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Sampled-data model fo NCS with delay less than sampling time

Sampled-data model fo NCS with delay less than sampling time

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Sampled-data model of NCSs subjected to delay less than sampling period h

[phid,gamma0,gamma1]=NCSsd(sysc,h)
%Computing the NCSs response when the time delay is lesser than sampling
%time
%Seshadhri Srinivasan
%Optimal controller design for networked control systems
%Paper submitted to ACC 2013
%Delay is less than sampling time
%system is siso

function [phid,gamma0,gamma1]=NCSsd(sysc,h)
A=sysc.A
B=sysc.B
tau=sysc.InputDelay
%computation of phi
phid=expm(A*h)
sysnom=sysc;
sysnom.InputDelay=0;
gam1=c2d(sysnom,h-tau);
gam2=c2d(sysnom,tau);
gamma0=gam1.B;
gamma1=expm(A*(h-tau))*gam2.B;


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