updated docs

gnu-octave · May 20, 2023 · 006b9e7 · 006b9e7
1 parent b0b9907
commit 006b9e7
Show file tree

Hide file tree

Showing 16 changed files with 205 additions and 35 deletions.
diff --git a/docs/@lti_pole.html b/docs/@lti_pole.html
@@ -98,7 +98,7 @@ <h3 class="d-inline-block mr-2">
  For <acronym>SISO</acronym> transfer functions, <code>pole</code>
  uses Octave&rsquo;s <code>roots</code>.
  <acronym>MIMO</acronym> transfer functions are converted to
- a <em>minimal</em> state-space representation for the
+ a <math>minimal</math> state-space representation for the
  computation of the poles.
 </p>
 

diff --git a/docs/@lti_zero.html b/docs/@lti_zero.html
@@ -182,7 +182,7 @@ <h3 class="d-inline-block mr-2">
  For <acronym>SISO</acronym> transfer functions, <code>zero</code>
  uses Octave&rsquo;s <code>roots</code>.
  <acronym>MIMO</acronym> transfer functions are converted to
- a <em>minimal</em> state-space representation for the
+ a <math>minimal</math> state-space representation for the
  computation of the zeros.
 </p>
 <p> <strong>References</strong><br>

diff --git a/docs/assets/control.png b/docs/assets/control.png
diff --git a/docs/assets/pzmap_101.png b/docs/assets/pzmap_101.png
diff --git a/docs/assets/pzmap_201.png b/docs/assets/pzmap_201.png
diff --git a/docs/assets/sgrid_101.png b/docs/assets/sgrid_101.png
diff --git a/docs/assets/sgrid_201.png b/docs/assets/sgrid_201.png
diff --git a/docs/assets/sgrid_301.png b/docs/assets/sgrid_301.png
diff --git a/docs/assets/zgrid_101.png b/docs/assets/zgrid_101.png
diff --git a/docs/gram.html b/docs/gram.html
@@ -79,8 +79,8 @@ <h3 class="d-inline-block mr-2">
  <code>gram (<var>sys</var>, &quot;o&quot;)</code> returns the observability gramian of the
  (continuous- or discrete-time) system <var>sys</var>.
  <code>gram (<var>a</var>, <var>b</var>)</code> returns the controllability gramian
- <var>Wc</var> of the continuous-time system <em>dx/dt = a x + b u</em>;
- i.e., <var>Wc</var> satisfies <em>a Wc + m Wc&rsquo; + b b&rsquo; = 0</em>.
+ <var>Wc</var> of the continuous-time system <math>d&times;/dt = a&times; + b u</math>;
+ i.e., <var>Wc</var> satisfies <math>a Wc + m Wc&rsquo; + b b&rsquo; = 0</math>.
 </p>
 <div class="ms-5">
 

diff --git a/docs/index.html b/docs/index.html
@@ -61,7 +61,7 @@
             </div>
             <div class="col-sm-9 col-md-10">
               <h3 class="d-inline-block mr-2">control</h3>
-              <b>3.5.2&nbsp;2023-04-05</b>
+              <b>3.6.0&nbsp;2023-05-20</b>
               <p class="indent">
                 Computer-Aided Control System Design (CACSD) Tools for GNU Octave
               </p>
@@ -783,6 +783,14 @@ <h3 class="category">
                  </td>
                  <td>Singular values of frequency response.</td>
                </tr>
+               <tr>
+                 <td>
+                   <b><code>
+                   <a href="zgrid.html">zgrid</a>
+                   </code></b>
+                 </td>
+                 <td>Display an grid in the complex z-plane.</td>
+               </tr>
              </tbody>
            </table>
            <h3 class="category">

diff --git a/docs/mixsyn.html b/docs/mixsyn.html
@@ -91,23 +91,23 @@ <h3 class="d-inline-block mr-2">
 </p>
 <div class="ms-5">
  <ol>
-<li> For <em>disturbance rejection</em> make
+<li> For <math>disturbance rejection</math> make
  \(\overline{\sigma}(S)\)
   small.
- </li><li> For <em>noise attenuation</em> make
+ </li><li> For <math>noise attenuation</math> make
  \(\overline{\sigma}(T)\)
   small.
- </li><li> For <em>reference tracking</em> make
+ </li><li> For <math>reference tracking</math> make
  \(\overline{\sigma}(T) \approx \underline{\sigma}(T) \approx 1\)
-  </li><li> For <em>input usage (control energy) reduction</em> make
+  </li><li> For <math>input usage (control energy) reduction</math> make
  \(\overline{\sigma}(K S)\)
   small.
- </li><li> For <em>robust stability</em> in the presence of an additive perturbation
+ </li><li> For <math>robust stability</math> in the presence of an additive perturbation
  \(G_p = G + \Delta\)
   make
  \(\overline{\sigma}(K S)\)
   small.
- </li><li> For <em>robust stability</em> in the presence of a multiplicative output perturbation
+ </li><li> For <math>robust stability</math> in the presence of a multiplicative output perturbation
  \(G_p = (I + \Delta) G\)
   make
  \(\overline{\sigma}(T)\)

diff --git a/docs/ncfsyn.html b/docs/ncfsyn.html
@@ -85,19 +85,19 @@ <h3 class="d-inline-block mr-2">
 </p>
 <div class="ms-5">
  <ol>
-<li> For <em>disturbance rejection</em> make
+<li> For <math>disturbance rejection</math> make
  \(\underline{\sigma}(W_2 G W_1)\)
   large; valid for frequencies at which
  \(\underline{\sigma}(G_S) \gg 1\)
-  </li><li> For <em>noise attenuation</em> make
+  </li><li> For <math>noise attenuation</math> make
  \(\overline{\sigma}(W_2 G W_1)\)
   small; valid for frequencies at which
  \(\overline{\sigma}(G_S) \ll 1\)
-  </li><li> For <em>reference tracking</em> make
+  </li><li> For <math>reference tracking</math> make
  \(\underline{\sigma}(W_2 G W_1)\)
   large; valid for frequencies at which
  \(\underline{\sigma}(G_S) \gg 1\)
-  </li><li> For <em>robust stability</em> to a multiplicative output perturbation
+  </li><li> For <math>robust stability</math> to a multiplicative output perturbation
  \(G_p = (I + \Delta) G\)
   make
  \(\overline{\sigma}(W_2 G W_1)\)
@@ -121,7 +121,7 @@ <h3 class="d-inline-block mr-2">
 </p> 
 <p> <code>[K, N] = ncfsyn (G, W1, W2, f)</code>
  The function <code>ncfsyn</code> - the somewhat cryptic name stands
- for <em>normalized coprime factorization synthesis</em> - allows the specification of
+ for <math>normalized coprime factorization synthesis</math> - allows the specification of
  an additional argument, factor <var>f</var>.  Default value <code>f = 1</code> implies that an
  optimal controller is required, whereas <code>f &gt; 1</code> implies that a suboptimal
  controller is required, achieving a performance that is <var>f</var> times less than optimal.
@@ -159,7 +159,7 @@ <h3 class="d-inline-block mr-2">
 <dt> <var>K</var></dt>
 </dl>
 <p> State-space model of the H-infinity loop-shaping controller.
- Note that <var>K</var> is a <em>positive</em> feedback controller.
+ Note that <var>K</var> is a <math>positive</math> feedback controller.
  </p></dd>
 <dt> <var>N</var></dt>
 </dl>

diff --git a/docs/optiPID.html b/docs/optiPID.html
@@ -106,11 +106,11 @@ <h3 class="d-inline-block mr-2">
  \(r(t) = \varepsilon (t)\)
  in the time domain. In the frequency domain, the sensitivity
  \(M_s = ||S(jw)||_{\infty}\)
-  is minimized for good robustness, where S(s) denotes the <em>sensitivity</em> transfer function
+  is minimized for good robustness, where S(s) denotes the <math>sensitivity</math> transfer function
  $$ S(s) = \frac{1}{1 + L(s)} = \frac{1}{1 + P(s)\,C(s)} $$
   The constants
  \(\mu_1,\, \mu_2 \mbox{ and } \mu_3\)
-  are <em>relative weighting factors</em> or &laquo;tuning knobs&raquo;
+  are <math>relative weighting factors</math> or &laquo;tuning knobs&raquo;
  which reflect the importance of the different design goals. Varying these factors
  corresponds to changing the emphasis from, say, high performance to good robustness.
  The main advantage of this approach is the possibility to explore the tradeoffs of

diff --git a/docs/sgrid.html b/docs/sgrid.html
@@ -82,10 +82,8 @@ <h3 class="d-inline-block mr-2">
 <div class="ms-5">
 <p> Control the display of s-plane grid with :
  </p><ul>
-<li>
- zeta lines corresponding to damping ratios and
- </li><li>
- omega circles corresponding to undamped natural frequencies
+<li> zeta lines corresponding to damping ratios and
+ </li><li> omega circles corresponding to undamped natural frequencies
  </li></ul>
 
 <p> The function state input may be either <code>&quot;on&quot;</code> or <code>&quot;off&quot;</code>
@@ -99,13 +97,9 @@ <h3 class="d-inline-block mr-2">
  </pre></td></tr></table>
 
  <p> where <var>Z</var> and <var>W</var> are :
-</p>
- <ul>
-<li>
- <var>Z</var> vector of constant zeta values to plot as lines
-
- </li><li>
- <var>W</var> vector of constant omega values to plot as circles
+ </p><ul>
+<li> <var>Z</var> vector of constant zeta values to plot as lines
+ </li><li> <var>W</var> vector of constant omega values to plot as circles
  </li></ul>
 
 <p> Example of usage:
@@ -114,18 +108,17 @@ <h3 class="d-inline-block mr-2">
  sgrid		toggle the s-plane grid visibility
  sgrid ([0.3, 0.8, &hellip;], [10, 75, &hellip;])   create:
  </pre><table><tr><td>&nbsp;</td><td><pre class="example"> </pre><ul>
-<li><pre class="example">
- zeta lines for 0.3, 0.8, &hellip; 
- </pre></li><li><pre class="example">
- omega circles for 10, 75, &hellip; [rad/s] 
+<li><pre class="example"> zeta lines for 0.3, 0.8, &hellip; 
+ </pre></li><li><pre class="example"> omega circles for 10, 75, &hellip; [rad/s] 
  </pre></li></ul>
 <pre class="example"> </pre></td></tr></table>
 <pre class="example"> sgrid (<var>hax</var>, <code>&quot;on&quot;</code>)   create the s-plane grid for the axis 
                      handle <var>hax</var>
  </pre></td></tr></table>
 
 <p> <strong>See also: </strong>
-grid
+grid, 
+  <a href="zgrid.html">zgrid</a>
 </p>
 <p><strong>Source Code: </strong>
   <a href="https://github.com/gnu-octave/pkg-control/tree/main/inst/sgrid.m">sgrid</a>

diff --git a/docs/zgrid.html b/docs/zgrid.html
@@ -0,0 +1,169 @@
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <title>Computer-Aided Control System Design: zgrid</title>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
+    <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/5.15.4/css/all.min.css" integrity="sha512-1ycn6IcaQQ40/MKBW2W4Rhis/DbILU74C1vSrLJxCq57o941Ym01SwNsOMqvEBFlcgUa6xLiPY/NS5R+E6ztJQ==" crossorigin="anonymous" referrerpolicy="no-referrer">
+    <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/[email protected]/dist/css/bootstrap.min.css" integrity="sha384-KyZXEAg3QhqLMpG8r+8fhAXLRk2vvoC2f3B09zVXn8CA5QIVfZOJ3BCsw2P0p/We" crossorigin="anonymous">
+    <script src="https://cdn.jsdelivr.net/npm/[email protected]/dist/js/bootstrap.bundle.min.js" integrity="sha384-U1DAWAznBHeqEIlVSCgzq+c9gqGAJn5c/t99JyeKa9xxaYpSvHU5awsuZVVFIhvj" crossorigin="anonymous"></script>
+    <script type="text/javascript" async
+      src="https://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-AMS_CHTML">
+    </script>
+    <style>
+    var {
+      font-style: italics;
+      font-weight: bold;
+    }
+    td {
+      vertical-align: top;
+    }
+    </style>
+  </head>
+  <body>
+    <div class="bg-dark">
+      <div class="container-xl">
+        <nav class="navbar navbar-expand-lg navbar-dark bg-dark">
+          <div class="container-fluid">
+            <a class="navbar-brand" href=index.html>
+              <img src="assets/control.png" alt="control" class="d-inline-block align-top" width="25" height="25">
+              Computer-Aided Control System Design
+            </a>
+            <button type="button" class="navbar-toggler" data-bs-toggle="collapse" data-bs-target="#navbarNav" aria-controls="navbarNav" aria-expanded="false" aria-label="Toggle navigation">
+              <span class="navbar-toggler-icon"></span>
+            </button>
+            <div class="collapse navbar-collapse" id="navbarNav">
+              <ul class="navbar-nav">
+                <li class="nav-item">
+                  <a class="nav-link" href="index.html#Frequency Domain Analysis">
+                    <i class="fas fa-list-alt"></i>
+                    Frequency Domain Analysis
+                  </a>
+                </li>
+                <li class="nav-item">
+                  <a class="nav-link" href="https://gnu-octave.github.io/packages/">
+                  <img src="assets/octave-logo.svg" alt="GNU Octave logo" class="d-inline-block align-top" width="25" height="25">
+                    Octave Packages
+                  </a>
+                </li>
+                <li class="nav-item">
+                  <a class="nav-link" href="https://www.octave.org">
+                    <i class="fas fa-home"></i>
+                    GNU Octave website
+                  </a>
+                </li>
+              </ul>
+            </div>
+          </div>
+        </nav>
+      </div>
+    </div>
+    <div class="container-xl my-4">
+      <div class="card rounded">
+        <div class="card-header card-header-mod">
+          <div class="row d-flex flex-wrap align-items-center">
+            <div class="col-sm-3 col-md-5 mb-2 mb-sm-0">
+              <h3 class="d-inline-block mr-2">
+              Function&nbsp;Reference: <b><code>zgrid</code></b>
+              </h3>
+            </div>
+          </div>
+        </div>
+        <div class="card-body">
+<dl>
+<dt><u>Function File:</u> <b>zgrid</b></dt>
+<dt><u>Function File:</u> <b>zgrid</b><i> on</i></dt>
+<dt><u>Function File:</u> <b>zgrid</b><i> off</i></dt>
+<dt><u>Function File:</u> <b>zgrid</b><i> (<var>z</var>, <var>w</var>)</i></dt>
+<dt><u>Function File:</u> <b>zgrid</b><i> (<var>hax</var>, &hellip;)</i></dt>
+</dl>
+<p> Display an grid in the complex z-plane.
+</p>
+<div class="ms-5">
+<p> Control the display of z-plane grid with :
+ </p><ul>
+<li> zeta lines corresponding to damping ratios and
+ </li><li> omega lines corresponding to undamped natural frequencies
+ </li></ul>
+
+<p> The function state input may be either <code>&quot;on&quot;</code> or <code>&quot;off&quot;</code>
+ for creating or removing the grid. If omitted, a new grid is created 
+ when it does not exist or the visibility of the current grid is toggled.
+</p>
+<p> The zgrid will automatically plot the grid lines at nice values or
+ at constant values specified by two arguments :
+</p>
+ <table><tr><td>&nbsp;</td><td><pre class="example"> zgrid (<var>Z</var>, <var>W</var>)
+ </pre></td></tr></table>
+
+ <p> where <var>Z</var> and <var>W</var> are :
+ </p><ul>
+<li> <var>Z</var> vector of constant zeta values to plot as lines
+ </li><li> <var>W</var> vector of constant omega values to plot as circles
+ </li></ul>
+
+<p> Example of usage:
+ </p><table><tr><td>&nbsp;</td><td><pre class="example"> zgrid on	  create the z-plane grid
+ zgrid off 	remove the z-plane grid
+ zgrid		  toggle the z-plane grid visibility
+ zgrid ([0.3, 0.8, &hellip;], [0.25*pid, 0.5*pi, &hellip;])   create:
+ </pre><table><tr><td>&nbsp;</td><td><pre class="example"> </pre><ul>
+<li><pre class="example"> zeta lines for 0.3, 0.8, &hellip; 
+ </pre></li><li><pre class="example"> omega lines for 0.25*pi/T, 0.5*pi/T, &hellip; [rad/s] 
+ </pre></li></ul>
+<pre class="example"> </pre></td></tr></table>
+<pre class="example"> zgrid (<var>hax</var>, <code>&quot;on&quot;</code>)   create the z-plane grid for the axis 
+                     handle <var>hax</var>
+ </pre></td></tr></table>
+
+<p> <strong>See also: </strong>
+grid, 
+  <a href="sgrid.html">sgrid</a>
+</p>
+<p><strong>Source Code: </strong>
+  <a href="https://github.com/gnu-octave/pkg-control/tree/main/inst/zgrid.m">zgrid</a>
+</div>
+        <div class="container-xl my-4">
+          <div class="card rounded">
+            <div class="card-header card-header-mod">
+              <div class="row d-flex flex-wrap align-items-center">
+                <div class="col-sm-3 col-md-5 mb-2 mb-sm-0">
+                  <h3 class="d-inline-block mr-2">
+                  Example: 1
+                  </h3>
+                </div>
+              </div>
+            </div>
+            <div class="card-body">
+              <div class="container bg-light">
+                <div class="row">
+                  <table><tbody><tr>
+                    <td>&nbsp;</td>
+                    <td><pre class="example">
+
+ clf;
+ num = [1 0.25]; den = [1 -1.5 0];
+ sys = tf(num, den, 1);
+ rlocus(sys,0.01,0,3.5);
+ ylim([-1.1,1.1]);
+ zgrid on;
+
+                    </pre></td></tr></tbody>
+                  </table>
+                  <div class="text-center">
+                    <img src="assets/zgrid_101.png" class="rounded img-thumbnail" alt="plotted figure">
+                  </div><p></p>
+
+                </div>
+              </div>
+            </div>
+          </div>
+        </div>
+
+
+        </div>
+      </div>
+    </div>
+
+  </body>
+</html>