MX_CTODPA – Discretizes continuous model given by (A,B) to (Ad,Bd) using Pade approximations

Block SymbolLicensing group: STANDARD
PIC

Function Description

This function block discretizes a continuous state space model using Padé approximations of matrix exponential and its integral and scaling technique ([6]). The used technique is similar to method 3 Scaling and squaring described in [9].

The output references yA, yB, yAd, yBd, yP , yQ and yR are always set to the corresponding input references uA, uB, uAd, uBd, uP, uQ and uR. If HLD = on then nothing is computed otherwise the function mCtoD is called internally:

mCtoD(nRes, uAd, uBd, uA, uB, N, M, is, Ts, eps, uP, uQ, uR);

where parameters of mCtoD are set in the following way:

The error flag E is set to on if:

Inputs

uA

Input reference to matrix A

reference

uB

Input reference to matrix B

reference

uAd

Input reference to discretized matrix A

reference

uBd

Input reference to discretized matrix B

reference

uP

Input reference to a helper matrix

reference

uQ

Input reference to a helper matrix

reference

uR

Input reference to a helper matrix

reference

HLD

Hold

bool

Parameters

is

Pade approximation order   0  4 2

long

eps

Approximation accuracy   0.0  0.001 0.0

double

Outputs

yA

Output reference to matrix A

reference

yB

Output reference to matrix B

reference

yAd

Output reference to discretized matrix A

reference

yBd

Output reference to discretized matrix B

reference

yP

Output reference to a helper matrix

reference

yQ

Output reference to a helper matrix

reference

yR

Output reference to a helper matrix

reference

E

Error indicator

bool