join2

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

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