augstate

Append state vector to output vector

Syntax

asys = augstate(sys)

Description

Given a state-space model sys with equations

$$\begin{array}{l}\dot{x}=Ax+Bu\\ y=Cx+Du\end{array}$$

(or their discrete-time counterpart), augstate appends the states x to the outputs y to form the model

$$\begin{array}{c}\dot{x}=Ax+Bu\\ \left[\begin{array}{l}y\\ x\end{array}\right]=\left[\begin{array}{l}C\\ I\end{array}\right]x+\left[\begin{array}{l}D\\ 0\end{array}\right]u\end{array}$$

This command prepares the plant so that you can use the feedback command to close the loop on a full-state feedback u = −Kx.

For mechss models, augstate appends q to the output for first-order models and [q,q'] for second-order models.

asys = augstate(sys) returns a state-space model asys with the state vector appended to the outputs of state-space model sys.

Input Arguments

sys — State-space model with offsets

state-space model

State-space model with offsets, specified as a state-space model such as ss, sparss, mechss, or idss.

Output Arguments

asys — Augmented model

ss model | sparss model

Augmented state-space model, returned as the model of same type as sys.

Version History

Introduced before R2006a