control.matlab.append

control.matlab.append(sys1, sys2[, ..., sysn])[source]

Group LTI state space models by appending their inputs and outputs.

Forms an augmented system model, and appends the inputs and outputs together.

Parameters

  • sys1 (scalar, array, or StateSpace) – I/O systems to combine.

  • sys2 (scalar, array, or StateSpace) – I/O systems to combine.

  • ... (scalar, array, or StateSpace) – I/O systems to combine.

  • sysn (scalar, array, or StateSpace) – I/O systems to combine.

  • inputs (str, or list of str, optional) – List of strings that name the individual signals. If not given, signal names will be of the form s[i] (where s is one of u, or y). See InputOutputSystem for more information.

  • outputs (str, or list of str, optional) – List of strings that name the individual signals. If not given, signal names will be of the form s[i] (where s is one of u, or y). See InputOutputSystem for more information.

  • states (str, or list of str, optional) – List of names for system states. If not given, state names will be of of the form x[i] for interconnections of linear systems or ‘<subsys_name>.<state_name>’ for interconnected nonlinear systems.

  • name (string, optional) – System name (used for specifying signals). If unspecified, a generic name <sys[id]> is generated with a unique integer id.

Returns

out – Combined system, with input/output vectors consisting of all input/output vectors appended.

Return type

StateSpace

See also

interconnect, feedback, negate, parallel, series

Examples

>>> G1 = ct.rss(3)
>>> G2 = ct.rss(4)
>>> G = ct.append(G1, G2)
>>> G.ninputs, G.noutputs, G.nstates
(2, 2, 7)

>>> G1 = ct.rss(3, inputs=2, outputs=4)
>>> G2 = ct.rss(4, inputs=1, outputs=4)
>>> G = ct.append(G1, G2)
>>> G.ninputs, G.noutputs, G.nstates
(3, 8, 7)