Continuous state-space system
Keywords: main

Subsections

- Library
- Description
- Dialog Box
- Default properties
- Interfacing function
- Computational function (type 4)

##
Continuous state-space system

### Library

Linear

### Description

This block realizes a continuous-time linear state-space system.

|  | (4.1)
|  | (4.2)

The system is defined by the matrices and the initial state . The dimensions must be compatible.

### Dialog Box

Set continuous linear system parameters |
A matrix | -1
B matrix | 1
C matrix | 1
D matrix | 0
Initial state | 0

- matrix: square matrix. The matrix
- B matrix: the matrix, [] if system has no input
- C matrix: the matrix , [] if system has no output
- D matrix: the matrix, [] if system has no D term.
- Initial state: A vector/scalar initial state of the system.

### Default properties

- always active: yes
- direct-feedthrough: no
- zero-crossing: no
- mode: no
- number/sizes of inputs: 1 / 1
- number/sizes of outputs: 1 / 1
- number/sizes of activation inputs: 0 /
- number/sizes of activation outputs: 0 /
- continuous-time state: yes
- discrete-time state: no
- name of computational function: csslti4

### Interfacing function

`scilab/macros/scicos_blocks/linear/CLSS.sci`

### Computational function (type 4)

    #include "scicos_block.h"
    #include "../machine.h"

    extern int C2F(dmmul)();
    extern int C2F(dmmul1)();

    void csslti4(scicos_block *block,int flag)
    {
      /*  Copyright INRIA

          Scicos block simulator
          continuous state space linear system simulator
          rpar(1:nx*nx)=A
          rpar(nx*nx+1:nx*nx+nx*nu)=B
          rpar(nx*nx+nx*nu+1:nx*nx+nx*nu+nx*ny)=C
          rpar(nx*nx+nx*nu+nx*ny+1:nx*nx+nx*nu+nx*ny+ny*nu)=D */

      int un=1,lb,lc,ld;
      int nx=block->nx;
      double* x=block->x;
      double* xd=block->xd;
      double* rpar=block->rpar;
      double* y=block->outptr[0];
      double* u=block->inptr[0];
      int* outsz=block->outsz;
      int* insz=block->insz;

      lb=nx*nx;
      lc=lb+nx*insz[0];

      if (flag ==1 || flag ==6){
        /* y=c*x+d*u     */
        ld=lc+nx*outsz[0];
        if (nx==0) {
          C2F(dmmul)(&rpar[ld],outsz,u,insz,y,outsz,outsz,insz,&un);
        }else{
          C2F(dmmul)(&rpar[lc],outsz,x,&nx,y,outsz,outsz,&nx,&un);
          C2F(dmmul1)(&rpar[ld],outsz,u,insz,y,outsz,outsz,insz,&un);
        }
      }

      else if (flag ==0){
        /* xd=a*x+b*u */
        C2F(dmmul)(&rpar[0],&nx,x,&nx,xd,&nx,&nx,&nx,&un);
        C2F(dmmul1)(&rpar[lb],&nx,u,insz,xd,&nx,&nx,insz,&un);
      }
    }