Creating and Manipulating Models

Caution About Model Conversions

When manipulating or converting LTI models, keep in mind that:

• The three LTI model types TF, ZPK, and SS, are not equally well-suited for numerical computations. In particular, the accuracy of computations using high-order transfer functions is often poor. Therefore, it is often preferable to work with the state-space representation. In addition, it is often beneficial to balance and scale state-space models using ssbal. You get this type of balancing automatically when you convert any TF or ZPK model to state space using ss.
• Conversions to the transfer function representation using tf may incur a loss of accuracy. As a result, the transfer function poles may noticeably differ from the poles of the original zero-pole-gain or state-space model.
• Conversions to state space are not uniquely defined in the SISO case, nor are they guaranteed to produce a minimal realization in the MIMO case. For a given state-space model sys,

  ss(tf(sys))

may return a model with different state-space matrices, or even a different number of states in the MIMO case. Therefore, if possible, it is best to avoid converting back and forth between state-space and other model types.

Automatic Conversion

Time Delays