## C2DZOHWD:

Path: Common/Control

```%  Create a discrete time system using a zero order hold and delay.

Create a discrete time system from a continuous system
assuming a zero-order-hold at the input with a delay.

Given
.
x = ax + bu
y = cx

Find f and g where

x(k+1) = fx(k) + gu(k)
y = cx(k) + du(k)

The delay is defined as
Td = l*T - m*T where l is always the least integer
number of sampling periods greater than the delay.

--------------------------------------------------------------------------
Form:
[f, g, c, d, l, m] = C2DZOHWD( a, b, c, T, Td )
--------------------------------------------------------------------------

------
Inputs
------
a                   Plant matrix
b                   Input matrix
c                   Output matrix
T                   Time step
Td                  The delay

-------
Outputs
-------
f                   Discrete plant matrix
g                   Discrete input matrix
c                   Output matrix
d                   Feedthrough matrix
l                   Number of integral period delays
m                   Fractional delay

--------------------------------------------------------------------------
References:   Franklin, G.F., J.D. Powell, M.L. Workman, Digital Control
of Dynamic Systems, 2nd Edition, Addison-Wesley, 1990,
pp. 56-61.
--------------------------------------------------------------------------
```

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