c2d: Continuous Time model conversion to Discrete Time model.
In benubah/control: A Control Systems Toolbox

Description Usage Arguments Details Value See Also Examples

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

1	c2d(sys, t)

`sys`	An object of transfer function, state-space or zero-pole class
`t`	Sample time; a numeric value greater than 0

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.

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

ltitr

1 2 3 4 5 6	## 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)