Homogeneous Systems Control Toolbox (HCS Toolbox) for MATLAB
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Author: Andrey Polyakov, andrey.polyakov@inria.fr


General Information:
Homogeneous Systems Control Toolbox (HCS Toolbox) for MATLAB is a collection of functions  for design  
and tuning of control systems with improved control quality (faster convergences, better robustness, 
smaller overshoots, etc) based on the concept of a dilation symmetry (homogeneity). 
Homogeneous controllers/observers design as well as procedures for upgrading of existing linear 
controllers/observers to nonlinear (homogeneous) ones are developed for both 
Single-Input Single-Output (SISO) and  Multiply-Input Multiply-Output (MIMO) systems. 

Webpage + On-line Documentation: http://researchers.lille.inria.fr/~polyakov/hcs

Installation:

1. download zip-file with HCS Toolbox Ver ??

2. extract files to a folder "???/HCS_toolbox" 

3. add path to the folder in search path of MATLAB 
(use the button "Set Path" in MATLAB panel or 
type "addpath('???/HCS_toolbox')" in the Command Line of MATLAB,  
where ??? is full path to the folder)  

4. type "HCS_toolbox" the Command Line of MATLAB to check if the toolbox is well installed 
(to see the list of functions type "help HCS_toolbox" in the Command Line of MATLAB)


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Release Notes for HCS Toolbox Version 0.2
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

I. New functions

  1) hnorm_newton
     = canonical (implicit) homogeneous norm computed by Newton Method 

  2) hnorm_r
     = explicit homogenenous norm for weighted and diagonalizable dilations 

  3) hnorm_ANN
     = explicit homogenenous norm given by Artificial Neural Network (ANN)
  
  4) approx_hnorm_r
     = approximation of canonical homogeneous norm by homogenenous hnorm_r

  5) approx_hnorm_ANN
     = approximation of canonical homogeneous norm by homogenenous hnorm_ANN

  6) hphi
     = homogeneous homeomorphism on R^n

  7) hphi_in
     = inverse homogeneous homeomorphism on R^n

  8) hadd
     = summation of vectors in homogeneous Euclidean space R^n_d

  9) hdot
     = multiplication of a vector by a scalar in homohgeneous Euclidean space R^n_d

  10) hinner
     = inner product of vectors in homohgeneous Euclidean space R^n_d 

II. New examples

  1) demo_c_hpc 
     = demo of constant-time stabilization by Homogeneous Proportional Control (HPC)

  2) demo_hnorm_r
     = demo of approximation of canonical homogeneous norm by the explicit homogenenous norm hnorm_r
 
  3) demo_hnorm_ANN
     = demo of approximation of canonical homogeneous norm by the explicit homogenenous norm hnorm_ANN
 
  4) demo_halgebra
     = demo of vector calculus in homogeneous Eucledean space R^2_d

II. Corrections of functions

1) hnorm
    + tol - computation tolerance
    + bug fixing
    - alpha and beta (admissible bounds for the norm) are not available anymore
 

2) e_hpc, si_hpc, ...
    + h_fun - a solver for homogenenous norm as a parameter
    + bug fixing
   
4) ZOH
   + control of computational tolerance

5) hproj
   + h_fun - a solver for homogenenous norm as a parameter
   + control of computational tolerance

6) hpc_design
   + bug fixing

7) ho_design
   + bug fixing

8) demos are modified accordinghly with modifications of above functions