MATLAB CONTROL SYSTEM TOOLBOX 9 Guia do Utilizador descarregar pdf (Página 616)

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• s = tf('s') to specify a TF model using a rational function in the Laplace

variable,

•

z = tf('z',Ts) to specify a TF model with sample time Ts using a rational

function in the discrete-time variable,

Once you specify either of these variables, you can specify TF models directly

as rational expressions in the variable

s orz by entering your transferfunction

as a rational expression in either

s or z.

Conversion to Transfer Function

tfsys = tf(sys) converts an arbitrary SS or ZPK LTI model sys to transfer

function form. The output

tfsys (TF object) is the transfer function of sys.By

default,

tf useszero to computethenumeratorswhenconvertingastate-space

model to transfer function form. Alternatively,

tfsys = tf(sys,'inv')

uses inversion formulas for state-space models to derive the numerators. This

algorithm is faster but less accurate for high-order models with low gain at

Examples Example 1

Create the two-output/one-input transfer f unction

with input

current and o utputs torque and ang velocity.

s 0

Hp()

p 1+

2p 2++

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