Add special function for root locuses plots

matlab/src/rootLocusPolesSorted.m

@@ -0,0 +1,93 @@
+function [poles] = rootLocusPolesSorted(G, K, gains, args)
+% rootLocusPolesSorted -
+%
+% Syntax: [poles] = rootLocusPolesSorted(G, K, gains, args)
+%
+% Inputs:
+%    - G, K, gains, args -
+%
+% Outputs:
+%    - poles -
+
+arguments
+    G
+    K
+    gains
+    args.minreal double {mustBeNumericOrLogical} = false
+    args.p_half  double {mustBeNumericOrLogical} = false
+    args.d_max   double {mustBeNumeric} = -1
+end
+
+if args.minreal
+    p1 = pole(minreal(feedback(G, gains(1)*K)));
+    [~, i_uniq] = uniquetol([real(p1), imag(p1)], 1e-10, 'ByRows', true);
+    p1 = p1(i_uniq);
+
+    poles = zeros(length(p1), length(gains));
+    poles(:, 1) = p1;
+else
+    p1 = pole(feedback(G, gains(1)*K));
+    [~, i_uniq] = uniquetol([real(p1), imag(p1)], 1e-10, 'ByRows', true);
+    p1 = p1(i_uniq);
+
+    poles = zeros(length(p1), length(gains));
+    poles(:, 1) = p1;
+end
+
+if args.minreal
+    p2 = pole(minreal(feedback(G, gains(2)*K)));
+    [~, i_uniq] = uniquetol([real(p2), imag(p2)], 1e-10, 'ByRows', true);
+    p2 = p2(i_uniq);
+    poles(:, 2) = p2;
+else
+    p2 = pole(feedback(G, gains(2)*K));
+    [~, i_uniq] = uniquetol([real(p2), imag(p2)], 1e-10, 'ByRows', true);
+    p2 = p2(i_uniq);
+    poles(:, 2) = p2;
+end
+
+for g_i = 3:length(gains)
+    % Estimated value of the poles
+    poles_est = poles(:, g_i-1) + (poles(:, g_i-1) - poles(:, g_i-2))*(gains(g_i) - gains(g_i-1))/(gains(g_i-1) - gains(g_i - 2));
+
+    % New values for the poles
+    poles_gi = pole(feedback(G, gains(g_i)*K));
+    [~, i_uniq] = uniquetol([real(poles_gi), imag(poles_gi)], 1e-10, 'ByRows', true);
+    poles_gi = poles_gi(i_uniq);
+
+    % Array of distances between all the poles
+    poles_dist = sqrt((poles_est-poles_gi.').*conj(poles_est-poles_gi.'));
+
+    % Get indices corresponding to distances from lowest to highest
+    [~, c] = sort(min(poles_dist));
+
+    as = 1:length(poles_gi);
+
+    % for each column of poles_dist corresponding to the i'th pole
+    % with closest previous poles
+    for p_i = c
+        % Get the indice a_i of the previous pole that is the closest
+        % to pole c(p_i)
+        [~, a_i] = min(poles_dist(:, p_i));
+
+        poles(as(a_i), g_i) = poles_gi(p_i);
+
+        % Remove old poles that are already matched
+        % poles_gi(as(a_i), :) = [];
+        poles_dist(a_i, :) = [];
+        as(a_i) = [];
+    end
+end
+
+if args.d_max > 0
+    poles = poles(max(abs(poles(:, 2:end) - poles(:, 1:end-1))') > args.d_max, :);
+end
+
+if args.p_half
+    poles = poles(1:round(end/2), :);
+end
+
+[~, s_p] = sort(imag(poles(:,1)), 'descend');
+poles = poles(s_p, :);
+
+poles = poles.';