cloop: Closed Feedback Loops

In control: A Control Systems Toolbox

Description

cloop forms a closed feedback loop for a state-space or transfer function system

Usage

cloop(sys, e, f)

Arguments

sys	LTI system model of transfer-function or state-space model
e	inputs vector
f	outputs vector

Details

Other possible usages of cloop:

cloop(sys)

cloop(sys, sgn)

If sys is a state-space model, cloop(sys, SGN) produces a state-space model of the closed-loop system obtained by feeding all the outputs of the system to all the inputs. Positive feedback is used when SGN <- 1 and negative when SGN <- -1

If sys is a transfer function model, cloop(sys, SGN) produces the SISO closed loop system in transfer function form obtained by unity feedback with the sign SGN.

cloop(sys,OUTPUTS,INPUTS) forms the closed loop system obtained by feeding the specific outputs into specific outputs. The vectors OUTPUTS and INPUTS contain indices into the outputs and inputs of the system respectively. Positive feedback is assumed. To form closed loop with negative feedback, negative values are used in the vector INPUTS.

Value

Returns a closed feedback loop system

See Also

feedback

Examples

J <- 2.0; b <- 0.04; K <- 1.0; R <- 0.08; L <- 1e-4
P <- TF("K/(s*((J*s + b)*(L*s + R) + K^2))")
cloop(P)
cloop(ss(1,2,3,4))

Example output

Attaching package: ‘control’

The following object is masked from ‘package:stats’:

    step

The following object is masked from ‘package:base’:

    append


y1:
                                        1 
  - - - - - - - - - - - - - - - - - - - - - - -
    0.0002 s^3 + 0.160004 s^2 + 1.0032 s + 1 


Transfer Function: Continuous time model 


 sys.A = 

       x1
x1   -0.2
   
sys.B = 

      u1
x1   0.4
   
sys.C = 

      x1
y1   0.6
   
sys.D = 

      u1
y1   0.8
   

 State-Space system: Continuous time model 

control documentation built on May 1, 2019, 7:33 p.m.