author | Puneeth Chaganti <punchagan@fossee.in> |
Fri, 27 May 2011 14:24:59 +0530 | |
changeset 0 | 0efde00f9229 |
permissions | -rw-r--r-- |
import scipy as sp from scipy import linalg from scipy import signal def dscr(H,Ts): """ Given a Continuous system and a Time step, returns a discretized system.""" (n,m) = H.B.shape S = sp.zeros((n+m,n+m)) S[:n,:n] = H.A S[:n,n:] = H.B s = linalg.expm(S*Ts) f = s[:n,:n] g = s[:n,n:] Hd = signal.lti(f, g, H.C, H.D) return Hd