lsimplot {control}

Plot time response of an LTI system

Description

lsimplot Plots the time response of a Linear system described by:

x = Ax + Bu

y = Cx + Du

to the input time history u.

Usage

lsimplot(sys, u, t, x0)

Arguments

sys

An LTI system of tf, ss and zpk class

u

A row vector for single input systems. The input u must have as many rows as there are inputs in the system. Each column of u corresponds to a new time point. u could be generated using a signal generator such as gensig

t

time vector which must be regularly spaced. e.g. seq(0,4,0.1)

x0

a vector of initial conditions with as many rows as the rows of sys$A

Details

lsimplot(sys, u, t) plots the time history of the linear system with zero-initial conditions.

lsimplot(sys, u, t, x0) plots the time history of the linear system with given initial conditions.

If the linear system is represented as a model of tf or zpk it is first converted to state-space before linear simulation is performed. This function depends on c2d and ltitr

Value

Returns a plot for the response of the system

See Also

lsim stepplot rampplot

Examples

signal <- gensig('square',4,10,0.1)
H <- tf(c(2, 5, 1),c(1, 2, 3))
lsimplot(H, signal$u, signal$t)

## Not run:  MIMO system response 
A <- rbind(c(0,1), c(-25,-4)); B <- rbind(c(1,1), c(0,1))
C <- rbind(c(1,0), c(0,1)); D <- rbind(c(0,0), c(0,0))
lsimplot(ss(A,B,C,D), cbind(signal$u, signal$u), signal$t)