control.matlab.parallel

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

Return the parallel connection sys1 + sys2 (+ … + sysn).

Parameters

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

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

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

  • sysn (scalar, array, or InputOutputSystem) – 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 – Parallel interconnection of the systems.

Return type

scalar, array, or InputOutputSystem

Raises

ValueError – if sys1 and sys2 do not have the same numbers of inputs and outputs

See also

append, feedback, interconnect, negate, series

Notes

This function is a wrapper for the __add__ function in the StateSpace and TransferFunction classes. The output type is usually the type of sys1. If sys1 is a scalar, then the output type is the type of sys2.

If both systems have a defined timebase (dt = 0 for continuous time, dt > 0 for discrete time), then the timebase for both systems must match. If only one of the system has a timebase, the return timebase will be set to match it.

Examples

>>> G1 = ct.rss(3)
>>> G2 = ct.rss(4)
>>> G = ct.parallel(G1, G2) # Same as sys3 = sys1 + sys2
>>> G.ninputs, G.noutputs, G.nstates
(1, 1, 7)

>>> G1 = ct.rss(3, inputs=3, outputs=4)
>>> G2 = ct.rss(4, inputs=3, outputs=4)
>>> G = ct.parallel(G1, G2)  # Add another system
>>> G.ninputs, G.noutputs, G.nstates
(3, 4, 7)