c2d

Convert model from continuous to discrete time.

Syntax

• [P, G] = c2d(A, B, Ts)

• sysd = c2d(sysc, Ts)

• sysd = c2d(sysc, Ts, method)

• sysd = c2d(sysc, Ts, 'prewarp', w0)

Input argument

• A - State matrix: Nx-by-Nx matrix.

• B - Input-to-state matrix: Nx-by-Nu matrix.

• Ts - Sample time: positive scalar.

• sysc - Continuous-time dynamic system: LTI model.

• method - Discretization method: 'zoh', 'tustin', 'prewarp'

• w0 - prewarp frequency.

Output argument

• P - phi

• G - gamma

• sysd - Discrete-time model

Description

The function sysd = c2d(sysc, Ts) discretizes the continuous-time dynamic system model sysc using a zero-order hold on the inputs with a sample time of Ts.

For instance, you can use sysd = c2d(sysc, Ts, method) to explicitly specify the discretization method.

Example

A = [1  0.5; 0.5  1 ];
B = [0 -1; 1  0 ];
C = [ -1  0; 0  1 ];
D = [  1  0; 0 -1 ];
sys = ss(A, B, C, D);
Ts = 2;
sysd = c2d(sys, Ts, 'zoh')

See also

d2c, ss.

History

Version	Description
1.0.0	initial version

Author

Allan CORNET