control (version 0.2.5)

parallel: Parallel Connection of two systems

Description

parallel connects two systems in the parallel block form below

|-->[System1]--| u-->+ 0--->y |<--[System2]--|

Usage

parallel(sys1, sys2, in1, in2, out1, out2)

Arguments

sys1

LTI system object of tf, ss or zpk class

sys2

LTI system object of tf, ss or zpk class

in1

Numeric vector containing indexes to the inputs of sys1

in2

Numeric vector containing indexes to the inputs of sys2

out1

Numeric vector containing indexes to the outputs of sys1

out2

Numeric vector containing indexes to the outputs of sys2

Value

The function returns a state-space model of the parallel-connected system with A, B, C, D matrices

Details

psys <- parallel(sys1, sys2) produces a state- space system consisting of the parallel connection of sys1 and sys2 that connects all the inputs together and sums all the outputs of the two systems.

The parallel connection is performed by appending the two systems, summing the specified inputs and outputs, and removing the, now redundant, inputs and outputs of system 2.

If sys1 and sys2 are transfer functions, then parallel(sys1, sys2) produces a parallel connection of the two transfer function systems.

parallel(sys1, sys2,IN1,IN2,OUT1,OUT2) connects the two systems in parallel by connecting the inputs specified by IN1 and IN2 and by summing the outputs specified by OUT1 and OUT2. The vector IN1 contains indexes into the input vectors of sys1 while, IN2 contains indexes for sys2, . Vectors OUT1 and OUT2 contain indexes for the outputs of the sys1 and sys2 respectively.

See Also

series feedback connect

Examples

# NOT RUN {
sys2 = ss(1,2,3,4)
sys3 = ss(6,7,8,9)
parallel(sys2, sys3)
parallel(tf(1, c(1,2,3)), ss(1,2,3,4))
parallel(tf(1, c(1,2,3)),tf(2, c(3,2,3)))
# }