Textbook in PDF format

In Control System Toolbox, System Identification ToolboxTM, and Robust Control ToolboxTM software, you represent linear systems as model objects. In System Identification Toolbox, you also represent nonlinear models as model objects. Model objects are specialized data containers that encapsulate model data and other attributes in a structured way. Model objects allow you to manipulate linear systems as single entities rather than keeping track of multiple data vectors, matrices, or cell arrays.
Model objects can represent single-input, single-output (SISO) systems or multiple-input, multiple-output (MIMO) systems. You can represent both continuous- and discrete-time linear systems.
The main families of model objects are
- Numeric Models — Basic representation of linear systems with fixed numerical coefficients. This family also includes identified models that have coefficients estimated with System Identification Toolbox software.
- Generalized Models — Representations that combine numeric coefficients with tunable or uncertain coefficients. Generalized models support tasks such as parameter studies or compensator tuning