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augstate

Append state vector to output vector

Syntax

asys = augstate(sys)

Description

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

Given a state-space model sys with equations

x˙=Ax+Buy=Cx+Du

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

x˙=Ax+Bu[yx]=[CI]x+[D0]u

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

Limitation

Because augstate is only meaningful for state-space models, it cannot be used with TF, ZPK or FRD models.

Introduced before R2006a

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