revised misc.getMinimalInternalModel, lead to minor changes in misc.ss.odes

+misc/+ss/Odes.m

@@ -206,6 +206,16 @@ classdef Odes < handle & matlab.mixin.Copyable
 			end
 		end % isequal()
 		
+		function B = BofInputName(obj, inputName)
+			arguments
+				obj misc.ss.Odes;
+				inputName (1, 1) string;
+			end
+			InputNames = misc.ss.removeEnumeration(obj.InputName);
+			B = obj.odes.B;
+			B = B(:, strcmp(InputNames, inputName));
+		end % BofInputName
+		
 		function [ic, stateName] = getInitialCondition(obj, varargin)
 			% getInitialCondition reads varargin if there are initial conditions
 			% defined as name-value-pair with the name according to obj.stateName and
@@ -370,8 +380,9 @@ classdef Odes < handle & matlab.mixin.Copyable
 				end
 				
 				% change C and D in mySs
-				mySs = set(mySs, 'C', eye(size(mySs.A)), 'D', zeros(size(mySs.A, 1), size(mySs.B, 2)));
-				mySs = misc.ss.setSignalName(mySs, 'output', {type}, size(mySs.A, 1));
+				mySs = ss(mySs.A, mySs.B, eye(size(mySs.A)), zeros(size(mySs.A, 1), size(mySs.B, 2)), ...
+					mySs.Ts, "InputName", mySs.InputName, ...
+					"OutputName", type + "(" + (1:1:size(mySs.A, 1)).' + ")");
 			end % if
 		end % function [ss, C] = seperateCfromSs(ss)
 		

+misc/+ss/simulationOutput2Quantity.m

@@ -110,14 +110,12 @@ for idx =  1 : numel(signalNames)
 			z = quantity.Domain("z", thisGrid{1});
 		end
 		quantityStruct = misc.setfield(quantityStruct, signalNames{idx}, ...
-			quantity.Discrete(thisSignalSorted, [t, z], ...
-			'name', signalNames{idx}));
+			quantity.Discrete(thisSignalSorted, [t, z], 'name', signalNames{idx}));
 		
 	else
 		quantityStruct = misc.setfield(quantityStruct, signalNames{idx}, ...
-			quantity.Discrete( ...
-			simOutput(:, strcmp(outputNamesUnenumerated, signalNames{idx})), t, ...
-			'name', signalNames{idx}));
+			quantity.Discrete(simOutput(:, strcmp(outputNamesUnenumerated, signalNames{idx})), t, ...
+				'name', signalNames{idx}));
 	end
 end
 end

+misc/getMinimalInternalModel.m

-function [myOde, trackingSum, spectrumIndividual] = getMinimalInternalModel(...
+function [myOde, spectrumIndividual] = getMinimalInternalModel(...
 		S, inputVectorMode, numberOfCopies, ...
-		stateName, trackingErrorSignalName, outputSignalName, referenceSignalName)
+		stateName, internalModelInputName, outputSignalName, referenceSignalName)
 %misc.getMinimalInternalModel returnes the state space model myOde which is an 
 %misc.ss.Odes object and represents an internal model based on the signal model 
 %dynamics defined by S. 
@@ -27,17 +27,23 @@ function [myOde, trackingSum, spectrumIndividual] = getMinimalInternalModel(...
 % (default: 'internalModel')
 %
 % mySs = misc.getMinimalInternalModel(S, inputVectorMode, numberOfCopies, ...
-%			stateName, controlOutputName) the inputName-property of the resulting
-% stateName will be set to controlOutputName (default: 'plant.controlOutput').
+%	stateName, internalModelInputName) the inputName-property of the resulting
+%	state space will be set to controlOutputName (default: 'trakcingError').
+%
+% mySs = misc.getMinimalInternalModel(S, inputVectorMode, numberOfCopies, ...
+%	stateName, internalModelInputName, outputSignalName, referenceSignalName) 
+%	additional output of the internal model state space will be 
+%		internalModelInputName = outputSignalName - referenceSignalName.
+%	The InputName are outputSignalName and referenceSignalName instead of internalModelInputName.
 
 arguments
 	S (:, :) double;
 	inputVectorMode (1, 1) string = "minimal";
 	numberOfCopies (1, 1) double = 1;
 	stateName string = "internalModel";
-	trackingErrorSignalName string = "trackingError";
+	internalModelInputName string = "trackingError";
 	outputSignalName string = "controlOutput";
-	referenceSignalName string = "reference";
+	referenceSignalName string = string();
 end % arguments
 
 % Smin: find minimal representation of S
@@ -65,13 +71,24 @@ end
 
 mySs = ss(sMin, B, eye(size(sMin)), []);
 mySs = misc.ss.setSignalName(mySs, "output", stateName, size(mySs.C, 1));
-mySs = misc.ss.setSignalName(mySs, "input", trackingErrorSignalName, size(mySs.B, 2));
+
+if strlength(referenceSignalName) > 0
+	% implement tracking error via sum 
+	%	internalModelInputName = outputSignalName - referenceSignalName
+	mySs = misc.ss.setSignalName(mySs, "input", internalModelInputName, size(mySs.B, 2));
+	% get sum to create tracking error signal in simulation, i.e. a sum block:
+	trackingSum = sumblk(char(internalModelInputName + ...
+		"=" + outputSignalName + "-" + referenceSignalName), ...
+		numberOfCopies);
+	mySs = misc.ss.connect(trackingSum.InputName, [trackingSum.OutputName; mySs.OutputName], mySs, trackingSum);
+	
+else
+	% feed internal model via outputSignalName
+	mySs = misc.ss.setSignalName(mySs, "input", internalModelInputName, size(mySs.B, 2));
+end
+
 myOde = misc.ss.Odes(mySs, stateName);
 
-% get sum to create tracking error signal in simulation, i.e. a sum block:
-trackingSum = sumblk(char(trackingErrorSignalName + ...
-	"=" + outputSignalName + "-" + referenceSignalName), ...
-	numberOfCopies);
 end % getMinimalInternalModel()
 
 function [sMin, lengthBlocks] = minimalDynamicMatrix(S)

+unittests/+misc/testMultArray.m

@@ -162,35 +162,3 @@ BC = B*C;
 testCase.verifyTrue(numeric.near(bc, BC.on()));
 
 end
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