以传递函数sys = tf([1, 1], [1, 1, 1])为例:
1、生成系统
sys = tf([1, 1], [1, 1, 1])
2、设置离散时间
ts = 0.001
3、离散化
dsys = c2d(sys, ts, 'method')
4、查看系数
[num, den] = tfdata(dsys, 'v')
num = 1.0e-03 * 0 1.0000 -0.9990
den = 1.0000 -1.9990 0.9990
5、c语言实现,函数ts时间调用一次
float function(float input)
{
/* n为传递函数分子分母最高阶次 */
const uint8_t n = 2;
/* 分子num */
const float b[n + 1] = {1.0e-03 * 0, 1.0e-03 * 1.0000, -1.0e-03 * 0.9990};
/* 分母den */
const float a[n + 1] = {1.0000, -1.9990, 0.9990};
static float x[n + 1] = {0};
static float y[n + 1] = {0};
for (uint8_t i = n; i > 0; i--)
{
y[i] = y[i - 1];
x[i] = x[i - 1];
}
x[0] = input;
y[0] = 0;
for (uint8_t i = n; i > 0; i--)
{
y[0] = y[0] + b[i] * x[i];
y[0] = y[0] - a[i] * y[i];
}
return y[0] + b[0] * x[0];
}