addition of LTI models scalar adjoint. See pertransposition append append append array dimensions arrays. See LTI arrays balancing realizations building LTI arrays building models MIMO SISO canonical realizations cell array cell array cell array changing units on a plot classical control classical control closed loop. See feedback comparing models in plots compensators editing in SISO Design Tool exporting feedback (state estimator design) concatenation model concatenation, model horizontal LTI arrays state-space model order, effects on vertical conditioning, state-space models connection connection feedback parallel parallel series series constructor functions, LTI objects continuous-time conversion, model automatic between model types between model types continuous to discrete (c2d) discrete to continuous (d2c) discrete to continuous (d2c) with negative real poles FRD model, to resampling SS model, to state-space, to TF model, to ZPK model, to covariance covariance error error noise d2d data markers delays combining discrete-time models discretization I/O I/O I/O information, retrieving input input output output output Padé approximation supported functionality delays input deletion parts of LTI arrays parts of LTI models denominator denominator property specification specification specification specification value descriptor systems. See state-space models, descriptor design design classical classical Kalman estimator Kalman estimator Kalman estimator Kalman estimator LQG LQG, description of LQG, example of LQG, syntax LQG Tracker, example of pole placement regulators regulators robustness root locus root locus root locus state estimator state estimator, Kalman digital filter filt specification dimensions array I/O discrete-time models discrete-time models control design Kalman estimator resampling See also LTI models discretization discretization discretization delay systems first-order hold matched poles/zeros Tustin method zero-order hold dual. See transposition error covariance error covariance estimator gain Kalman exporting compensators and models extraction LTI arrays, in LTI models, in feedback feedthrough gain filt filtering. See Kalman estimator final time See also time response first-order hold (FOH) with delays FRD (frequency response data) objects FRD (frequency response data) objects conversion to frequencies indexing by referencing by uses frequency response frequency response customizing plots plotting functions time and frequency response gain gain estimator, Kalman feedthrough property LTI properties gain selection state-feedback gain margins get group. See I/O groups hasdelay Help Navigator I/O concatenation delays delays delays dimensions LTI arrays groups referencing models by group name names names names conflicts, naming referencing models by relation indexing into LTI arrays single index access inheritance input delays delays delays groups names number of inputs input vector InputDelay. See delays InputGroup InputGroup conflicts, naming See also I/O groups InputName InputName conflicts, naming See also I/O names installation inversion model ioDelayMatrix. See delay Kalman filtering Kalman estimator Kalman estimator continuous continuous discrete gain steady-state time-varying Kalman filter. See Kalman estimator linear models comparing multiple models in plots exporting frequency response. model order reduction time response LQG (linear quadratic Gaussian) method weighting matrices LQG (linear quadratic-gaussian) method LQG (linear quadratic-gaussian) method continuous LQ regulator continuous LQ regulator cost function design design design See design, LQG gain, optimal state-feedback Kalman state estimator LQ-optimal gain LQ-optimal gain regulator regulator, designing regulator, forming LTI arrays accessing models analysis functions array dimensions building building LTI arrays building with rss building with tf, zpk, ss, and frd concatenation conversion, model.See conversion deleting parts of dimensions, size, and shape extracting subsystems indexing into indexing into interconnection functions model dimensions operations on dimension requirements special cases reassigning parts of size stack LTI (linear time-invariant) LTI models addition scalar building characteristics concatenation effects on model order horizontal vertical continuous conversion conversion See also conversion, model continuous/discrete creating discrete discrete discretization, matched poles/zeros empty empty functions, analysis I/O group or channel name, referencing by interconnection functions inversion model data, accessing modifying multiplication operations precedence rules See also operations proper transfer function resizing subsystem, modifying subtraction type LTI objects LTI objects constructing methods properties. See LTI properties See also LTI models LTI properties LTI properties LTI properties accessing property values (get) accessing property values (get) displaying properties generic properties I/O groups. See I/O, groups I/O names. See I/O, names inheritance model-specific properties online help (ltiprops) property names property names property values property values setting sample time variable property LTI Viewer adding plot types changing models changing plot types command line initializing comparing multiple models importing models introduction to models, importing opening plot options rise time settling time right-click menus map, I/O margins, gain and phase markers, data MathWorks Web site methods MIMO MIMO MIMO model building model building feedback connection parallel connection parallel connection series connection series connection model dynamics, function list model order reduction modeling. See model building multiplication scalar noise covariance white Notes numerator numerator property specification specification specification specification value numerical stability object-oriented programming objects. See LTI objects online help operations on LTI models operations on LTI models addition append arithmetic concatenation concatenation concatenation concatenation extracting a subsystem inversion multiplication overloaded pertransposition precedence resizing subsystem, extraction subtraction transposition output delays delays delays groups names number of outputs output vector OutputDelay. See delays OutputGroup group names, conflicts See also I/O, groups OutputName See also I/O, names conflicts, naming overshoot Padé approximation (pade) parallel connection parallel connection pertransposition phase margins plotting changing units customizing plots multiple systems right-click menus time responses pole placement conditioning poles property precedence rules precedence rules proper transfer function properties sample time variable properties. See LTI properties realization state coordinate transformation realizations balanced canonical reduced-order models regulation regulation regulation performance resampling response, I/O Riccati equation right-click menus LTI Viewer plot responses rise time robustness root locus root locus compensator gain design design designing See also Root Locus Design GUI root locus design functions for rss building an LTI array with sample time sample time sample time sample time accessing resampling setting unspecified scaling series connection series connection set settling time SISO SISO SISO Design Tool adding a lead network adding a notch filter adding a prefilter adding an integrator adding poles and zeros changing the compensator gain, Bode magnitude changing the compensator gain, root locus changing the feedback structure compensators, editing importing models opening root locus design SS ss SS models SS objects. See state-space models stability numerical stack state state estimator matrix names transformation vector vector state estimator design regulators/compensators state-space models state-space models state-space models state-space models balancing conditioning conversion to See also conversion descriptor descriptor matrices model data quick data retrieval realizations scaling specification ss transfer functions of steady state error subsystem subsystem subsystem operations on LTI models subsystem, modifying subtraction Td. See delays tf TF objects. See transfer functions tfdata output, form of time delays. See delays time response customizing plots final time functions MIMO plotting time range to white noise vector of time samples time-varying Kalman filter totaldelay transfer functions transfer functions transfer functions transfer functions constructing with rational expressions conversion to denominator discrete-time discrete-time DSP convention filt MIMO MIMO MIMO numerator quick data retrieval specification static gain tf TF object, display for variable property variable property transfer functions (TF) transposition triangle approximation Ts. See sample time Tustin approximation with frequency prewarping units, changing on a plot Userdata variable property white noise See also noise zero-order hold (ZOH) zero-order hold (ZOH) with delays zero-pole-gain (ZPK) models zero-pole-gain (ZPK) models zero-pole-gain (ZPK) models zero-pole-gain (ZPK) models conversion to MIMO MIMO quick data retrieval specification zpk zeros property zpk ZPK objects. See zero-pole-gain (ZPK) models zpkdata output, form of