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The labs in SYSLAB can be downloaded from http://www-pors.hit.no/~finnh/syslab/, and can be used freely. -------------------------------------------------------------------------------- 2000, Finn Haugen, Telemark University College, Norway Finn.Haugen@hit.no, http://www-pors.hit.no/~finnh%.0f%.0f%.0f%.4f%.0f%.4f %#.6p%.0f%.0f%.0f %#_3g%.0f %#_3g%.4f%.0f%.0f%.0f%#_g%#_g%.0f%#_g%.1f%.1f%#_g%.1f%#_g %#_15g%.0f %#_15g%.0f %#_15g%.0f %#_15g %#_15g %#_15g %#_15g€ےےےے€€€€€€€پ(¼پE"پ‚<پ‚"ءپB"پ"<€€€€€ثپ+€ٹ¨€J¨پ*H€تH€€€€€€€ےےےےےےےےےےےےےےےےےےےےًًًًًًًًًًًےےًًًًًًےےًًًًًےًًًًًًًےےًًًًًےًےًًًًےًًًًًًًًًًًًًًًًًًًًےًًًًًًًًًًےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےےV|DTHPD|Q88VtV{¤~R´Fƒ6@P@!status @code@0ےےےےsource error out ƒ@@ےےےے noiserƒb@P@@ےےےےےےےے A@@ےےےے B@@ےےےے C@ D!coefficients of state-space model:ƒ*@@ےےےےےےےے Logged and simulated yّƒى@ٌ¼™'‌si_generic model.ctl¼P$@P@0ےےےےversion¦@ٌ¼™$SI Model Type.ctl€ UndefinedAR ARX (SISO) ARX (MISO) ARX (MIMO)ARMAX (SISO)ARMAX (MISO)Output-Error (SISO)Output-Error (MISO)Box-Jenkins (SISO)Box-Jenkins (MISO)General Linear (SISO)General Linear (MISO)State-Space (SISO)State-Space (MISO)State-Space (MIMO)Transfer Function (SISO)Transfer Function (MISO)Transfer Function (MIMO)Pole-Zero (SISO)Pole-Zero (MISO)Pole-Zero (MIMO) model type&@@ےےےے@0ےےےےStringinput names(@@ےےےے@0ےےےےStringoutput names@0ےےےےnotes attributesŒ@P@@ےےےےےےےےےےےے A@@ےےےےےےےےےےےے B@@ےےےےےےےےےےےے F@@ےےےےےےےےےےےے C@@ےےےےےےےےےےےے Dcoefficientsژ@P@@ےےےےےےےےےےےے A@@ےےےےےےےےےےےے B@@ےےےےےےےےےےےے F@@ےےےےےےےےےےےے C@@ےےےےےےےےےےےے Dstd deviations6@@ےےےےےےےےےےےے@ Numericcoefficients covariance*@@ےےےےےےےے@ Numericnoise variance@ fs @P@number of inputs@number of outputs"@@ےےےےےےےے@B orderA order"@@ےےےےےےےے@B orderB order"@@ےےےےےےےے@B orderF order"@@ےےےےےےےے@B orderC order"@@ےےےےےےےے@B orderD order"@@ےےےےےےےے@B orderDelayssystem info@@ےےےےےےےے kalman gain$@@ےےےے@ Numeric initial statel@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO) trans funcv@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)zeros-polesr@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO)std of trans func~@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)std of zeros-polest@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO)trans func (noise)z@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO)std of trans func (noise)~@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)zeros-poles (noise)†@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)std of zeros-poles (noise)system model outƒ6ƒ&@@ےےےے@ Numericinitial states$ƒ@@ےےےے response2ƒ"@@ےےےے@ NumericKalman gain"ƒ@ sampling ratenƒ^ًx + 6@P@!status @code@0ےےےےsource error out"@@ےےےے response signal out"@@ےےےے stimulus signal out @@ےےےےpiecewise points@@P@!status @code@0ےےےےsourceerror in (no error)@ trend type"@@ےےےے response signal in"@@ےےےے stimulus signal inƒ@ trend type2ƒ"@@ےےےے response signal outƒ!ƒ@ےےےے@ u0ƒ$@@ےےےے@ ustimulus signal outƒ@ےےےے ƒ@!Detrend_selectZƒJ@P@! D matrix?@! K matrix?@!initial states?structure selector‍ƒژ@T€P @TPt0@ dt@@ےےےے Y2@P@!status @code@0ےےےےsourceerror@S attributessampleƒ°ƒ¤@Pü@ٌ¼\;CD General Elements.ctlذP@0ےےےے Model name&@@ےےےے@0ےےےےStringInput names(@@ےےےے@0ےےےےStringOutput names$@@ےےےے@ NumericInput Delays$@@ےےےے@ Numeric Output Delays@ Sampling Time@0ےےےےNotes properties~@@ےےےےےےےےZ@P @@ےےےے@ Numeric numerator"@@ےےےے@ Numericdenominator @ delayClustertransfer function(s)"Estimated Transfer Function, Hp(z) ƒ@ low limit (0.0)&ƒ@ high limit (0.0)ƒü@ٌ¼\;CD General Elements.ctlذP@0ےےےے Model name&@@ےےےے@0ےےےےStringInput names(@@ےےےے@0ےےےےStringOutput names$@@ےےےے@ NumericInput Delays$@@ےےےے@ Numeric Output Delays@ Sampling Time@0ےےےےNotes properties&ƒ@7ےےےےchannel (0)ƒ@deviceّƒىً@ ژ@T€P @TPt0@ dt@@ےےےے Y2@P@!status @code@0ےےےےsourceerror@S attributessample@ low limit (0.0)@ high limit (0.0)@7ےےےےchannel (0)@device"ƒ@ےےےےےےےے Lƒ@@P@!status @code@0ےےےےsourceerror in (no error)&ƒ@number of states.ƒ@@ےےےے response signal.ƒ@@ےےےے stimulus signalƒ @ valueJƒ:ً @ value@7ےےےےchannel (0)@deviceـƒذP@0ےےےے Model name&@@ےےےے@0ےےےےStringInput names(@@ےےےے@0ےےےےStringOutput names$@@ےےےے@ NumericInput Delays$@@ےےےے@ Numeric Output Delays@ Sampling Time@0ےےےےNotesƒƒ(ƒ@millisecond timer value ƒ@0ےےےے Model name6ƒ&@@ےےےے@0ےےےےStringInput names*ƒ@millisecond multipleƒ ƒ@ yƒ@ h [sec](ƒ@@ےےےے std deviationƒ &ƒ ًx 6@P@!status @code@0ےےےےsource error out@@ےےےے std deviation@@ےےےے response@ sampling rate@@P@!status @code@0ےےےےsourceerror in (no error)@@ےےےے@ Numericnoise&@@ےےےے@ Numericstimulus signalè@ٌ¼™'‌si_generic model.ctl¼P$@P@0ےےےےversion¦@ٌ¼™$SI Model Type.ctl€ UndefinedAR ARX (SISO) ARX (MISO) ARX (MIMO)ARMAX (SISO)ARMAX (MISO)Output-Error (SISO)Output-Error (MISO)Box-Jenkins (SISO)Box-Jenkins (MISO)General Linear (SISO)General Linear (MISO)State-Space (SISO)State-Space (MISO)State-Space (MIMO)Transfer Function (SISO)Transfer Function (MISO)Transfer Function (MIMO)Pole-Zero (SISO)Pole-Zero (MISO)Pole-Zero (MIMO) model type&@@ےےےے@0ےےےےStringinput names(@@ےےےے@0ےےےےStringoutput names@0ےےےےnotes attributesŒ@P@@ےےےےےےےےےےےے A@@ےےےےےےےےےےےے B@@ےےےےےےےےےےےے F@@ےےےےےےےےےےےے C@@ےےےےےےےےےےےے Dcoefficientsژ@P@@ےےےےےےےےےےےے A@@ےےےےےےےےےےےے B@@ےےےےےےےےےےےے F@@ےےےےےےےےےےےے C@@ےےےےےےےےےےےے Dstd deviations6@@ےےےےےےےےےےےے@ Numericcoefficients covariance*@@ےےےےےےےے@ Numericnoise variance@ fs @P@number of inputs@number of outputs"@@ےےےےےےےے@B orderA order"@@ےےےےےےےے@B orderB order"@@ےےےےےےےے@B orderF order"@@ےےےےےےےے@B orderC order"@@ےےےےےےےے@B orderD order"@@ےےےےےےےے@B orderDelayssystem info@@ےےےےےےےے kalman gain$@@ےےےے@ Numeric initial statel@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO) trans funcv@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)zeros-polesr@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO)std of trans func~@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)std of zeros-polest@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO)trans func (noise)z@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO)std of trans func (noise)~@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)zeros-poles (noise)†@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)std of zeros-poles (noise)system model,ƒ @P @ uWaveform Chart~ƒnP,P@€ P @ u ,P@€ P @ uƒP @ uƒ@ u(ƒ@@ےےےے@ Numericnoiseƒ@@ےےےے Yƒ@0ےےےےString4ƒ(@@ےےےے@0ےےےےStringOutput names0ƒ$@@ےےےے@ NumericInput Delaysƒ@ Numeric0ƒ$@@ےےےے@ Numeric Output Delays"ƒ@ Sampling Timeƒ@0ےےےےNotesژƒ~@@ےےےےےےےےZ@P @@ےےےے@ Numeric numerator"@@ےےےے@ Numericdenominator @ delayClustertransfer function(s)6ƒ&@@ےےےے@ Numericstimulus signalôƒè@ٌ¼™'‌si_generic model.ctl¼P$@P@0ےےےےversion¦@ٌ¼™$SI Model Type.ctl€ UndefinedAR ARX (SISO) ARX (MISO) ARX (MIMO)ARMAX (SISO)ARMAX (MISO)Output-Error (SISO)Output-Error (MISO)Box-Jenkins (SISO)Box-Jenkins (MISO)General Linear (SISO)General Linear (MISO)State-Space (SISO)State-Space (MISO)State-Space (MIMO)Transfer Function (SISO)Transfer Function (MISO)Transfer Function (MIMO)Pole-Zero (SISO)Pole-Zero (MISO)Pole-Zero (MIMO) model type&@@ےےےے@0ےےےےStringinput names(@@ےےےے@0ےےےےStringoutput names@0ےےےےnotes attributesŒ@P@@ےےےےےےےےےےےے A@@ےےےےےےےےےےےے B@@ےےےےےےےےےےےے F@@ےےےےےےےےےےےے C@@ےےےےےےےےےےےے Dcoefficientsژ@P@@ےےےےےےےےےےےے A@@ےےےےےےےےےےےے B@@ےےےےےےےےےےےے F@@ےےےےےےےےےےےے C@@ےےےےےےےےےےےے Dstd deviations6@@ےےےےےےےےےےےے@ Numericcoefficients covariance*@@ےےےےےےےے@ Numericnoise variance@ fs @P@number of inputs@number of outputs"@@ےےےےےےےے@B orderA order"@@ےےےےےےےے@B orderB order"@@ےےےےےےےے@B orderF order"@@ےےےےےےےے@B orderC order"@@ےےےےےےےے@B orderD order"@@ےےےےےےےے@B orderDelayssystem info@@ےےےےےےےے kalman gain$@@ےےےے@ Numeric initial statel@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO) trans funcv@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)zeros-polesr@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO)std of trans func~@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)std of zeros-polest@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO)trans func (noise)z@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO)std of trans func (noise)~@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)zeros-poles (noise)†@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)std of zeros-poles (noise)system modeljƒZ@P @@ےےےے@ Numeric numerator"@@ےےےے@ Numericdenominator @ delayCluster,ƒ @@ےےےے@ Numeric numerator2ƒ"@@ےےےے stimulus signal out,ƒ @@ےےےےpiecewise points2ƒ"@@ےےےے@ Numericdenominatorƒ @ delay2ƒ"@@ےےےے response signal in2ƒ"@@ےےےے stimulus signal inƒ@! stop_loggƒ@ max_order"ƒ@ optimal order.ƒ@@ےےےے singular valuesعƒت@P@ Initial Time@ Final Time@ Time Step@ Absolute Tolerance@ Relative Tolerance @Discrete Time Step Multiple@0ےےےےContinuous Solver@0ےےےےAdditional Parameters Sim Params,ƒ ًx 6@P@!status @code@0ےےےےsource error out@@ےےےے singular values@ optimal order@@P@!status @code@0ےےےےsourceerror in (no error) @order@@ےےےے response signal@@ےےےے stimulus signalƒ @orderƒ@ xƒ@! stop_estim ‏ƒ îًx 6@P@!status @code@0ےےےےsource error out@@ےےےے noiseb@P@@ےےےےےےےے A@@ےےےے B@@ےےےے C@ D!coefficients of state-space modelى@ٌ¼™'‌si_generic model.ctl¼P$@P@0ےےےےversion¦@ٌ¼™$SI Model Type.ctl€ UndefinedAR ARX (SISO) ARX (MISO) ARX (MIMO)ARMAX (SISO)ARMAX (MISO)Output-Error (SISO)Output-Error (MISO)Box-Jenkins (SISO)Box-Jenkins (MISO)General Linear (SISO)General Linear (MISO)State-Space (SISO)State-Space (MISO)State-Space (MIMO)Transfer Function (SISO)Transfer Function (MISO)Transfer Function (MIMO)Pole-Zero (SISO)Pole-Zero (MISO)Pole-Zero (MIMO) model type&@@ےےےے@0ےےےےStringinput names(@@ےےےے@0ےےےےStringoutput names@0ےےےےnotes attributesŒ@P@@ےےےےےےےےےےےے A@@ےےےےےےےےےےےے B@@ےےےےےےےےےےےے F@@ےےےےےےےےےےےے C@@ےےےےےےےےےےےے Dcoefficientsژ@P@@ےےےےےےےےےےےے A@@ےےےےےےےےےےےے B@@ےےےےےےےےےےےے F@@ےےےےےےےےےےےے C@@ےےےےےےےےےےےے Dstd deviations6@@ےےےےےےےےےےےے@ Numericcoefficients covariance*@@ےےےےےےےے@ Numericnoise variance@ fs @P@number of inputs@number of outputs"@@ےےےےےےےے@B orderA order"@@ےےےےےےےے@B orderB order"@@ےےےےےےےے@B orderF order"@@ےےےےےےےے@B orderC order"@@ےےےےےےےے@B orderD order"@@ےےےےےےےے@B orderDelayssystem info@@ےےےےےےےے kalman gain$@@ےےےے@ Numeric initial statel@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO) trans funcv@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)zeros-polesr@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO)std of trans func~@@ےےےےےےےے\@P@@ےےےے@ Numericzeros@@ےےےے@ Numericpoles @ gainzeros-poles (SISO)std of zeros-polest@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ Numericalphastrans func (SISO)trans func (noise)z@@ےےےےےےےےR@P@@ےےےے@ Numericbetas@@ےےےے@ 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‎éq%•\––––––‎èq%•\OO‎éq%•\––––––‎è <EpE EE<@<P> ¾ïن1; 0=t<ط>ذ@<PBLêّ:<4?àٹح²<|<|,<@´@èAlAـA @„B|<|#ˆd<ءNorder specifies the number of states of the State-Space model to build.0< ;` ًحْن0‏d ³³³4< F;` ¾ْح1ے÷ ¨‡ح8=à 2;` ًر‏à,ےَْْْْْْ¤‡حح‡ L?:;` ہر‏àّ0©ظعـu† ّ0©ّ/ھّ.«ّ-¬÷رp? 6;` 0جïطû‏c،¼¼¼¼¼¼جïطû¼¼¼¼¼¼‏c،جïطû––––––‏c،p? 2;` طïنû‏b¢¼¼¼¼¼¼طïنû¼¼¼¼¼¼‏b¢طïنû––––––‏b¢0?D6@‰;`نخےے8?h;`Bذ¼R@?:G<K!ڈ‏n–¼¼¼¼¼¼‏n–‏g‌4? $G<ےٌ<œ‡ح4@ FG< sن‚.ے÷ ک‡ح0A CG< mŒ‚ي‏>ئ¼¼¼¼¼¼¤Aءژoptimal order returns the number of significant singular values of the State-Space model whose number of states equals to order.0A ;ج ًùّ.‏d ³³³4A F;ج êّù:ے÷ ”‡ح8Bà 2;ج ً‎ü*ےَززززززگ‡حح‡ŒLD:;ج ہ‎üّ0©ظعـu† ّ0©ّ/ھّ.«ّ-¬÷رpD:;ج 0ّيù‏c،¼¼¼¼¼¼ّيù¼¼¼¼¼¼‏c،ّيù––––––‏c،pD:;ج يù‏b¢¼¼¼¼¼¼يù¼¼¼¼¼¼‏b¢يù––––––‏b¢0DD<`‹;ج$.ےے8Dh;جB< <RlDءXsingular values returns the singular values of matrix A in the state-space model.D|D|8DhG<BC4C Tا0DDC°ژG<d’ےےD|0@D:G<J!ڈ0‏f‍¼¼¼¼¼¼‏f‍‏]§@D:G<L!ٍڈ‏vژ¼¼¼¼¼¼‏vژ‏o•0D kG<! {ن“>‏>ئ¼¼¼¼¼¼DDڈO`4G<0Suـ;@„ Sfـ ےےح‡ˆ 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