# DADiSP Controls Functions

**DADiSP Controls functions**

DADiSP Controls includes over 40 standalone functions. The following table is a summary of each function.

**Analysis and simulation**

bode | Produce Bode magnitude and phase plots. |

nyquist | Generate Nyquist Plot. |

fstats | Calculate frequency response characteristics from Bode plot. |

dbode | Generate Bode plots for a discrete system. |

dnyquist | Produce Nyquist plot for a discrete system. |

dfstats | Calculate frequency response characteristics from discrete Bode plot. |

setfunit | Set units to be used by frequency response macros. |

pzmap | Plot pole and zero locations in the complex plane. |

rtlocus | Generate Root Locus Plot. |

pzgrid | Overlay a grid of constant natural frequencies and damping ratios. |

dpzmap | Plot location of the poles and zeros of a discrete system. |

drtlocus | Generate Root Locus Plot for a discrete system. |

dpzgrid | Overlay a grid of constant discrete natural frequencies and damping ratios. |

cimpulse | Calculate impulse response of a continuous system. |

cstep | Evaluate step response of a continuous system. |

cramp | Calculate response of a continuous system to ramp input. |

csim | Calculate response of a continuous system to specified input. |

csiminit | Calculate response of a continuous system to specified input and initial conditions. |

dimpulse | Calculate impulse response of a discrete system. |

dstep | Evaluate step response of a discrete system. |

dramp | Calculate response of a discrete system to ramp input. |

dsim | Calculate response of a discrete system to specified input. |

dsiminit | Calculate response of a discrete system to specified input and initial conditions. |

tstats | Calculate performance characteristics from continuous or discrete step response plot. |

**Model transformations**

connect | Produce one composite model from two smaller ones. |

cloop | Transform open-loop model into its closed-loop equivalent. |

cloopf | Produce closed-loop transfer fcn for a system with open-loop & feedback dynamics. |

delay | Model a simple delay in a continuous system. |

delay2 | Model a delay in a continuous system with a higher order approximation. |

c2disc | Produce discrete model: take Z-transform with zero order hold of the continuous system. |

c2dbil | Produce the bilinear discrete equivalent of a continuous system. |

c2dback | Calculate discrete equivalent via the backward integration method. |

c2delayY | Produce discrete model: take Z-transform with zero order hold with processing delay. |

dcgain | Calculate DC gain of a continuous system. |

cresolv | Produce the resolvant matrix of a continuous system. |

d2cont | Perform inverse Z-transform with zero order hold to produce the continuous model. |

d2cbil | Produce inverse of the bilinear transform to convert discrete model to continuous equivalent. |

d2cback | Transform discrete transfer function to continuous equivalent via the inverse of the backward integration method. |

**Off the shelf controllers**

pid | Design a proportional plus integral plus derivative controller. |

pi | Design a proportional plus integral controller. |

pd | Design a proportional plus derivative controller. |

lagleadm | Design a lag or lead compensator. |

dpid | Design a discrete proportional plus integral plus derivative controller. |

dpi | Design a discrete proportional plus integral controller. |

dpd | Design a discrete proportional plus derivative controller compensator. |

dlagleadm | Design the discrete equivalent of a continuous lag or lead. |

dsgn2ordm | Design a 2nd order continuous system. |

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