c2d simulink

2012 3 11
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Hello,
I'm trying to implement a EKF in simulink. The matlab counterpart of my filter uses the c2d command to obtain the discrete time equivalent matrices. This command, however, does not work in embedded matlab file. Is there a way around this?
Kind regrads, M

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M Brodecki
M Brodecki 2012-4-3

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I already found the solution. You can use the c2d code itself in your embedded matlab file:
[m,n] = size(F); [m,nb] = size(G); s = expm([[F G]*Ts; zeros(nb,n+nb)]); Phi = s(1:n,1:n); Gamma = s(1:n,n+1:n+nb);
Alternatively an approximation can be used as presented in the paper below (page 23, equation 2.85).
<http://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=1&ved=0CCwQFjAA&url=http%3A%2F%2Fwww.itk.ntnu.no%2Fansatte%2FGravdahl_Jan.Tommy%2FDiplomer%2FTonne.pdf&ei=-_96T4W6BoOa8gTD_c3YBA&usg=AFQjCNFQT2X8HrGAif361Oyi8fHQToli2Q>
ode45 can be replaced by coding your own Runge-Kutta solver in embedded matlab.

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Abhishek Dutta
Abhishek Dutta 2012-4-3

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I have the same problem, whats the replacement for 1)c2d and 2)ode45 in embedded matlab?

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