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Add augstate function for fullstate feedback #944

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Add augstate function for fullstate feedback #944

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31 changes: 31 additions & 0 deletions lib/ControlSystemsBase/src/types/StateSpace.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -624,3 +624,34 @@ function diagonalize(s::AbstractStateSpace)
error("System not diagonalizable", e)
end
end

@doc raw"""
augstate(sys)

Appends state vector to output vector.

This command prepares the plant so that you can use the [`feedback`](@ref) command to close the loop on a full-state feedback `u = −Kx`.

```math
\begin{array}{rcl}
& \dot{x} = Ax + Bu \\
&\begin{bmatrix}
y\\
x
\end{bmatrix} =
\begin{bmatrix}
C\\
I
\end{bmatrix}x + \begin{bmatrix}
D\\
0\end{bmatrix}u \\
\end{array}
```
"""
function augstate(sys::AbstractStateSpace)
A_aug = sys.A
B_aug = sys.B
C_aug = vcat(sys.C, I(nstates(sys)))
D_aug = vcat(sys.D, zeros(noutputs(sys), noutputs(sys)))
return ss(A_aug, B_aug, C_aug, D_aug)
end