9/2/2017 Control Tutorials for MATLAB and Simulink - Index: Extra Content

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INTRODUCTION CRUISE CONTROL MOTOR SPEED

SYSTEM

MODELING Index: Extra Content

ANALYSIS
This section contains a list of the pages that are not in the main flow of the

tutorials, but which provide important reference information. Short

CONTROL
descriptions of each Extra page are provided.

PID

ROOT LOCUS
Contents

FREQUENCY System Conversions

System Identification
STATE-SPACE
Difference Equations and System Representations
DIGITAL
Digital Lead and Lag

Digital Steady-State Error

SIMULINK Discrete Pole Locations and Transient Response

MODELING Function

Function: lnyquist
CONTROL
Function: nyquist1

Function: rscale

Function: sigrid

Function: wbw

Lagging Effect Associated with the Hold

Lead/Lag

Lsim

M-files

Notch Filter

PID Bilinear Approximation

Plot

Pole-Zero Cancellation

Simulink Block Libraries

Simulink Interaction with MATLAB

Steady-State Error

Step

System Conversions
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The System Conversions page explains how to use MATLAB to convert

between the various different representations of a dynamic system. Three

particular forms are the transfer function form, the state space form, and the

zero-pole-gain form which can be represented using vectors, matrices, or

MATLAB's 'sys' formats.

System Identification

The System Identification page explains how to identify the system

parameters of first and second order systems from either time-domain or

frequency-domain data.

Difference Equations and System Representations

The Difference Equations page describes the difference equation

description of discrete-time systems and how to derive transfer functions

and state space representations from them.

Digital Lead and Lag

The Digital Lead-Lag page covers the design of discrete-time lead and lag

controllers using root locus methods.

Digital Steady-State Error

The Digital Steady-State Error page explains the Final Value Theorem for

discrete-time systems and how to use it to calculate the steady-state error

of a system for a step input or an impulse input, in particular.

Discrete Pole Locations and Transient Response

The Discrete Transient Response page shows more analysis of the

relationship between the transient response of a discrete-time system and

the locations of the dominant poles.

Function

The Function page gives an introduction on how to write your own functions

in MATLAB. Links to files containing functions written for for the Controls

Tutorial are provided.

Function: lnyquist

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The function lnyquist.m is a variation of nyquist1.m below which plots

the polar plot of a transfer function using log2(G(jw) + 1) as the radius

instead of G(jw) + 1. The same algorithm is used to shape the Nyquist

contour around the poles on the imaginary axis and the origin. The page

contains an explanation and code listing for the function.

Function: nyquist1

The function nyquist1.m contains a special contour shaping algorithm to

handle poles on the imaginary axis and at the origin, for which MATLAB's

nyquist command frequently gives erroneous results. The page contains an

explanation and code listing for the function.

Function: rscale

This function will find the scale factor for a full-state feedback system to

eliminate the steady-state error in response to a step reference input. The

page contains an explanation and code listing for the function.

Function: sigrid

This function will plot a vertical line through a point on the real axis of a

graph generated by another plotting function, such as rlocus. The function

is useful for plotting a bound of the real parts of poles on a root locus plot.

The page contains an explanation and code listing for the function.

Function: wbw

This page contains an explanation and a code listing of the function wbw.m

which returns the approximate closed-loop bandwidth frequency given the

desired damping ratio of the dominant closed-loop poles and desired the

peak time or settling time of a closed-loop step response.

Lagging Effect Associated with the Hold

This page discusses the time lag effect caused by using a zero-order hold

within a digital control system.

Lead/Lag

The Lead and Lag Compensators page shows how to design continuous-
time lead, lag, and lead/lag compensators in MATLAB using root locus and

frequency response techniques

Lsim
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The Lsim page explains the MATLAB command lsim, which simulates the
time response of a linear, time-invariant system (continuous-time or

discrete-time) to arbitrary inputs and initial conditions.

M-files

The Introduction to M-files page describes how to use files called m-files or
script files which contain MATLAB commands. M-files serve as MATLAB

programs and MATLAB executes the commands exactly as if the

commands had been entered at the MATLAB prompt.

Notch Filter

The Notch Filter page explains how to design a compensator that will place

zeroes to approximately cancel lightly damped complex-conjugate poles in

a plant.

PID Bilinear Approximation

The PID Bilinear page shows how to design a discrete-time PID

compensator using a bilinear transformation substitution for the Laplace

variable in a continuous-time PID transfer function.

Plot

This page explains the basics of using MATLAB's plot command including

how to plot different line styles and different colors. Other topics covered
include the subplot command, changing the axes, and adding text to a

plot.

Pole-Zero Cancellation

This page discusses the problem with attempting to cancel a right-half plane
pole with a zero at the same location and shows why a designer should

never do this.

Simulink Block Libraries

This page explains the functionality of the blocks appearing in the

Continuous, Discontinuities, Discrete, Logic and Bit Operations, Math

Operations, Sinks, and Sources, Simulink Block Libraries.

Simulink Interaction with MATLAB

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This page examines the three of the ways in which Simulink can interact
with MATLAB.

Defining Simulink block parameters using MATLAB variables

Exchanging signals between Simulink and MATLAB

Extracting linear state space models from Simulink system models

Steady-State Error

The Steady-State Error page explains the concept of steady-state error and
how to calculate the steady-state error for various standard test inputs. The

page covers relationship between system type (the number of free

integrators) and the steady-state error for the step, ramp, and parabolic test

inputs. The page also shows how to design a compensator to reduce or

eliminate steady-state error.

Step

The Step page describes the use of the step command which is one of

most useful functions in the MATLAB Control Systems Toolbox. The step
command plots the response of a system represented in either transfer

function, state space, or zero-pole-gain format to a step input. The step

command accepts continuous-time and discrete-time models.

Published with MATLAB 8.2

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International License.

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