3.5. SYSTEM INTERCONNECTION 93
Using sysic to form this interconnection can be considered as four distinct o perations.
•Specify the individual subsystems.
•Name and dimension the input signals.
•Specify, algebraically in terms of subsystem outputs or input signals, the output of
the interconnected system.
•Specify, algebraically in terms of subsystem outputs or input signals, the input to
each of the subsystems.
•Name the closed loop system.
The Xµscript used to create the closed-loop system variable clp is shown b elow. A
single-input, two-output plant is considered. sysic is used to form the closed loop system
for a particular controller. Noise and disturbance signals, in addition to a command
reference, are considered as inputs. Tracking error and the control actuationare the
outputs of interest.
# form the subsystems
p1 = [1;1]*(1/makepoly([1,1,40],"s"));
p = daug(1,1/makepoly([1,1],"s"))*p1;
c = [50*makepoly([1,1],"s")/makepoly([1,10],"s"),-20];
wght = 0.01;
Name the subsystems - these must match with the workspacevariables.
snames = ["p"; "c"; "wght"]
Name the final system inputs (names are arbitrary) Parenthesis areused to give a
dimension >1.
inputs = ["ref"; "dist"; "noise(2)"]