So I am doing a zero order hold integration technique for discretization. From the text, there is an explicit expression describing the discrete dynamics.
How do I look at the explicit form of my linearized system from Drake? I want to know the A, B, and C matrices to use in explicitly writing out my discrete time dynamics.
Also, Is there a technique in Drake which does discretization?
When you call Linearize(system, context) in drake, you get back a LinearSystem object. You can then call A(), 'B()`, etc on that object to get the matrices.
If you linearize a continuous-time system, you will get a continuous-time linear system out. If you linearize a dicrete-time system, you'll get the discrete-time system out. I think your proposal is to linearize the continuous-time system then do the zero-order hold in section 10.2.4? That sounds very reasonable.