function [P, T]=idseq(XX,UU,m,mc,nd,case);% [StateTransitionVector, Pert]=IDSEQ(X,U,m,mc,nd,case);% Function IDSEQ rearranges vectors of N applied perturbations U(:,1...N)% and vectors of system responses X(:,1....N) into vectors of% StateTransitions and corresponding perturbations Pert.% m is the dimensionality of the state vector, mc-is the length% of the controlling sequence, nd-is the delay between a perturbation% and its effect on the system. Usually mc=m.% case - goal dynamics type% Valery Petrov, CNLD 10-29-96% e-mail: Val.Petrov@chaos.ph.utexas.edu% Copyright (c) The University of Texas at Austinif (case == 0)  indx1=(1:m);          	% X indices for the future state  indu1=(1:m-1)+nd;            	% U indices for the future state  indx2=(mc+m+nd:mc+2*m+nd-1);  % X indices for the past state     indu2=(mc+m+nd:mc+2*m+2*nd-2);% U indices for the past state  indc = mc+m+nd-1;            	% controlling perturbation index  XD=delsig2(XX,[indx1 indx2]);  UD=delsig2(UU,[indu1 indu2]);  UC=delsig2(UU,indc);% Allign XD and UD, UC vectors, because they were truncated% by delaysig2  szc=size(UC,2);  szx=size(XD,2); if (m + nd > 1) %U's are involved     szy=size(UD,2);   sz=min(szx,szy);   XD=XD(:,szx-sz+1:szx);   UD=UD(:,szy-sz+1:szy);% Mapping is created as F(P)=T;   P=[XD; UD];  else   sz=szx;   XD=XD(:,szx-sz+1:szx);   P=[XD]; end  UC=UC(:,szc-sz+1:szc);  T=UC;  end  if (case == 1)  indx1=(0:m-1);        	% X indices for the future state  indu1=(0:m-1)+nd;            	% U indices for the future state  indx2=(mc+m+nd:mc+2*m+nd-1); 	% X indices for the past state     indu2=(mc+m+nd:mc+2*m+2*nd-1);% U indices for the past state  indc = mc+m+nd-1;            	% controlling perturbation index  XD=delsig2(diff(XX')',[indx1 indx2]);  UD=delsig2(UU,[indu1 indu2]);  UC=delsig2(UU,indc); % Allign XD and UD, UC vectors, because they were truncated% by delaysig2  szx=size(XD,2);  szy=size(UD,2);  szc=size(UC,2);  sz=min(szx,szy);  XD=XD(:,szx-sz+1:szx);  UD=UD(:,szy-sz+1:szy);  UC=UC(:,szc-sz+1:szc);% Mapping is created as F(P)=T;    P=[XD; UD];  T=UC;endif (case == 2)  indx1=(0:m);        		% X indices for the future state  indu1=(1:m-1)+nd;            	% U indices for the future state  indx2=(mc+m+nd:mc+2*m+nd); 	% X indices for the past state     indu2=(mc+m+nd:mc+2*m+2*nd-2);% U indices for the past state  indc = mc+m+nd-1;            	% controlling perturbation index  XD=delsig2(XX,[indx1 indx2]);  UD=delsig2(diff(UU')',[indu1 indu2]);  UC=delsig2(UU,indc);  szc=size(UC,2);  szx=size(XD,2); if(m + nd > 1) %U's are involved     szy=size(UD,2);   sz=min(szx,szy);   XD=XD(:,szx-sz+1:szx);   UD=UD(:,szy-sz+1:szy);   P=[XD; UD];  else   sz=szx;   XD=XD(:,szx-sz+1:szx);   P=[XD]; end  UC=UC(:,szc-sz+1:szc);  T=UC;end