Path: SC/Dynamics
% Double integrator model.
The equations have the form
[ x ] [ 0 1 ] [ x ] [ 0 ]
[ ] = [ ] [ ] + [ ] u/inr
[ v ] [ 0 0 ] [ v ] [ 1 ]
The function can return state space matrices or a state derivative.
Since version 1.
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Form:
[a, b, c, d] = DIModel( inr, tSamp, sType )
[dxdt ] = DIModel( inr, x, u )
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Inputs
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inr (1,1) Inertia
tSamp or x (1,1) Sampling frequency or state
sType or u (1,:) State equation type ('Delta' or 'Z') or input
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Outputs
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a or dxdt (2,2) Plant matrix or state derivative
b (2,1) Input matrix
c (1,1) Measurement matrix
d (1,1) Feedthrough matrix
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Common: Control/C2DZOH Common: Control/C2DelZOH Common: Control/FResp
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