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more abstract statespaces #521

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add block diagram to feedback docstring
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baggepinnen committed May 26, 2021
commit 165834042abed5413a62f35198cd7c5ee7c83e99
13 changes: 12 additions & 1 deletion src/connections.jl
Original file line number Diff line number Diff line change
Expand Up @@ -199,7 +199,7 @@ end

"""
feedback(sys)
feedback(sys1,sys2)
feedback(sys1, sys2)

Forms the negative feedback interconnection
```julia
Expand All @@ -220,6 +220,17 @@ end
Wperm=:, Zperm=:, pos_feedback::Bool=false)


A more general version of feedback that allows specification of which signals to connect. The signals are named according to
┌───────────────┐
z1◄─────┤ s1 │◄──────w1
┌─── y1◄─────┤ │◄──────u1 ◄─┐
│ └───────────────┘ │
│ │
│ ┌───────────────┐ │
└──► u2─────►│ s2 ├───────►y2──┘
w2─────►│ ├───────►z2
└───────────────┘

`U1`, `Y1`, `U2`, `Y2` contain the indices of the signals that should be connected.
`W1`, `Z1`, `W2`, `Z2` contain the signal indices of `s1` and `s2` that should be kept.

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