c2d {control}

Continuous Time model conversion to Discrete Time model.

Description

c2d converts a system in continuous-time model to a discrete time model

Usage

c2d(sys, t)

Arguments

sys

An object of transfer function, state-space or zero-pole class

t

Sample time; a numeric value greater than 0

Details

c2d converts the continuous-time system: x = Ax + Bu to the discrete-time state-space system: x[n+1] = Phi * x[n] + Gamma * u[n] based on the method of assuming a zero-order hold on the inputs and sample time Transfer function and zero-pole systems are converted to state-space representation before conversion to discrete-time.

Value

Returns the provided system (transfer function, state-space or zero-pole) in an equivalent discrete-time.

See Also

ltitr

Examples

## for TF
c2d(tf(c(1,-1), c(1,4,5)), 0.1)
## for ZPK
sys <- zpkdata( tf(c(1,-1), c(1,4,5)) )
c2d(sys, 0.1)
c2d(zpkdata( tf(c(1,-1), c(1,4,5)) ), 0.1)