addGain¶
Convert input u or output y of a SS DLTI system through gain matrix K. We have the following transformations: - where=’in’: the input dof of the state-space are changed
u_new -> Kmat*u -> SS -> y => u_new -> SSnew -> y
- where=’out’: the output dof of the state-space are changed
u -> SS -> y -> Kmat*u -> ynew => u -> SSnew -> ynew
- where=’parallel’: the input dofs are changed, but not the output
{u_1 -> SS -> y_1
- { u_2 -> y_2= Kmat*u_2 => u_new=(u_1,u_2) -> SSnew -> y=y_1+y_2
- {y = y_1+y_2
Warning: function not tested for Kmat stored in sparse format