (! (isvector (output_idx) || isempty (output_idx)))
    if (! ismatrix (output_idx))
      error ("sysprune: bad argument passed for output_idx");
    else
      error ("sysprune: output_idx (%d x %d) must be a vector or empty",
             rows (output_idx), columns (output_idx));
    endif
  elseif (is_duplicate_entry (output_idx))
     error ("sysprune: duplicate entries found in output_idx");
  endif

  if (! (isvector (input_idx) || isempty (input_idx)))
    if (! ismatrix (input_idx))
      error ("sysprune: bad argument passed for input_idx");
    else
      error ("sysprune: input_idx (%d x %d) must be a vector or empty",
             rows (input_idx), columns(input_idx));
    endif
  elseif (is_duplicate_entry (input_idx))
     error ("sysprune: duplicate entries found in input_idx");
  endif

  if (! (isvector (state_idx) || isempty (state_idx)))
    if (! ismatrix (state_idx))
      error ("sysprune: bad argument passed for state_idx");
    else
      error ("sysprune: state_idx (%d x %d) must be a vector or empty",
             rows (state_idx), columns (state_idx));
    endif
  elseif (nn+nz > 0)
    if (is_duplicate_entry (state_idx))
      error ("sysprune: duplicate entries found in state_idx");
    endif
  endif

  lo = length (output_idx);
  li = length (input_idx);
  lst = length (state_idx);

  if (! isstruct (sys))
    error ("Asys must be a system data structure (see ss, tf, or zp)");
  elseif (pp < lo)
    error("%d output_idx entries, system has only %d outputs", lo, pp);
  elseif (mm < li)
    error("%d input_idx entries, system has only %d inputs", li, mm);
  elseif (nn+nz < lst)
    error("%d state_idx entries, system has only %d states", lst, nn+nz);
  endif

  [aa, bb, cc, dd, tsam, nn, nz, stnam, innam, outnam, yd] = sys2ss (sys);

  ## check for valid state permutation
  if (nn & nz)
    c_idx = find (state_idx <= nn);
    if (! isempty (c_idx))
      max_c = max (c_idx);
    else
      max_c = 0;
    endif
    d_idx = find (state_idx > nn);
    if (! isempty (d_idx))
      min_d = min (d_idx);
    else
      min_d = nn+nz;
    endif
    if (max_c > min_d)
      warning ("sysprune: state_idx(%d)=%d (discrete) preceeds",
               min_d, state_idx(min_d));
      warning("          state_idx(%d)=%d (continuous)",
              max_c, state_idx(max_c));
      warning ("sysprune: sys has %d continuous states, %d discrete states",
               nn, nz);
      error("continuous/discrete state partition not preserved; see ss");
    endif
  endif

  idx = input_idx;
  odx = output_idx;
  if (isempty (state_idx))
    idx = ;
    odx = ;
  endif
  aa = aa(state_idx,state_idx);
  bb = bb(state_idx,idx);
  cc = cc(odx,state_idx);
  dd = dd(output_idx,input_idx);
  yd = yd(output_idx);

  innam  = innam(input_idx);
  outnam = outnam(output_idx);
  stnam = stnam(state_idx);
  nn1 = length (find (state_idx <= nn));
  nz1 = length (find (state_idx > nn));

  sys = ss (aa, bb, cc, dd, tsam, nn1, nz1, stnam, innam, outnam, find (yd));

endfunction

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