Path: Common/Control
% Create a discrete time systems using the delta operator.
Given
.
x = ax + bu
Find f and g where
x(k+1) = x + fx(k) + gu(k)
--------------------------------------------------------------------------
Form:
[f, g] = C2DelZOH( a, b, T )
--------------------------------------------------------------------------
------
Inputs
------
a (n,n) Continuous plant matrix
b (n,m) Input matrix
T (1,1) Time step
-------
Outputs
-------
f (n,n) Discrete plant matrix
g (n,m) Discrete input matrix
--------------------------------------------------------------------------
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.
Middleton, R.H. and G.C. Goodwin, Digital Control and
Estimation: A Unified Approach, Prentice-Hall, 1986
--------------------------------------------------------------------------
Back to the Common Module page