## 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 ## ## Superseded by sysmult.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d] = series (a1, b1, c1, d1, a2, b2, c2, d2) ## If two arguments input, take care of mu system case warning ("series is superseded by sysmult; use sysmult instead.")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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