Path: Common/Control
% Create a discrete time system using a zero order hold and delay.
Create a discrete time system from a continuous system
assuming a zero-order-hold at the input with a delay.
Given
.
x = ax + bu
y = cx
Find f and g where
x(k+1) = fx(k) + gu(k)
y = cx(k) + du(k)
The delay is defined as
Td = l*T - m*T where l is always the least integer
number of sampling periods greater than the delay.
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Form:
[f, g, c, d, l, m] = C2DZOHWD( a, b, c, T, Td )
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Inputs
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a Plant matrix
b Input matrix
c Output matrix
T Time step
Td The delay
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Outputs
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f Discrete plant matrix
g Discrete input matrix
c Output matrix
d Feedthrough matrix
l Number of integral period delays
m Fractional delay
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References: Franklin, G.F., J.D. Powell, M.L. Workman, Digital Control
of Dynamic Systems, 2nd Edition, Addison-Wesley, 1990,
pp. 56-61.
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