harold.feedback

harold.feedback(G, H, negative=True)

Feedback interconnection of two models in the following configuration

     +     ┌───────┐
u ────O────┤   G   ├────┬───> y
      │s   └───────┘    │
      │                 │
      │    ┌───────┐    │
      └────┤   H   ├────┘
           └───────┘

In this configuration nonmatching shapes will not be broadcasted.

The feedback sign s in the block diagram is determined by the keyword negative and by default it is negative feedback hence True.

All models are converted to State type and then the loop is closed. The resulting closed loop model is not necessarily minimal.

Parameters:

• G ({State, Transfer, ndarray}) – The model that is on the forward path
• H ({State, Transfer, ndarray}) – The model that is on the feedback path
• negative (bool, optional) – The default is True

Returns:

CL ({State, Transfer, ndarray}) – The closed loop model