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sysscale.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} =} sysscale (@var{sys}, @var{outscale}, @var{inscale}, @var{outname}, @var{inname})
## scale inputs/outputs of a system.
##
## @strong{Inputs}
## @table @var
## @item sys
## Structured system.
## @item outscale
## @itemx inscale
## Constant matrices of appropriate dimension.
## @item outname
## @itemx inname
## Lists of strings with the names of respectively outputs and inputs.
## @end table
##
## @strong{Output}
## @table @var
## @item retsys
## resulting open loop system:
## @smallexample
##       -----------    -------    -----------
## u --->| inscale |--->| sys |--->| outscale |---> y
##       -----------    -------    -----------
## @end smallexample
## @end table
## If the input names and output names (each a list of strings)
## are not given and the scaling matrices
## are not square, then default names will be given to the inputs and/or
## outputs.
##
## A warning message is printed if outscale attempts to add continuous
## system outputs to discrete system outputs; otherwise @var{yd} is
## set appropriately in the returned value of @var{sys}.
## @end deftypefn

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

function sys = sysscale (sys, outscale, inscale, outname, inname)

  if (nargin < 3 || nargin > 5)
    print_usage ();
  elseif (! isstruct (sys))
    error ("sys must be a structured system");
  endif

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

  ## check for omitted scales
  if (isempty (outscale))
    outscale = eye (pp);
  endif
  if (isempty (inscale))
    inscale = eye (mm);
  endif

  ## check dimensions of scaling matrices
  if (mm != rows (inscale))
    error ("inscale(%dx%d) should have %d rows(# system inputs)",
         rows (inscale), columns (inscale), mm);
  elseif (pp != columns (outscale) )
    error ("outscale(%dx%d) should have %d columns(# system outputs)",
         rows (outscale), columns (outscale), pp);
  endif

  sysyd = sysgetsignals (sys, "yd");
  outc = find (sysyd == 0);
  outd = find (sysyd == 1);

  if (length (outc) > 0 && length (outd) > 0)
    for ii = 1:rows(outscale)
      nci = norm (outscale (ii, outc));
      ndi = norm (outscale (ii, outd));

      if (nci > 0 && ndi > 0)
        warning ("sysscale: outscale(%d,:) sums continuous and discrete outputs; setting output to cont",
             ii)
        sysyd(ii) = 0;
      else
        sysyd(ii) = (ndi != 0);
      endif
    endfor
  else
    sysyd = ones (1, rows (outscale)) * (length(outd) > 0);
  endif

  ## check for SISO system type
  if (strcmp (sysgettype (sys), "tf"))
    [num, den, tsam, innam, outnam] = sys2tf (sys);
    num = num*inscale*outscale;
    sys = tf (num, den, tsam, innam, outnam);
    return;
  elseif (strcmp (sysgettype (sys), "zp"))
    [zer, pol, kk, tsam, innam, outnam] = sys2zp (sys);
    kk = kk*inscale*outscale;
    sys = zp (zer, pol, k, tsam, innam, outnam);
    return;
  endif

  ## it's a state space system...

  [sysa, sysb, sysc, sysd, systsam, ...
   sysn, sysnz, sysstname, sysinname, sysoutname, oldyd] = sys2ss(sys);

  sysb = sysb*inscale;
  sysc = outscale*sysc;
  sysd = outscale*sysd*inscale;

  if (! issquare (outscale))
    ## strip extra output names (if any)
    sysoutname = sysoutname(1:min(rows(outscale), columns(outscale)));
    if (nargin < 4)
      warning ("sysscale: outscale not square, outname not specified");
      warning ("sysscale:  using default output names");
      outname = __sysdefioname__ (rows (sysc), "y");
    endif
  else
    outname = sysoutname;
  endif
  if (! issquare (inscale))
    ## strip extra output names (if any)
    sysinname = sysinname(1:min(rows(inscale), columns(inscale)));
    if (nargin < 5)
      warning ("sysscale: inscale not square, inname not specified");
      warning ("sysscale:  using default input names");
      inname = __sysdefioname__ (columns (sysb), "u");
    endif
  else
    inname = sysgetsignals (sys, "in");
  endif

  sys = ss (sysa, sysb, sysc, sysd, systsam, nn, nz, sysstname,
          inname, outname, find (sysyd == 1));

endfunction

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