control_systems_torbox 0.2.1

Control systems toolbox
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155

<HTML>
<HEAD><TITLE>NF01AD - SLICOT Library Routine Documentation</TITLE>
</HEAD>
<BODY>

<H2><A Name="NF01AD">NF01AD</A></H2>
<H3>
Computing the output of a Wiener system
</H3>
<A HREF ="#Specification"><B>[Specification]</B></A>
<A HREF ="#Arguments"><B>[Arguments]</B></A>
<A HREF ="#Method"><B>[Method]</B></A>
<A HREF ="#References"><B>[References]</B></A>
<A HREF ="#Comments"><B>[Comments]</B></A>
<A HREF ="#Example"><B>[Example]</B></A>

<P>
<B><FONT SIZE="+1">Purpose</FONT></B>
<PRE>
  To calculate the output y of the Wiener system

     x(t+1) = A*x(t) + B*u(t)
     z(t)   = C*x(t) + D*u(t),

     y(t)   = f(z(t),wb(1:L)),

  where t = 1, 2, ..., NSMP, and f is a nonlinear function,
  evaluated by the SLICOT Library routine NF01AY. The parameter
  vector X is partitioned as X = ( wb(1), ..., wb(L), theta ),
  where wb(i), i = 1:L, correspond to the nonlinear part, theta
  corresponds to the linear part, and the notation is fully
  described below.

</PRE>
<A name="Specification"><B><FONT SIZE="+1">Specification</FONT></B></A>
<PRE>
      SUBROUTINE NF01AD( NSMP, M, L, IPAR, LIPAR, X, LX, U, LDU, Y, LDY,
     $                   DWORK, LDWORK, INFO )
C     .. Scalar Arguments ..
      INTEGER           INFO, L, LDU, LDWORK, LDY, LX, LIPAR, M, NSMP
C     .. Array Arguments ..
      INTEGER           IPAR(*)
      DOUBLE PRECISION  DWORK(*), U(LDU,*), X(*), Y(LDY,*)

</PRE>
<A name="Arguments"><B><FONT SIZE="+1">Arguments</FONT></B></A>
<P>

</PRE>
<B>Input/Output Parameters</B>
<PRE>
  NSMP    (input) INTEGER
          The number of training samples.  NSMP &gt;= 0.

  M       (input) INTEGER
          The length of each input sample.  M &gt;= 0.

  L       (input) INTEGER
          The length of each output sample.  L &gt;= 0.

  IPAR    (input) INTEGER array, dimension (LIPAR)
          The integer parameters needed.
          IPAR(1)  must contain the order of the linear part,
                   referred to as N below.  N &gt;= 0.
          IPAR(2)  must contain the number of neurons for the
                   nonlinear part, referred to as NN below.
                   NN &gt;= 0.

  LIPAR   (input) INTEGER
          The length of IPAR.  LIPAR &gt;= 2.

  X       (input) DOUBLE PRECISION array, dimension (LX)
          The parameter vector, partitioned as
          X = (wb(1), ..., wb(L), theta), where the vectors
          wb(i), of length NN*(L+2)+1, are parameters for the
          static nonlinearity, which is simulated by the
          SLICOT Library routine NF01AY. See the documentation of
          NF01AY for further details. The vector theta, of length
          N*(M + L + 1) + L*M, represents the matrices A, B, C,
          D and x(1), and it can be retrieved from these matrices
          by SLICOT Library routine TB01VD and retranslated by
          TB01VY.

  LX      (input) INTEGER
          The length of the array X.
          LX &gt;= ( NN*(L+2)+1 )*L + N*(M + L + 1) + L*M.

  U       (input) DOUBLE PRECISION array, dimension (LDU, M)
          The leading NSMP-by-M part of this array must contain the
          set of input samples,
          U = ( U(1,1),...,U(1,M); ...; U(NSMP,1),...,U(NSMP,M) ).

  LDU     INTEGER
          The leading dimension of the array U.  LDU &gt;= MAX(1,NSMP).

  Y       (output) DOUBLE PRECISION array, dimension (LDY, L)
          The leading NSMP-by-L part of this array contains the
          simulated output.

  LDY     INTEGER
          The leading dimension of the array Y.  LDY &gt;= MAX(1,NSMP).

</PRE>
<B>Workspace</B>
<PRE>
  DWORK   DOUBLE PRECISION array, dimension (LDWORK)

  LDWORK  INTEGER
          The length of the array DWORK.
          LDWORK &gt;= NSMP*L + MAX( 2*NN, (N + L)*(N + M) + 2*N +
                                  MAX( N*(N + L), N + M + L ) )
                                                           if M &gt; 0;
          LDWORK &gt;= NSMP*L + MAX( 2*NN, (N + L)*N + 2*N +
                                  MAX( N*(N + L), L ) ),   if M = 0.
          A larger value of LDWORK could improve the efficiency.

</PRE>
<B>Error Indicator</B>
<PRE>
  INFO    INTEGER
          = 0:  successful exit;
          &lt; 0:  if INFO = -i, the i-th argument had an illegal
                value.
</PRE>
<A name="Method"><B><FONT SIZE="+1">Method</FONT></B></A>
<PRE>
  BLAS routines are used for the matrix-vector multiplications and
  the routine NF01AY is called for the calculation of the nonlinear
  function.

</PRE>

<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT></B></A>
<PRE>
  None
</PRE>

<A name="Example"><B><FONT SIZE="+1">Example</FONT></B></A>
<P>
<B>Program Text</B>
<PRE>
  None
</PRE>
<B>Program Data</B>
<PRE>
  None
</PRE>
<B>Program Results</B>
<PRE>
  None
</PRE>

<HR>
<A HREF=support.html><B>Return to Supporting Routines index</B></A></BODY>
</HTML>