Convert model from continuous to discrete time
sysd = c2d(sys,Ts)
sysd = c2d(sys,Ts,method)
sysd = c2d(sys,Ts,opts)
[sysd,G]
= c2d(sys,Ts,method)
[sysd,G]
= c2d(sys,Ts,opts)
discretizes
the continuoustime dynamic
system model sysd
= c2d(sys
,Ts
)sys
using zeroorder
hold on the inputs and a sample time of Ts
seconds.
discretizes sysd
= c2d(sys
,Ts
,method
)sys
using
the specified discretization method method
.
discretizes sysd
= c2d(sys
,Ts
,opts
)sys
using
the option set opts
, specified using the c2dOptions
command.
[
returns
a matrix, sysd
,G
]
= c2d(sys
,Ts
,method
)G
that maps the continuous initial conditions x_{0} and u_{0} of
the statespace model sys
to the discretetime
initial state vector x[0]. method
is
optional. To specify additional discretization options, use [
.sysd
,G
]
= c2d(sys
,Ts
,opts
)

Continuoustime dynamic
system model (except frequency response data models).
The following identified linear systems cannot be discretized directly:
For the syntax 

Sample time. 

Discretization method, specified as one of the following values:
For more information about discretization methods, see ContinuousDiscrete Conversion Methods (Control System Toolbox). 

Discretization options. Create 

Discretetime model of the same type as the input system When


Matrix relating continuoustime initial conditions x_{0} and u_{0} of
the statespace model $$x\left[\text{\hspace{0.05em}}0\right]=G\cdot \left[\begin{array}{c}{x}_{0}\\ {u}_{0}\end{array}\right]$$ c2d pads the matrix G with
zeroes to account for additional states introduced by discretizing
those delays. See ContinuousDiscrete Conversion Methods (Control System Toolbox) for a discussion
of modeling time delays in discretized systems.

Use the syntax sysd = c2d(sys,Ts,method)
to
discretize sys
using the default options for method
.
To specify additional discretization options, use the syntax sysd
= c2d(sys,Ts,opts)
.
To specify the tustin
method with
frequency prewarping (formerly known as the 'prewarp'
method),
use the PrewarpFrequency
option of c2dOptions
.
For information about the algorithms for each c2d
conversion
method, see ContinuousDiscrete Conversion Methods (Control System Toolbox).
c2dOptions
 d2c
 d2d
 thiran
 translatecov