"""
ZOH discretization of time constant system
Finn Haugen, finn@techteach.no
2025 06 29
"""
#%% Imports

import control

#%% Creating the s-transfer function

s = control.tf('s')
K = 1  # Gain
tc = 1  # [s] Time constant
H_cont = K/(tc*s + 1)

#%% ZOH discretization

ts = 0.01  # Time step [s]
H_disc = control.sample_system(H_cont, ts, method='zoh')
print('H_disc(z) =', H_disc)