Much work has been done on analysis and control of continuous or discrete time-delay systems. However, the discretization of continuous time-delay systems has not been extensively studied. This paper introduces an original approach to the discrete approximation of continuous-time linear anisochronic models by discrete models for the purposes of numerical modelling, simulation, identification and control. Depending on the required numerical accuracy of the approximation, this method employing the Taylor series enables us to determine the order and the resulting structure of a discrete linear model appropriate for numerical processing. The technique is simultaneously applied, more in greater detail, to a continuous anisochronic model of the 2nd order which is often used in applications including various forms of delays that are very closely related to the existence of continuously distributed parameters. In addition, this work includes derived, original formulae which enable us to convert directly an original continuous linear anisochronic model of the 2nd order into the corresponding discrete approximation. Finally, an example is given of the application of the method, and a measure of agreement is shown between the original continuous anisochronic model representing the system and a discrete approximation of it.
discretization, delay, anisochronic model, internal point delay.
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