Feedback connection command explaination

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AR
AR le 16 Avr 2020
Commenté : AR le 24 Avr 2020
hello, its a command from Kalman filter help example,
SimModel = feedback(sys,1,4,2,1); % Close loop around input #4 and output #2
i want to ask what is the meaning of feedback(sys,1,4,2,1) command? there is conenction of input#4 with output#2, but what are 1's one the both sides of 4 and 2?

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Anish Mitra
Anish Mitra le 24 Avr 2020
The first 1 is the feedback system (a static gain of 1), and the last 1 is indicating positive feedback.
https://www.mathworks.com/help/control/ref/feedback.html#mw_21da8013-8ed9-4c60-8ad7-1a2691b14ae6

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