1 import scipy as sp

     2 from scipy import linalg

     3 from scipy import signal

     4 

     5 def dscr(H,Ts):

     6     """ Given a Continuous system and a Time step, returns a discretized system."""

     7     (n,m) = H.B.shape

     8     S = sp.zeros((n+m,n+m))

     9     S[:n,:n] = H.A

    10     S[:n,n:] = H.B

    11     s = linalg.expm(S*Ts)

    12     f = s[:n,:n]

    13     g = s[:n,n:]

    14     Hd = signal.lti(f, g, H.C, H.D)

    15     return Hd