Simulink Treating Discrete-Time State-Space as Continuous-Time?

Question

I have a MATLAB script wherein I take a second-order ODE on $\mathbb{R}^3$ (vector field on the phase space), then, at a critical point, take the Jacobian matrix $A$, use a "fully-actuated" input matrix $B = I_6$, convert the continuous-time state-space system to a discrete-time state-space system via $[G\ H;\ 0\ I] = \text{expm}(T_s[A\ B;\ 0\ 0])$ (where $T_s = 0.1 s$), then find a gain matrix $K = \text{place}(G,H,\text{zeros}(6,1))$ so the closed-loop discrete-time state-space system, $G-HK$, has all its eigenvalues at 0 http://airvigilante194.sdf.org/Scripts/deadbeat.m. This is supposed to implement deadbeat control.

Here are the $A$ and $B$ matrices and the eigenvalues of $A$.

Here are the $G$, $H$, and $K$ matrices

Here is $G-HK$ and its eigenvalues

However, when I go to implement it in Simulink http://airvigilante194.sdf.org/Scripts/deadbeatJeff03.slx, Simulink appears to treat the system as a continuous-time system and sort-of passes straight through the unit step inputs.

(The other 3 scopes are just the derivatives of the first three scopes, so zero with the unit step passed straight through.)

Strangely, when I implement the system in Simulink using $G, B,$ and $K$, the eigenvalues of $G-BK = G-IK = G-K$ all have real part between -8.4 and -9.6, so this does function as a sort-of deadbeat control, keeping the system at or very near the set-point of 0 http://airvigilante194.sdf.org/Scripts/deadbeatJeff02.slx.

Here is $G-K$ and its eigenvalues

Here is the system without the feedback loop and $K$ http://airvigilante194.sdf.org/Scripts/deadbeatJeff01.slx.

You can see, in continuous time, it has one negative real part eigenvalue, which just grows linearly with the unit step, one positive real part eigenvalue, which grows exponentially, and one purely imaginary eigenvalue (really, two) that oscillates (The other three scopes are just the derivatives of these scopes, with the same linear growth from the unit step from the first). Here are the eigenvalues of $G$ and their moduli ("moduluses")

You can see it has two with modulus $>1$, two with modulus $<1$ and two with modulus $=1$, so it is displaying the correct behavior for discrete time.

Would someone help me puzzle out how to implement deadbeat control in deadbeatJeff03.slx, so the systems returns to the set-point of 0 in $ \le 0.6 s$? I suspect and hope it's something simple I'm missing. Thanks in advance.

Edit: When I use $0 = G-HK$ for the $G$ matrix, $I$ for the $H$ matrix, and no feedback loop in the discrete-time block diagram, it does indeed display deadbeat control. http://airvigilante194.sdf.org/Scripts/deadbeatJeff04.slx Something about putting in the feedback loop with the gain matrix $K$ appears to make Simulink treat the system as a continuous-time system. If someone understands that phenomenon and can instruct me as to how to put a feedback loop on a discrete-time system and make it still discrete-time in Simulink, "that'd be great"; otherwise, I can just do this kluge.

Answer 1

EUREKA!! I FOUND IT!! (And, I broke all the old links 😕)

Here is the continuous-time system http://airvigilante194.sdf.org/Scripts/deadbeatJeff01.slx

Vector field

Critical point

Continuous time matrices

And, here is the script to computer the gain matrix http://airvigilante194.sdf.org/Scripts/deadbeatJeff.m and here is the discrete-time system implementing deadbeat control http://airvigilante194.sdf.org/Scripts/deadbeatJeff02.slx

Gain Matrix

Thanks so much for all your help! This really means a lot to me.