setDelayModel

Construct state-space model with internal delays

Syntax

sys = setDelayModel(H,tau)
sys = setDelayModel(A,B1,B2,C1,C2,D11,D12,D21,D22,tau)

Description

sys = setDelayModel(H,tau) constructs the state-space model sys obtained by LFT interconnection of the state-space model H with the vector of internal delays tau, as shown:

sys = setDelayModel(A,B1,B2,C1,C2,D11,D12,D21,D22,tau) constructs the state-space model sys described by the following equations:

dx(t)dt=Ax(t)+B1u(t)+B2w(t)y(t)=C1x(t)+D11u(t)+D12w(t)z(t)=C2x(t)+D21u(t)+D22w(t)w(t)=z(t−τ).

tau (τ) is the vector of internal delays in sys.

Input Arguments

H

State-space (ss) model to interconnect with internal delays tau.

tau

Vector of internal delays of sys.

For continuous-time models, express tau in seconds.

For discrete-time models, express tau as integer values that represent multiples of the sample time.

A,B1,B2,C1,C2,D11,D12,D21,D22

Set of state-space matrices that, with the internal delay vector tau, explicitly describe the state-space model sys.

Output Arguments

sys

State-space (ss) model with internal delays tau.

Tips

  • setDelayModel is an advanced operation and is not the natural way to construct models with internal delays. See Time Delays in Linear Systems for recommended ways of creating internal delays.

  • The syntax sys = setDelayModel(A,B1,B2,C1,C2,D11,D12,D21,D22,tau) constructs a continuous-time model. You can construct the discrete-time model described by the state-space equations

    x[k+1]=Ax[k]+B1u[k]+B2w[k]y[k]=C1x[k]+D11u[k]+D12w[k]z[k]=C2x[k]+D21u[k]+D22w[k]w[k]=z[k−τ].

    To do so, first construct sys using sys = setDelayModel(A,B1,B2,C1,C2,D11,D12,D21,D22,tau). Then, use sys.Ts to set the sample time.

See Also

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Topics

Introduced in R2007a

Control System Toolbox Documentation

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