# 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