mdscl.m

线性时变系统控制器设计的工具包

function vlpvnew = mdscl(vlpv,vd,nmeas,nctrl)

% vlpvnew = mdscl(vlpv,vd,nmeas,nctrl)
% Augment lpv array with parameter-dependent d-scales.
% nmeas and nctrl are no longer used; the scales are automatically 
% augmented with identity blocks to fit the system's input/output dimensions.
% If vlpv and/or vd is not VARYING, then the program makes copies.

[vtyp,nrows,ncols,npts] = minfo(vlpv);
if vtyp ~= 'vary'
 npts = 1;
 [nrows,ncols] = size(vlpv);
end
[styp,no,ni,nx] = minfo(xtracti(vlpv,1,1));
[dtyp,nr,nc,nd] = minfo(vd);
if dtyp ~= 'vary'
 nd = 1;
end

viv = getiv(vlpv);
if isempty(viv)
 viv = getiv(vd);
end

if (npts ~= nd) & (min(npts,nd) > 1)
 error('Inconsistent number of systems & scales')
else
 npts = max(nd,npts);
end

vlpvnew = zeros(npts*nrows,ncols);
for k = 1:npts
 dl = daug(xtracti(vd,k,1),eye(no-nr));
 dr = daug(minv(xtracti(vd,k,1)),eye(ni-nc));
 vlpvnew((k-1)*nrows+1:k*nrows,:) = mmult(dl,xtracti(vlpv,k,1),dr);
end

if ~isempty(viv)
 vlpvnew = vpck(vlpvnew,viv);
end