scipy.signal.cont2discrete

scipy.signal.cont2discrete(system, dt, method='zoh', alpha=None)

Transform a continuous to a discrete state-space system.

Parameters

systema tuple describing the system or an instance of lti

The following gives the number of elements in the tuple and the interpretation:

• 1: (instance of lti)

• 2: (num, den)

• 3: (zeros, poles, gain)

• 4: (A, B, C, D)

dtfloat

The discretization time step.

methodstr, optional

Which method to use:

• gbt: generalized bilinear transformation

• bilinear: Tustin’s approximation (“gbt” with alpha=0.5)

• euler: Euler (or forward differencing) method (“gbt” with alpha=0)

• backward_diff: Backwards differencing (“gbt” with alpha=1.0)

• zoh: zero-order hold (default)

• foh: first-order hold (versionadded: 1.3.0)

• impulse: equivalent impulse response (versionadded: 1.3.0)

alphafloat within [0, 1], optional

The generalized bilinear transformation weighting parameter, which should only be specified with method=”gbt”, and is ignored otherwise

Returns

sysdtuple containing the discrete system

Based on the input type, the output will be of the form

• (num, den, dt) for transfer function input

• (zeros, poles, gain, dt) for zeros-poles-gain input

• (A, B, C, D, dt) for state-space system input

Notes

By default, the routine uses a Zero-Order Hold (zoh) method to perform the transformation. Alternatively, a generalized bilinear transformation may be used, which includes the common Tustin’s bilinear approximation, an Euler’s method technique, or a backwards differencing technique.

The Zero-Order Hold (zoh) method is based on [1], the generalized bilinear approximation is based on [2] and [3], the First-Order Hold (foh) method is based on [4].

References

1(1,2)

https://en.wikipedia.org/wiki/Discretization#Discretization_of_linear_state_space_models

2(1,2)

http://techteach.no/publications/discretetime_signals_systems/discrete.pdf

3(1,2)

G. Zhang, X. Chen, and T. Chen, Digital redesign via the generalized bilinear transformation, Int. J. Control, vol. 82, no. 4, pp. 741-754, 2009. (https://www.mypolyuweb.hk/~magzhang/Research/ZCC09_IJC.pdf)

4(1,2)

G. F. Franklin, J. D. Powell, and M. L. Workman, Digital control of dynamic systems, 3rd ed. Menlo Park, Calif: Addison-Wesley, pp. 204-206, 1998.