Step Response Models The MPC Toolbox stores step response models in the following format s2 1)0 0 nout(2) 0 0 0 ( +2)×n where del t2 is the sampling time and the vector nout indicates if a particular utput is integrating or not nout(i)=0 if output i is integrating nout(i)= 1 if output i is stable The step response can be obtained directly from identification experiments, or generated from a continuous or discrete transfer function or state-space model. For example, if the discrete system description(sampling time T=0. 1)is yk)=-05y(k-1)+Wk-3) then the transfer function is g(2)=.2Step Response Models 2-3 The MPC Toolbox stores step response models in the following format: where delt2 is the sampling time and the vector nout indicates if a particular output is integrating or not: nout(i) = 0 if output i is integrating. nout(i) = 1 if output i is stable. The step response can be obtained directly from identification experiments, or generated from a continuous or discrete transfer function or state-space model. For example, if the discrete system description (sampling time T = 0.1) is y(k) = –0.5y(k – 1) + v(k – 3) then the transfer function is plant S1 S2 Sn nout(1) 0 … 0 nout(2) 0 … 0 nout n y ( ) 0 … 0 ny 0 … 0 delt2 0 … 0 n ny ( ) ⋅ + + ny 2 × nv = … … … … g z( ) z –3 1 0.5z –1 + = --------------------------