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Text File  |  1993-03-11  |  961 b   |  29 lines
  1. function [aa,bb,cc,dd] = append(a1,b1,c1,d1,a2,b2,c2,d2)
  2. %APPEND Append together the dynamics of two state-space systems.
  3. %    [A,B,C,D] = APPEND(A1,B1,C1,D1,A2,B2,C2,D2)  produces an aggregate
  4. %    state-space system consisting of the appended dynamics of systems
  5. %    1 and 2.  The resulting system is:
  6. %             .
  7. %            |x1| = |A1 0| |x1| + |B1 0| |u1|
  8. %            |x2|   |0 A2| |x2| + |0 B2| |u2|
  9. %
  10. %            |y1| = |C1 0| |x1| + |D1 0| |u1|
  11. %            |y2|   |0 C2| |x2| + |0 D2| |u2|
  12. %
  13. %    See also: SERIES, FEEDBACK, CLOOP, PARALLEL.
  14.  
  15. %     Copyright (c) 1986-93 by the MathWorks, Inc.
  16.  
  17. error(nargchk(8,8,nargin));
  18. error(abcdchk(a1,b1,c1,d1));
  19. error(abcdchk(a2,b2,c2,d2));
  20.  
  21. [ma1,na1] = size(a1);
  22. [md1,nd1] = size(d1);
  23. [ma2,na2] = size(a2);
  24. [md2,nd2] = size(d2);
  25. aa = [a1 zeros(ma1,na2);zeros(ma2,na1) a2];
  26. bb = [b1 zeros(ma1,nd2);zeros(ma2,nd1) b2];
  27. cc = [c1 zeros(md1,na2);zeros(md2,na1) c2];
  28. dd = [d1 zeros(md1,nd2);zeros(md2,nd1) d2];
  29.