Specifications

Time Delays
2-49
You can also use the InputDelay and OutputDelay properties to conveniently
specify input or output delays in TF, ZPK, or FRD models. For example, you
can create the transfer function
by typing
s = tf('s');
H = [1/s ; 2/(s+1)]; % rational part
H.inputdelay = 0.1
The resulting model is displayed as
Transfer function from input to output...
1
#1: exp(–0.1*s) * -
s
2
#2: exp(–0.1*s) * -----
s + 1
By comparison, to produce an equivalent transfer function using the ioDelay
property, you would need to type
H = [1/s ; 2/(s+1)];
H.iodelay = [0.1 ; 0.1];
Notice that the 0.1 second delay is repeated twice in the I/Odelay matrix. More
generally, for a TF, ZPK, or FRD model with input delays and
output delays , the equivalent I/O delay matrix is
x
·
t
()
Ax t
()
B
1
u
1
t 0.1–
()
+ B
2
u
2
t
()
+=
y
1
t 0.2+
()
C
1
xt
()
D
11
u
1
t 0.1–
()
D
12
u
2
t
()
++=
y
2
t 0.3+
()
C
2
xt
()
D
21
u
1
t 0.1–
()
D
22
u
2
t
()
++=
Hs
()
1
s
---
2
s 1+
------------
= e
0.1s–
α
1
... α
m
,,[]
β
1
... β
p
,,[]