Robotics System Toolbox

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For FRD models, use the "delay2z" command to absorb delays into the frequency response without approximation.

Last post by esmatparast « Tue Mar 09, 2021 12:24 pm

by esmatparast » Tue Mar 09, 2021 12:24 pm

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605 Views

Last post by esmatparast
Tue Mar 09, 2021 12:24 pm
The model is already discrete. For discrete models, the "pade" command maps all delays to poles at z=0.

Last post by esmatparast « Tue Mar 09, 2021 12:24 pm

by esmatparast » Tue Mar 09, 2021 12:24 pm

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588 Views

Last post by esmatparast
Tue Mar 09, 2021 12:24 pm
The maximum approximation order is { ,number,integer} due to pole-zero cancellations.

Last post by esmatparast « Tue Mar 09, 2021 12:23 pm

by esmatparast » Tue Mar 09, 2021 12:23 pm

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594 Views

Last post by esmatparast
Tue Mar 09, 2021 12:23 pm
The model order was increased to handle real negative poles.

Last post by esmatparast « Tue Mar 09, 2021 12:22 pm

by esmatparast » Tue Mar 09, 2021 12:22 pm

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672 Views

Last post by esmatparast
Tue Mar 09, 2021 12:22 pm
The accuracy of discrete to continuous conversion using the "d2c" command may be poor.

Last post by esmatparast « Tue Mar 09, 2021 12:22 pm

by esmatparast » Tue Mar 09, 2021 12:22 pm

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600 Views

Last post by esmatparast
Tue Mar 09, 2021 12:22 pm
The discrete to continuous conversion using the "d2c" command is only approximate due to internal delays. Check accuracy

Last post by esmatparast « Tue Mar 09, 2021 12:21 pm

by esmatparast » Tue Mar 09, 2021 12:21 pm

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552 Views

Last post by esmatparast
Tue Mar 09, 2021 12:21 pm
Discretization is only approximate due to internal delays. Use faster sampling rate if discretization error is large

Last post by esmatparast « Tue Mar 09, 2021 10:26 am

by esmatparast » Tue Mar 09, 2021 10:26 am

0 Replies

559 Views

Last post by esmatparast
Tue Mar 09, 2021 10:26 am
No explicit form exists for improper state-space models (models with infinite gain at s,z=Inf).

Last post by esmatparast « Tue Mar 09, 2021 10:25 am

by esmatparast » Tue Mar 09, 2021 10:25 am

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562 Views

Last post by esmatparast
Tue Mar 09, 2021 10:25 am
State-space models with internal delays cannot be converted to zero-pole-gain form.

Last post by esmatparast « Tue Mar 09, 2021 10:24 am

by esmatparast » Tue Mar 09, 2021 10:24 am

0 Replies

592 Views

Last post by esmatparast
Tue Mar 09, 2021 10:24 am
Size mismatch between permutation vector and state vector of interconnection model.

Last post by esmatparast « Tue Mar 09, 2021 10:21 am

by esmatparast » Tue Mar 09, 2021 10:21 am

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544 Views

Last post by esmatparast
Tue Mar 09, 2021 10:21 am
Models of class cannot be converted to transfer function form.

Last post by esmatparast « Tue Mar 09, 2021 10:20 am

by esmatparast » Tue Mar 09, 2021 10:20 am

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609 Views

Last post by esmatparast
Tue Mar 09, 2021 10:20 am
Unable to convert the model to a transfer function because of overflow.

Last post by esmatparast « Tue Mar 09, 2021 10:20 am

by esmatparast » Tue Mar 09, 2021 10:20 am

0 Replies

634 Views

Last post by esmatparast
Tue Mar 09, 2021 10:20 am
The fourth input argument of the "pade" command must be a vector with as many entries as internal delays ({ ,number,inte

Last post by esmatparast « Tue Mar 09, 2021 10:11 am

by esmatparast » Tue Mar 09, 2021 10:11 am

0 Replies

701 Views

Last post by esmatparast
Tue Mar 09, 2021 10:11 am
The "RelTol" option of the command must be set to a scalar between 0 and 1.

Last post by esmatparast « Tue Mar 09, 2021 10:11 am

by esmatparast » Tue Mar 09, 2021 10:11 am

0 Replies

583 Views

Last post by esmatparast
Tue Mar 09, 2021 10:11 am
The "stabsep" command must have two or fewer output arguments for models of class .

Last post by esmatparast « Tue Mar 09, 2021 10:10 am

by esmatparast » Tue Mar 09, 2021 10:10 am

0 Replies

660 Views

Last post by esmatparast
Tue Mar 09, 2021 10:10 am
Size mismatch between state transformation and state vector of interconnection model.

Last post by esmatparast « Tue Mar 09, 2021 10:09 am

by esmatparast » Tue Mar 09, 2021 10:09 am

0 Replies

559 Views

Last post by esmatparast
Tue Mar 09, 2021 10:09 am
The second input argument of the "ss2ss" command must be a square invertible matrix with as many rows as states.

Last post by esmatparast « Tue Mar 09, 2021 10:09 am

by esmatparast » Tue Mar 09, 2021 10:09 am

0 Replies

712 Views

Last post by esmatparast
Tue Mar 09, 2021 10:09 am
Invalid option for "ss" conversion. Second argument must be set to 'minimal' or 'explicit'.

Last post by esmatparast « Tue Mar 09, 2021 10:08 am

by esmatparast » Tue Mar 09, 2021 10:08 am

0 Replies

579 Views

Last post by esmatparast
Tue Mar 09, 2021 10:08 am
Models of class cannot be converted to state-space form.

Last post by esmatparast « Tue Mar 09, 2021 10:08 am

by esmatparast » Tue Mar 09, 2021 10:08 am

0 Replies

652 Views

Last post by esmatparast
Tue Mar 09, 2021 10:08 am
The prewarping frequency (critical frequency) must be set to a nonnegative scalar. Type "help Options" for details.

Last post by esmatparast « Tue Mar 09, 2021 10:07 am

by esmatparast » Tue Mar 09, 2021 10:07 am

0 Replies

514 Views

Last post by esmatparast
Tue Mar 09, 2021 10:07 am
To perform rate conversions with prewarping, use the "tustin" method and set the "PrewarpFrequency" option. Type "help

Last post by esmatparast « Tue Mar 09, 2021 10:06 am

by esmatparast » Tue Mar 09, 2021 10:06 am

0 Replies

551 Views

Last post by esmatparast
Tue Mar 09, 2021 10:06 am
In the "prescale(SYS,'{'WMIN,WMAX'}')" command, WMIN must be smaller than the Nyquist frequency.

Last post by esmatparast « Tue Mar 09, 2021 10:06 am

by esmatparast » Tue Mar 09, 2021 10:06 am

0 Replies

661 Views

Last post by esmatparast
Tue Mar 09, 2021 10:06 am
The "prescale" command operates on a single model when used interactively.

Last post by esmatparast « Tue Mar 09, 2021 10:05 am

by esmatparast » Tue Mar 09, 2021 10:05 am

0 Replies

607 Views

Last post by esmatparast
Tue Mar 09, 2021 10:05 am
Cannot express this PID controller with the specified formulas.

Last post by esmatparast « Tue Mar 09, 2021 10:04 am

by esmatparast » Tue Mar 09, 2021 10:04 am

0 Replies

555 Views

Last post by esmatparast
Tue Mar 09, 2021 10:04 am
Models of class cannot be expressed as PIDs.

Last post by esmatparast « Tue Mar 09, 2021 10:04 am

by esmatparast » Tue Mar 09, 2021 10:04 am

0 Replies

587 Views

Last post by esmatparast
Tue Mar 09, 2021 10:04 am

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