control.combine_tf

control.combine_tf(tf_array, **kwargs)[source]

Combine array of transfer functions into MIMO transfer function.

Parameters

tf_arraylist of list of TransferFunction or array_like: Transfer matrix represented as a two-dimensional array or list-of-lists containing TransferFunction objects. The TransferFunction objects can have multiple outputs and inputs, as long as the dimensions are compatible.

Returns

TransferFunction: Transfer matrix represented as a single MIMO TransferFunction object.

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.
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 timebase of transfer functions do not match.
ValueError: If tf_array has incorrect dimensions.
ValueError: If the transfer functions in a row have mismatched output or input dimensions.

Examples

Combine two transfer functions:

>>> s = ct.tf('s')
>>> ct.combine_tf(
...     [[1 / (s + 1)],
...      [s / (s + 2)]],
...     name='G'
... )
TransferFunction(
[[array([1])],
 [array([1, 0])]],
[[array([1, 1])],
 [array([1, 2])]],
name='G', outputs=2, inputs=1)

Combine NumPy arrays with transfer functions:

>>> ct.combine_tf(
...     [[np.eye(2), np.zeros((2, 1))],
...      [np.zeros((1, 2)), ct.tf([1], [1, 0])]],
...     name='G'
... )
TransferFunction(
[[array([1.]), array([0.]), array([0.])],
 [array([0.]), array([1.]), array([0.])],
 [array([0.]), array([0.]), array([1])]],
[[array([1.]), array([1.]), array([1.])],
 [array([1.]), array([1.]), array([1.])],
 [array([1.]), array([1.]), array([1, 0])]],
name='G', outputs=3, inputs=3)