Create state-space models with delayed inputs, outputs, and states
sys=delayss(A,B,C,D,delayterms)constructs a continuous-time state-space model of the form:
where tj, j=1,..,N are time delays expressed in seconds. delayterms is a struct array with fields delay, a, b, c, d where the fields of delayterms(j) contain the values of tj, Aj, Bj, Cj, and Dj, respectively. The resulting model sys is a state-space (SS) model with internal delays.
sys=delayss(A,B,C,D,ts,delayterms)constructs the discrete-time counterpart:
where Nj, j=1,..,N are time delays expressed as integer multiples of the sampling period ts.
To create the model:
DelayT(1) = struct('delay',0.5,'a',0,'b',2,'c',1,'d',0); DelayT(2) = struct('delay',1.2,'a',-1,'b',0,'c',0,'d',0); sys = delayss(1,0,0,1,DelayT) a = x1 x1 0 b = u1 x1 2 c = x1 y1 1 d = u1 y1 1 (values computed with all internal delays set to zero) Internal delays: 0.5 0.5 1.2 Continuous-time model.