Scilab Function

flts - time response (discrete time, sampled system)

### Calling Sequence

  `[y [,x]]=flts(u,sl [,x0])`
  `[y]=flts(u,sl [,past])`

### Parameters

- `u` : matrix (input vector)
- `sl` : list (linear system `syslin`)
- `x0` : vector (initial state ; default value=`0`)
- `past` : matrix (of the past ; default value=`0`)
- `x,y` : matrices (state and output)

### Description

State-space form:

`sl` is a `syslin` list containing the matrices of the following linear system

`sl=syslin('d',A,B,C,D)` (see `syslin`):

      x[t+1] = A x[t] + B u[t]
      y[t] = C x[t] + D u[t]

or, more generally, if `D` is a polynomial matrix (`p = degree(D(z))`) :

Transfer form:

`y=flts(u,sl[,past])`. Here `sl` is a linear system in transfer matrix representation i.e

`sl=syslin('d',transfer_matrix)` (see `syslin`).

is the matrix of past values of u and y.

nd is the maximum of degrees of lcm's of each row of the denominator matrix of sl.

    u=[u0 u1 ... un]  (input)
    y=[y0 y1 ... yn]  (output)

p is the difference between maximum degree of numerator and maximum degree of denominator

### Examples

    sl=syslin('d',1,1,1);u=1:10;
    y=flts(u,sl);
    plot2d2("onn",(1:size(u,'c'))',y')
    [y1,x1]=flts(u(1:5),sl);y2=flts(u(6:10),sl,x1);
    y-[y1,y2]

    //With polynomial D:
    z=poly(0,'z');
    D=1+z+z^2; p =degree(D);
    sl=syslin('d',1,1,1,D);
    y=flts(u,sl);[y1,x1]=flts(u(1:5),sl);
    y2=flts(u(5-p+1:10),sl,x1);  // (update)
    y-[y1,y2]

    //Delay (transfer form): flts(u,1/z)
    // Usual responses
    z=poly(0,'z');
    h=(1-2*z)/(z^2+0.3*z+1)
    u=zeros(1,20);u(1)=1;
    imprep=flts(u,tf2ss(h));   //Impulse response
    plot2d2("onn",(1:size(u,'c'))',imprep')
    u=ones(1,20);
    stprep=flts(u,tf2ss(h));   //Step response
    plot2d2("onn",(1:size(u,'c'))',stprep')
    //
    // Other examples
    A=[1 2 3;0 2 4;0 0 1];B=[1 0;0 0;0 1];C=eye(3,3);Sys=syslin('d',A,B,C);
    H=ss2tf(Sys); u=[1;-1]*(1:10);
    //
    yh=flts(u,H); ys=flts(u,Sys);
    norm(yh-ys,1)
    //hot restart
    [ys1,x]=flts(u(:,1:4),Sys);ys2=flts(u(:,5:10),Sys,x);
    norm([ys1,ys2]-ys,1)
    //
    yh1=flts(u(:,1:4),H);yh2=flts(u(:,5:10),H,[u(:,2:4);yh(:,2:4)]);
    norm([yh1,yh2]-yh,1)
    //with D<>0
    D=[-3 8;4 -0.5;2.2 0.9];
    Sys=syslin('d',A,B,C,D);
    H=ss2tf(Sys); u=[1;-1]*(1:10);
    rh=flts(u,H); rs=flts(u,Sys);
    norm(rh-rs,1)
    //hot restart
    [ys1,x]=flts(u(:,1:4),Sys);ys2=flts(u(:,5:10),Sys,x);
    norm([ys1,ys2]-rs,1)
    //With H:
    yh1=flts(u(:,1:4),H);yh2=flts(u(:,5:10),H,[u(:,2:4); yh1(:,2:4)]);
    norm([yh1,yh2]-rh)

### See Also

`ltitr` `dsimul` `rtitr`