Comparison study of the Taylor series based discretization method for nonlinear input-delay systems

A general order hold time discretization method for input-driven nonlinear continuous time-delay systems is proposed which can be applied for different order sampling hold assumptions. It is based on a combination of Taylor series expansion and the theory of sampling and hold where the mathematical structure for the new discretization scheme is introduced in detail in this paper. The performance of the proposed discretization procedure is compared by different types of systems through various sampling rates, time delays, input signals, order of sampling hold assumptions and truncation orders. Results show that the proposed scheme is applicable for use in control systems and several useful summarized rules for this method are presented in the conclusion.