Mercurial > octave
view scripts/control/c2d.m @ 1337:52a3f38cbfeb
[project @ 1995-08-25 02:00:18 by jwe]
author | jwe |
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date | Fri, 25 Aug 1995 02:16:01 +0000 |
parents | 611d403c7f3d |
children | 5d29638dd524 |
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# Copyright (C) 1993, 1994, 1995 John W. Eaton # # This file is part of Octave. # # Octave is free software; you can redistribute it and/or modify it # under the terms of the GNU General Public License as published by the # Free Software Foundation; either version 2, or (at your option) any # later version. # # Octave is distributed in the hope that it will be useful, but WITHOUT # ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or # FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License # for more details. # # You should have received a copy of the GNU General Public License # along with Octave; see the file COPYING. If not, write to the Free # Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. function [Ad, Bd] = c2d (Ac, Bc, T) # Usage: [Ad, Bd] = c2d (Ac, Bc, T) # # converts the continuous time system described by: # . # x = Ac x + Bc u # # into a discrete time equivalent model via the matrix exponential # # x[n+1] = Ad x[n] + Bd u[n] # # assuming a zero-order hold on the input and sample time T. # Written by R.B. Tenison (btenison@eng.auburn.edu) # October 1993 # check args if (nargin != 3) usage ("c2d (Ac, Bc, T)"); endif [ma, na] = size (Ac); [mb, nb] = size (Bc); if (ma != na) error ("c2d: Ac must be square"); endif if (ma != mb) error ("c2d: Ac and Bc must have the same number of rows"); endif matexp = expm ([[Ac, Bc] * T; (zeros (nb, na+nb))]); Ad = matexp (1:na, 1:na); Bd = matexp (1:na, na+1:na+nb); endfunction