Continuous linear system with jump

Library

Linear

Description

This block realizes a continuous-time linear state-space system with the possibility of jumps in the state. The number of inputs to this block is two. The first input is the regular input of the linear system, the second carries the new value of the state which is copied into the state when an event arrives at the unique event input port of this block. That means the state of the system jumps to the value present on the second input (of size equal to that of the state). The system is defined by the $(A,B,C,D)$ matrices and the initial state $x_0$. The dimensions must be compatible. The sizes of inputs and outputs are adjusted automatically.

Dialog Box

Set continuous linear system parameters
A matrix	0
B matrix	1
C matrix	1
D matrix	0
Initial state	0

• A matrix: square matrix. TheA matrix
• B matrix: theB matrix
• C matrix: the C matrix
• D matrix: theD matrix
• Initial state $x_0$: vector. The initial state of the system.

Default properties

• always active: yes
• direct-feedthrough: no
• zero-crossing: no
• mode: no
• number/sizes of inputs: 2 / 1 1
• number/sizes of outputs: 1 / 1
• number/sizes of activation inputs: 1 / 1
• number/sizes of activation outputs: 0 /
• continuous-time state: yes
• discrete-time state: no
• name of computational function: tcslti

Interfacing function

scilab/macros/scicos_blocks/linear/TCLSS_f.sci

Computational function (type 1)

      subroutine tcslti(flag,nevprt,t,xd,x,nx,z,nz,tvec,ntvec,
     &     rpar,nrpar,ipar,nipar,u1,nu1,u2,nu2,y,ny)
c     Scicos block simulator
c     continuous state space linear system simulator
c     rpar(1:nx*nx)=A
c     rpar(nx*nx+1:nx*nx+nx*nu)=B
c     rpar(nx*nx+nx*nu+1:nx*nx+nx*nu+nx*ny)=C
c     rpar(nx*nx+nx*nu+nx*ny+1:nx*nx+nx*nu+nx*ny+ny*nu)=D
c!
c
      double precision t,xd(*),x(*),z(*),tvec(*),rpar(*)
      double precision u1(*),u2(*),y(*)
      integer flag,nevprt,nx,nz,ntvec,nrpar,ipar(*)
      integer nipar,nu1,nu2,ny

c
      la=1
      lb=nx*nx+la
      lc=lb+nx*nu1

      if(flag.eq.1.or.flag.eq.6) then
c     y=c*x+d*u1     
         ld=lc+nx*ny
         call dmmul(rpar(lc),ny,x,nx,y,ny,ny,nx,1)
         call dmmul1(rpar(ld),ny,u1,nu1,y,ny,ny,nu1,1)
      elseif(flag.eq.2.and.nevprt.eq.1) then
c     x+=u2
         call dcopy(nx,u2,1,x,1)
      elseif(flag.eq.0.and.nevprt.eq.0) then
c     xd=a*x+b*u1
         call dmmul(rpar(la),nx,x,nx,xd,nx,nx,nx,1)
         call dmmul1(rpar(lb),nx,u1,nu1,xd,nx,nx,nu1,1)
      endif
      return
      end