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## Copyright (C) 1996, 2000, 2004, 2005, 2007
## Auburn University. All rights reserved.
##
##
## This program is free software; you can redistribute it and/or modify it
## under the terms of the GNU General Public License as published by
## the Free Software Foundation; either version 3 of the License, or (at
## your option) any later version.
##
## This program is distributed in the hope that it will be useful, but
## WITHOUT ANY WARRANTY; without even the implied warranty of
## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
## General Public License for more details.
##
## You should have received a copy of the GNU General Public License
## along with this program; see the file COPYING. If not, see
## <http://www.gnu.org/licenses/>.
## Forms the series connection of two systems.
##
## Superseded by sysmult. Do not use this routine!
## used internally in zp2ss
##
## Type of input: Transfer functions
## Command: [num,den]=series(num1,den1,num2,den2)
## Forms the series representation of the two transfer functions.
##
## Type of input: State space systems
## Command: [a,b,c,d]=series(a1,b1,c1,d1,a2,b2,c2,d2)
## Forms the series representation of the two state space system arguments.
## The series connected system will have the inputs of system 1 and the
## outputs of system 2.
##
## Type of input: system data structure
## Command: syst=series(syst1,syst2)
## Forms the series representation of the two mu system arguments.
## Author: David Clem
## Created: August 15, 1994
function [a, b, c, d] = series (a1, b1, c1, d1, a2, b2, c2, d2)
## If two arguments input, take care of mu system case
warning ("series is superseded by sysmult; use sysmult instead.")
muflag = 0;
if (nargin == 2)
temp = b1;
[a1, b1, c1, d1] = sys2ss (a1);
[a2, b2, c2, d2] = sys2ss (temp);
muflag = 1;
endif
## If four arguments input, put two transfer functions in series
if (nargin == 4)
a = conv (a1, c1); # was conv1
b = conv (b1, d1); # was conv1
c = 0;
d = 0;
## Find series combination of 2 state space systems
elseif (nargin == 8 || muflag == 1)
## check matrix dimensions
[n1, m1, p1] = abcddim (a1, b1, c1, d1);
[n2, m2, p2] = abcddim (a2, b2, c2, d2);
if (n1 == -1 || n2 == -1)
error ("incorrect matrix dimensions");
endif
## check to make sure the number of outputs of system1 equals the number
## of inputs of system2
if(p1 != m2)
error ("system 1 output / system 2 input connection sizes do not match");
endif
## put the two state space systems in series
a = [a1, zeros(rows(a1), columns(a2)); b2*c1, a2];
b = [b1; b2*d1];
c = [d2*c1, c2];
d = [d2*d1];
## take care of mu output
if (muflag == 1)
a = ss (a, b, c, d);
b = c = d = 0;
endif
endif
endfunction
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