init

FOTF Toolbox/INVLAP_new.m

@@ -0,0 +1,49 @@
+function [t,y]=INVLAP_new(G,t0,tn,N,H,tx,ux)
+% INVLAP_new - updated version of INVLAP for closed-loop system with any inputs
+%
+%   [t,y]=INVLAP_new(G,t0,tn,N)
+%   [t,y]=INVLAP_new(G,t0,tn,N,H)
+%   [t,y]=INVLAP_new(G,t0,tn,N,H,u)
+%   [t,y]=INVLAP_new(G,t0,tn,N,H,tx,ux)
+%
+%   G - the string representation of the open-loop model
+%   t0, tn, N - the time interval and number of points in the interval
+%   H - the string representation of the feedback model
+%   u - the function handle of the input signal
+%   tx, ux - the samples of time and input signal
+%   y, t - the output and time vectors
+   
+% Copyright (c) Dingyu Xue, Northeastern University, China
+% Last modified 28 March, 2017 
+% Last modified 18 May, 2022 
+   arguments
+       G, t0(1,1), tn(1,1) {mustBeGreaterThan(tn,t0)}
+       N(1,1){mustBePositiveInteger}=100;
+       H(1,1)=0; tx='1'; ux(1,:) {mustBeNumeric}=0;
+   end
+   G=add_dots(G); if ischar(H), H=add_dots(H); end
+   if ischar(tx), tx=add_dots(tx); end
+   a=6; ns=20; nd=19; t=linspace(t0,tn,N);
+   if t0==0, t=[1e-6 t(2:N)]; end 
+   n=1:ns+1+nd; alfa=a+(n-1)*pi*1j; bet=-exp(a)*(-1).^n;
+   n=1:nd; bet(1)=bet(1)/2;
+   bdif=fliplr(cumsum(gamma(nd+1)./gamma(nd+2-n)./gamma(n)))./2^nd;
+   bet(ns+2:ns+1+nd)=bet(ns+2:ns+1+nd).*bdif;
+   if isnumeric(H), H=num2str(H); end
+   for i=1:N
+      tt=t(i); s=alfa/tt; bt=bet/tt; sG=eval(G); sH=eval(H);
+      if ischar(tx), sU=eval(tx);
+      else
+         if isnumeric(tx)
+            f=@(x)interp1(tx,ux,x,'spline').*exp(-s.*x);
+         else, f=@(x)tx(x).*exp(-s.*x); end
+         sU=integral(f,t0,tn,'ArrayValued',true);
+      end
+      btF=bt.*sG./(1+sG.*sH).*sU; y(i)=sum(real(btF));
+   end, t=t(:); y=y(:);
+end
+% remove and add back dots uniformly
+function F=add_dots(F)
+   F=strrep(strrep(strrep(F,'.*','*'),'./','/'),'.^','^');
+   F=strrep(strrep(strrep(F,'*','.*'),'/','./'),'^','.^');
+end