Step response plot of dynamic system; step response data

`step(`

plots the response of a dynamic system
model to a step input of
unit amplitude. The model `sys`

)`sys`

can be continuous- or discrete-time,
and SISO or MIMO. For MIMO systems, the plot displays the step responses for each I/O
channel. `step`

automatically determines the time steps and duration of
the simulation based on the system dynamics.

`step(___,`

specifies
additional options for computing the step response, such as the step amplitude or input
offset. Use `opts`

)`stepDataOptions`

to create the option set
`opts`

. You can use `opts`

with any of the
previous input-argument and output-argument combinations.

`[___] = step(___,`

specifies additional options for computing the step response, such as the step amplitude
or input offset. Use `opts`

)`stepDataOptions`

to create the option set
`opts`

. You can use `opts`

with any of the
previous input-argument and output-argument combinations.

To obtain samples of continuous-time models without internal delays,
`step`

converts such models to state-space models and discretizes them
using a zero-order hold on the inputs. `step`

chooses the sampling time for
this discretization automatically based on the system dynamics, except when you supply the
input time vector `t`

in the form `t = 0:dt:Tf`

. In that
case, `step`

uses `dt`

as the sampling time. The resulting
simulation time steps `tOut`

are equisampled with spacing
`dt`

.

For systems with internal delays, Control System Toolbox™ software uses variable step solvers. As a result, the time steps
`tOut`

are not equisampled.

[1] L.F. Shampine and P. Gahinet, "Delay-differential-algebraic
equations in control theory," *Applied Numerical Mathematics*, Vol. 56,
Issues 3–4, pp. 574–588.