join2ΒΆ
Join two state-spaces or gain matrices such that, given:
\[\begin{split}\mathbf{u}_1 \longrightarrow &\mathbf{SS}_1 \longrightarrow \mathbf{y}_1 \\ \mathbf{u}_2 \longrightarrow &\mathbf{SS}_2 \longrightarrow \mathbf{y}_2\end{split}\]
we obtain:
\[\mathbf{u} \longrightarrow \mathbf{SS}_{TOT} \longrightarrow \mathbf{y}\]
with \(\mathbf{u}=(\mathbf{u}_1,\mathbf{u}_2)^T\) and \(\mathbf{y}=(\mathbf{y}_1,\mathbf{y}_2)^T\).
The output \(\mathbf{SS}_{TOT}\) is either a gain matrix or a state-space system according to the input \(\mathbf{SS}_1\) and \(\mathbf{SS}_2\)
param SS1: | State space 1 or gain 1 |
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type SS1: | scsig.StateSpace or np.ndarray |
param SS2: | State space 2 or gain 2 |
type SS2: | scsig.StateSpace or np.ndarray |
returns: | combined state space or gain matrix |
rtype: | scsig.StateSpace or np.ndarray |