M4.2. Forming Discrete-Time Models

The formation of discrete-time models is the same as for continuous-time models, except that a sample time should also be specified. This sample time is simply the next argument in the function call statement,

sys  =  ss(a,b,c,d,Ts)  % discrete state space
sys  =  tf(num,den,Ts)  % discrete transfer function
sys  =  zpk(z,p,k,Ts) % discrete zero-pole-gain

where Ts is the sample time.

Discrete State Space Models

A discrete-time state space model has the form

where k represents the discrete-time step index. Consider the discrete state space model

with a sample time of Δt = 0.1 minutes. Please note that, if you need ...

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