Path: Common/Control
% Parallel connects two state space models.
Both systems feed off of the same
input and the outputs are the sum of the individual systems outputs.
The resulting system is
[a1 0] [b1] [c1 c2] d1+d2
[ 0 a2] [b2]
--------------------------------------------------------------------------
Form: [a, b, c, d] = Parallel( a1, b1, c1, d1, a2, b2, c2, d2 )
--------------------------------------------------------------------------
------
Inputs
------
a1 Plant matrix
b1 Input matrix
c1 Measurement matrix
d1 Input feedthrough matrix
a2 Plant matrix
b2 Input matrix
c2 Measurement matrix
d2 Input feedthrough matrix
-------
Outputs
-------
a Plant matrix
b Input matrix
c Measurement matrix
d Input feedthrough matrix
--------------------------------------------------------------------------
References: Maciejowski, J. M., Multivariable Feedback Design,
Addison-Wesley, Reading, MA, 1989, p. 373.
--------------------------------------------------------------------------
Common: Control/SizeABCD
Back to the Common Module page