Using `feedback` with feedback gains argument

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Joseph Carpinelli 2020-11-12

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https://ww2.mathworks.cn/matlabcentral/answers/646088-using-feedback-with-feedback-gains-argument

评论： Mathieu NOE 2020-11-12

In the feedback.m documentation (both help and online documentation), I'm only seeing examples where two state space / transfer function models must be provided.

For example -- in documentation, I see feedback(sys1, sys2, ...). However, I seem to be able to instead provide feedback(sys1, k) where k is a feedback gain (vector for SISO systems).

I guess my question is - is feedback(sys, k) doing what I think it's doing?

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Mathieu NOE 2020-11-12

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probably yes

the two examples below gives the same closed loop tf

G = tf([2 5 1],[1 2 3],'inputname',"torque",'outputname',"velocity");
C = tf([1],[1]); % unitary gain
% Use feedback to create the negative feedback loop using G and C.
sys = feedback(G,C,-1)
% equivalent to : 
sys = feedback(G,1) % ! assumed neg feedback here 