• Library
• Description
• Dialog Box
• Default Properties
• Interfacing Function
• Computational Function (type 4)
• See Also
• Bibliography

rt_be_if

Library

Robotics

Description

This block is a single step discrete integrator. The output vector is the integral of the input vector computed with the first order backward Euler method define by the following formula: y(k) = h * u(k) + y(k - 1), where h is the time step, y(k) the output vector and u(k) the input vector at the same sample instant.

Dialog Box

• Step : scalar. The integration time step.
• Initial state : a real vector. The initial value of output state.

Default Properties

• always active:no
• direct-feedthrough:no
• zero-crossing:no
• mode:no
• number/sizes of inputs:1 / [-1,1]
• number/sizes of activation inputs:1 / [1,1]
• number/sizes of outputs:1 / [-1,1]
• number/sizes of activation outputs:0 /
• continuous-time state:no
• discrete-time state:yes
• name of computational function:rt_be_cf4

Interfacing Function

<PATH>/macros/rt_be_if.sci

Computational Function (type 4)

<PATH>/src/rt_eulerint.c

See Also

rt_fe_if,  

Bibliography

A. Layec, "Modnum": Scilab toolbox for the communication systems - Reference Guide, Draft Version, February 2006, pp. 158-159