Simulink Control Design™ - MathWorks

Integrate the resulting model to see that it has 21 states (1 - Discrete Filter, 20 - Integer

Delay).

size(sys_default)

State-space model with 1 outputs, 1 inputs, and 21 states.

You can linearize this same model using the 'UseExactDelayModel' property as follows:

opt = linearizeOptions;

opt.UseExactDelayModel = 'on';

sys_exact = linearize(model,io,opt);

Interrogating the new resulting model shows that it has 1 state and the delays are

accounted for internally in the linearized model.

size(sys_exact)

State-space model with 1 outputs, 1 inputs, and 1 states.

Run a step response simulation of both linearized model to see that they are identical by

running the following commands.

step(sys_default,sys_exact);

h = legend('sys_default','sys_exact',...

'Location','SouthEast');

h.Interpreter = 'none';

2 Linearization