parallel function

Parallel Connection of two systems

parallel connects two systems in the parallel block form below

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

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

Returns

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.

Examples

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)))

See Also

series feedback connect