Discretization

Whichever the chosen numerical method:

${\bf L:} \hspace{1cm} \left[ \begin{array}{c} x_r(n) \\ \dot{x}_r (n) \end{a... ...\right] = \mbox{\boldmath${\bar{C}}$} \Delta p(n) + \mbox{\boldmath${s}$}(n)$

${\bf NL:} \hspace{.5cm} \Delta p(n) = f\left( \left[\begin{array}{c} u_f (n)\... ...ight]\right) =f(\mbox{\boldmath${K}$}\Delta p(n) + \mbox{\boldmath${\xi}$}(n))$

• $\mbox{\boldmath${s}$}(n)$ and $\mbox{\boldmath${\xi}$}(n)$ known at time $n$.
• $\mbox{\boldmath${\bar{C}}$}$ and $\mbox{\boldmath${K}$}$ depend on the method.
• Delay-free loop between $x_r$ and $\Delta p$.