How to change continuous state space model to discete state space model using fourier transform?

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Ivan Dwi Putra 2020-6-25

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/554410-how-to-change-continuous-state-space-model-to-discete-state-space-model-using-fourier-transform

This is my matlab code represent my continuous state space model

%Parameter Massa
m1 = 8095; % massa train set 1 dalam kg
m2 = 8500; % massa train set 2 dalam kg
g  = 10;
%Parameter Gaya
f1 = 205.10^3; % dalam N
f2 = 302.10^3; % dalam N
c_0_1 = 0.01176;
c_1_1 = 0.00077616;
c_2_1 = 4.48 ;
c_0_2 = 0.01176 ;
c_1_2 = 0.00077616;
c_2_2 = 4.48;
v_0 = 300;
hstar = 120;
a_1   = -1./m1.*(c_1_1 + 2.*c_2_1.*v_0);  
a_2   = -1./m2.*(c_1_2 + 2.*c_2_2.*v_0); 
a_1_head = 1-(a_1.*hstar);
a_2_head = 1-(a_2.*hstar);
b = 1;
p_1 = -1./m1.*(c_0_1 - c_2_1.*(v_0).^2);
p_2 = -1./m2.*(c_0_2 - c_2_2.*(v_0).^2);
A = [0  a_1_head      0        0;
     0     0          0        0;
     0 (a_2_head - 1) 0 a_2_head;
     0      0         0        0
     ];
 
B = [-b.*hstar         0;
      b                0;
      0        -b.*hstar;
     -b                b
     ];
 
U_t = [f1; f2;];
 
W = [((a_1 - 1).*v_0) - (p_1.*hstar);
     0;
     ((a_2 - 1).*v_0) - (p_2.*hstar);
     ((a_1 - 1).*v_0) - (p_1.*hstar);
     ];
C = [1 0 0 0;
     0 1 0 0;
     0 0 1 0;
     0 0 0 1;];
Q = [199995 0 0 0;
     0 199995 0 0;
     0 0 199995 0;
     0 0 0 199995;];
R = [999999999.9999 0;
     0 99999999.9999;];
 