Creating and Manipulating Models    

Zero-Pole-Gain Models

This section explains how to specify continuous-time SISO and MIMO zero-pole-gain models. The specification for discrete-time zero-pole-gain models is a simple extension of the continuous-time case. See Discrete-Time Models.

SISO Zero-Pole-Gain Models

Continuous-time SISO zero-pole-gain models are of the form

where is a real-valued scalar (the gain), and ,..., and ,..., are the real or complex conjugate pairs of zeros and poles of the transfer function . This model is closely related to the transfer function representation: the zeros are simply the numerator roots, and the poles, the denominator roots.

There are two ways to specify SISO zero-pole-gain models:

The syntax to specify ZPK models directly using zpk is

where z and p are the vectors of zeros and poles, and k is the gain. This produces a ZPK object h that encapsulates the z, p, and k data. For example, typing

produces

You can also specify zero-pole-gain models as rational expressions in the Laplace variable s by:

  1. Defining the variable s as a ZPK model
  2. Entering the transfer function as a rational expression in s.

For example, once s is defined with zpk,

returns the same ZPK model as

MIMO Zero-Pole-Gain Models

Just as with TF models, you can also specify a MIMO ZPK model by concatenation of its SISO entries (see Model Interconnection Functions).

You can also use the command zpk to specify MIMO ZPK models. The syntax to create a p-by-m MIMO zero-pole-gain model using zpk is

where

For example, typing

creates the two-input/two-output zero-pole-gain model

Notice that you use [] as a place-holder in Z (or P) when the corresponding entry of has no zeros (or poles).


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