Nonlinear plant and discrete controller in Simulink

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AM
AM 2021-12-16
编辑： AM 2021-12-16
Hi. I have simulated the nonlinear dynamics of a Furuta pendulum MATLAB Function block in Simulink. Using the linearized and discretized system, I have designed a controller and I would like to simulate the response of the plant & the controller to torque disturbances (i.e., tapping the pendulum). The system is shown in the attached picture.
My question is, what is the correct way to do this?
Current effort:
Since the plant is in continuous time and the controller is discrete, I believe I need a Zero Order Hold on the input to simulate the fact that the controller commands (as implemented on a microcontroller for example) are constant between the sample times.
But should there be a Zero Order Hold on the sensing side as well? Note that I am estimating the angular velocities with backward difference method.
I should also note that the current response (attached) does make sense to me.

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