convert model from continuous to discrete time

Takes in state-space model and makes it continuous

d2c(A, B, Ts)

Arguments

A	State matrix of a discreted ssmodel
B	Input matrix of a discreted ssmodel
Ts	Timestep

Value

A continuous state-space model

Examples

# X(k+1) = A\*X(k) + B\*U(k) discreted ssModel
A <- matrix(c(0.51,0.22,0.47,0.78),nrow = 2, byrow = T)
B <- matrix(c(0.61,0.83,0.25,0.39),nrow = 2, byrow = T)
csys <- d2c(A,B,600)
c2d(csys$A,csys$B,600)
#> $A
#>      [,1] [,2]
#> [1,] 0.51 0.22
#> [2,] 0.47 0.78
#> 
#> $B
#>      [,1] [,2]
#> [1,] 0.61 0.83
#> [2,] 0.25 0.39
#> 
c2d(csys$A,csys$B,1200)
#> $A
#>        [,1]   [,2]
#> [1,] 0.3635 0.2838
#> [2,] 0.6063 0.7118
#> 
#> $B
#>        [,1]   [,2]
#> [1,] 0.9761 1.3391
#> [2,] 0.7317 1.0843
#>