updated according to updates in SystemsBase

Author: neveritt

src/ControlToolbox.jl

@@ -1,12 +1,12 @@
 module ControlToolbox
 
-using ControlCore
+using SystemsBase
 using Polynomials
+using Optim
 
 import Base: step
 import Base.LinAlg: BlasFloat
-import ControlCore: LtiSystem, StateSpace, RationalTF, ZeroPoleGain
-import ControlCore: Siso, Continuous
+import SystemsBase: LtiSystem, StateSpace, RationalTF
 
 export
   c2d,
@@ -26,15 +26,15 @@ export
   dlyap,
   covar,
   norm,
-  gram
-
-# using DSP
+  gram,
+  realjordanform,
+  place
 
 include("c2d.jl")
 include("d2c.jl")
 include("analysis/isstable.jl")
 include("analysis/margins.jl")
-#include("analysis/rlocus.jl")
+include("analysis/rlocus.jl")
 include("analysis/damp.jl")
 include("analysis/dcgain.jl")
 include("analysis/markovparam.jl")
@@ -43,9 +43,11 @@ include("matrix_comps/lyapunov.jl")
 include("matrix_comps/covar.jl")
 include("matrix_comps/norm.jl")
 include("matrix_comps/gram.jl")
-#include("simulation/utils.jl")
+include("matrix_comps/realjordanform.jl")
+include("simulation/utils.jl")
 #include("simulation/lsim.jl")
 #include("simulation/step.jl")
 #include("simulation/impulse.jl")
+include("design/place.jl")
 
 end # module

src/analysis/dcgain.jl

@@ -1,6 +1,6 @@
-dcgain(s::StateSpace{Siso{true}}) = _dcgain(s)[1]
-dcgain(s::StateSpace{Siso{false}}) = _dcgain(s)
-dcgain(s::LtiSystem) = dcgain(ss(s))
+dcgain(s::StateSpace{Val{:siso}}) = _dcgain(s)[1]
+dcgain(s::StateSpace{Val{:mimo}}) = _dcgain(s)
+dcgain(s::LtiSystem)              = dcgain(ss(s))
 
-_dcgain{S}(s::StateSpace{S,Continuous{true}}) = s.D - s.C/s.A*s.B
-_dcgain{S}(s::StateSpace{S,Continuous{false}}) = s.C/(speye(size(s.A)) - s.A)*s.B + s.D
+_dcgain{S}(s::StateSpace{S,Val{:cont}}) = s.D - s.C/s.A*s.B
+_dcgain{S}(s::StateSpace{S,Val{:disc}}) = s.C/(I - s.A)*s.B + s.D

src/analysis/isstable.jl

@@ -1,9 +1,9 @@
 
-isstable{S}(s::LtiSystem{S,Continuous{false}}) = maximum(abs(poles(s))) < 1
+isstable{S}(s::LtiSystem{S,Val{:disc}}) = maximum(abs(poles(s))) < 1
 
-isstable{S}(s::LtiSystem{S,Continuous{true}}) = maximum(real(poles(s))) < 0
+isstable{S}(s::LtiSystem{S,Val{:cont}}) = maximum(real(poles(s))) < 0
 
-isstable(s::LtiSystem{Siso{false}}) = map(isstable, getmatrix(s))
+isstable(s::LtiSystem{Val{:mimo}}) = map(isstable, getmatrix(s))
 
 # TODO: How to handle pole-zero cancellation
 

src/analysis/margins.jl

@@ -6,7 +6,7 @@ frequency for LTI system `sys` or data from bode-plot `mag`, `phase`, `w`.
 By definition, unity gain feedback with phase `pm` would make the closed
 loop system unstable. By default `pm` is given in radians.
 """
-function phasemargin(sys::RationalTF{Siso{true},Continuous{true}}; deg::Bool=false)
+function phasemargin(sys::RationalTF{Val{:siso},Val{:cont}}; deg::Bool=false)
   # For sys = 1/(s+1)^2*(s+10)^2*(s+100)^4/100^4/10 the output from phasemargin is off by a noticable ammount. Haven't been able to replicate or find the problem, might be because of instabilities in roots() though...
 
   Z, P = sys.num[1], sys.den[1]
@@ -27,7 +27,7 @@ function phasemargin(sys::RationalTF{Siso{true},Continuous{true}}; deg::Bool=fal
 end
 
 # For other representations, convert to transfer function
-phasemargin(sys::LtiSystem{Siso{true}}; deg::Bool=false) = phasemargin(tf(sys), deg=deg)
+phasemargin(sys::LtiSystem{Val{:siso}}; deg::Bool=false) = phasemargin(tf(sys), deg=deg)
 
 
 """
@@ -39,7 +39,7 @@ ammount of (pure gain) negative feedback that would make the
 closed loop system unstable. By default the result is given
 in linear units (not dB).
 """
-function gainmargin(sys::RationalTF{Siso{true}}; dB::Bool=false)
+function gainmargin(sys::RationalTF{Val{:siso}}; dB::Bool=false)
   Z, P = sys.num[1], sys.den[1]
 
   # To find w180, first solve imag(sys(jw)) == 0

src/analysis/rlocus.jl

@@ -8,7 +8,7 @@ Returns the closed-loop system
 - pole trajectories at evenly spaced intervals of the gain, if `K` is
 omitted
 """
-function rlocus(sys::ControlCore.LtiSystem)
+function rlocus(sys::LtiSystem)
   N::Integer = 100    # Number of points in root locus
 
   K = Vector{Real}(N) # Vector of gains
@@ -31,15 +31,15 @@ function rlocus(sys::ControlCore.LtiSystem)
   return rlocus(sys, K)
 end
 
-function rlocus{T<:Real}(sys::ControlCore.LtiSystem, K::AbstractVector{T})
+function rlocus{T<:Real}(sys::LtiSystem, K::AbstractVector{T})
   plist = Matrix{eltype(poles(sys))}(length(K), length(denvec(sys))-1)
   for idx in eachindex(K)
     plist[idx,:] = rlocus(sys, K[idx])[1]
   end
   (plist, K)
 end
 
-rlocus(sys::ControlCore.LtiSystem, k::Real) = poles(feedback(sys,k)), k
+rlocus(sys::LtiSystem, k::Real) = poles(feedback(sys,k)), k
 
 """
 `max_cplx_distance(C)`