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• Python Control Systems Library

control.parallel — Python Control Systems Library 0.10.2 documentation

control.parallel(sys1, sys2[, ..., sysn])[source]

Parallel connection of I/O systems.

Generates a parallel connection sys1 + sys2 [+ ...  + sysn].

Parameters:

sys1, sys2, …, sysnscalar, array, or InputOutputSystem

I/O systems to combine.

Returns:

outInputOutputSystem

Parallel interconnection of the systems.

Other Parameters:

inputs, outputsstr, or list of str, optional

List of strings that name the individual signals. If not given, signal names will be of the form ‘s[i’` (where ‘s’ is one of ‘u’, or ‘y’). See InputOutputSystem for more information.

statesstr, or list of str, optional

List of names for system states. If not given, state names will be of the form ‘x[i]’ for interconnections of linear systems or ‘<subsys_name>.<state_name>’ for interconnected nonlinear systems.

namestring, optional

System name (used for specifying signals). If unspecified, a generic name ‘sys[id]’ is generated with a unique integer id.

Raises:

ValueError

If sys1 and sys2 do not have the same numbers of inputs and outputs.

Notes

This function is a wrapper for the __add__ function in the StateSpace and TransferFunction classes. The output type is usually the type of sys1. If sys1 is a scalar, then the output type is the type of sys2.

If both systems have a defined timebase (dt = 0 for continuous time, dt > 0 for discrete time), then the timebase for both systems must match. If only one of the system has a timebase, the return timebase will be set to match it.

Examples

>>> G1 = ct.rss(3)
>>> G2 = ct.rss(4)
>>> G = ct.parallel(G1, G2) # Same as sys3 = sys1 + sys2
>>> G.ninputs, G.noutputs, G.nstates
(1, 1, 7)

>>> G1 = ct.rss(3, inputs=3, outputs=4)
>>> G2 = ct.rss(4, inputs=3, outputs=4)
>>> G = ct.parallel(G1, G2)  # Add another system
>>> G.ninputs, G.noutputs, G.nstates
(3, 4, 7)

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