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