c2dd

Converts the continuous jSS model to discrete with explicit computational dead time added. This function can be used to model deadtime as a result of computational delay in a real (implemented) MPC controller where the control calculation is not "instantaneous".

Syntax

jSSobj = c2dd(jSSobj,Ts,tau)

Description

jSSobj = c2dd(jSSobj,Ts,tau) converts the supplied continuous jSS object to discrete using the sampling time Ts. This function also models computational dead time which is specified via tau. Note tau must be less than or equal to Ts. This function is based on the function presented in [1].

Reference: [1] Maciejowski, J. M., Predictive Control with Constraints, Prentice Hall, 2002