How to change continuous state space model to discrete state space model with disturbance and display the discrete state space?

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Ivan Dwi Putra 2020-10-21

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https://ww2.mathworks.cn/matlabcentral/answers/620838-how-to-change-continuous-state-space-model-to-discrete-state-space-model-with-disturbance-and-displa

评论： Ivan Dwi Putra 2020-10-22

This is parameter that i used in my state space model

% Parameter Massa
m1 = 8095; % massa train set 1 dalam kg
m2 = 8500; % massa train set 2 dalam kg
m3 = 8457; % massa train set 3 dalam kg
% Parameter Gaya
f1 = 205.*10^3; % Gaya train set 1 dalam N
f2 = 302.*10^3; % Gaya train set 2 dalam N
f3 = 302.*10^3; % Gaya train set 3 dalam N
% Parameter Resistansi
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;
c_0_3 = 0.01176 ;
c_1_3 = 0.00077616;
c_2_3 = 4.48;
% Desired Speed
v_0 = 300;
% Desired Train Following Headway Time
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_3   = -1./m3.*(c_1_3 + 2.*c_2_3.*v_0); 
a_1_head = 1-(a_1.*hstar);
a_2_head = 1-(a_2.*hstar);
a_3_head = 1-(a_3.*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);
p_3 = -1./m3.*(c_0_3 - c_2_3.*(v_0).^2);
A = [0     a_1_head    0            0        0         0;
     0            0    0            0        0         0;
     0 (a_2_head-1)    0     a_2_head        0         0;
     0            0    0            0        0         0;
     0 (a_3_head-1)    0 (a_3_head-1)        0  a_3_head;
     0            0    0            0        0         0;
     ];
 
B = [-b*hstar         0     0;
      b               0     0;
      0        -b*hstar     0;
     -b               b     0;
      0               0     0;
      0               0    -b;
     ];
 C = [1 0 0 0 0 0;
      0 0 1 0 0 0;
      0 0 0 0 1 0;
      ];
 
 % W is bounded disturbance
 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);
     0;
     ((a_3 - 1).*v_0) - (p_3*hstar);
     ];
 
 D = 0;
 
 Ts = 100;
 
x0 = [0; 0; 100; 0;200;0];