25 lines
822 B
Matlab
25 lines
822 B
Matlab
function G=feedback(G1,G2)
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% feedback - find the overall model of two FOSS objects in feedback connection
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%
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% G=feedback(G1,G2)
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%
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% G1, G2 - the FOSS objects in the forward and backward paths
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% G - the overall model of the closed-loop system
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% Copyright (c) Dingyu Xue, Northeastern University, China
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% Last modified 28 March, 2017
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% Last modified 18 May, 2022
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G1=foss(G1); G2=foss(G2);
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if length(G1.alpha)>1 || length(G2.alpha)>1, a=0.0001;
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else, a=common_order(G1.alpha,G2.alpha); end
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if a==0
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G=foss([],[],[],G1.d*inv(eye(size(G1.d))+G2.d*G1.d),0);
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elseif a<0.001
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G1=fotf(G1); G2=fotf(G2); G=foss(feedback(G1,G2));
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else
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G1=coss_aug(G1,round(G1.alpha/a));
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G2=coss_aug(G2,round(G2.alpha/a));
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G=foss(feedback(ss_extract(G1),ss_extract(G2))); G.alpha=a;
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end
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end
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