Path: Common/Control
% Create a discrete time system using a zero order hold.
Create a discrete time system from a continuous system
assuming a zero-order-hold at the input.
Given
.
x = ax + bu
Find f and g where
x(k+1) = fx(k) + gu(k)
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Form:
[f, g] = C2DZOH( a, b, T )
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Inputs
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a (n,n) Continuous plant matrix
b (n,m) Input matrix
T (1,1) Time step
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Outputs
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f (n,n) Discrete plant matrix
g (n,m) Discrete input matrix
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References: Van Loan, C.F., Computing Integrals Involving the Matrix
Exponential, IEEE Transactions on Automatic Control
Vol. AC-23, No. 3, June 1978, pp. 395-404.
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