control.matlab.parallel

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

Parallel connection of I/O systems.

Generates a parallel connection sys1 + sys2 [+ ... + sysn].

Parameters:

sys1, sys2, …, sysnscalar, array, or InputOutputSystem: I/O systems to combine.

Returns:

outInputOutputSystem: Parallel interconnection of the systems.

Other Parameters:

inputs, outputsstr, 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.
statesstr, or list of str, optional: List of names for system states. If not given, state names will be of the form ‘x[i]’ for interconnections of linear systems or ‘<subsys_name>.<state_name>’ for interconnected nonlinear systems.
namestring, optional: System name (used for specifying signals). If unspecified, a generic name ‘sys[id]’ is generated with a unique integer id.

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)