24 lines
889 B
Matlab
24 lines
889 B
Matlab
function G=feedback(F,H)
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% feedback - find the overall model of two FOTF 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 FOTF 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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F=fotf(F); H=fotf(H); [n1,m1]=size(F); [n2,m2]=size(H);
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if n1*m1==1 && n2*m2==1
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if F.ioDelay==H.ioDelay
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G=fotf(F.den*H.den+F.num*H.num,F.num*H.den);
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G=simplify(G); G.ioDelay=F.ioDelay;
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else, error('delay in incompatible'), end
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elseif n1==m1 && n1==n2 && n2==m2
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if maxdelay(F)==0 && maxdelay(H)==0
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G=inv(fotf(eye(size(F*H)))+F*H)*F; G=simplify(G);
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else, error('cannot handle blocks with delays'); end
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else, error('not equal sized square matrices'), end
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end
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