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MATLAB CONTROL SYSTEM TOOLBOX 9 manuali

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Matlab CONTROL SYSTEM TOOLBOX 9 Guida Utente (649 pagine)


Marchio: Matlab | Categoria: no | Dimensione: 3.98 MB |

 

Indice

Control System

1

How to Contact The MathWorks:

2

Control Design Tools

10

The Root Locus Design GUI

11

Design Case Studies

12

Reliable Computations

13

Reference

13

Contents

14

Preface

16

Installation

17

Typographic Conventions

19

Quick Start

21

1 Quick Start

22

LTI Models

23

Model Conversion

25

LTI Properties

27

System Interconnections

39

Other Uses of FRD Models

47

LTI Objects

47

Precedence Rules

49

Creating LTI Models

53

Pure Gains

55

MIMO Zero-Pole-Gain Models

57

Direct Property Referencing

77

Automatic Conversion

87

Time Delays

89

Distillation Column Example

91

2 LTI Models

100

References

103

Operations on LTI Models

105

3 Operations on LTI Models

106

Resizing LTI Systems

113

Arithmetic Operations

115

Multiplication

117

Concatenation of LTI Models

121

Matched Poles and Zeros

127

Arrays of LTI Models

133

4 Arrays of LTI Models

134

Introduction

135

The Concept of an LTI Array

137

Building LTI Arrays

145

Indexing Into LTI Arrays

153

Operations on LTI Arrays

157

Dimension Requirements

159

Model Analysis Tools

163

5 Model Analysis Tools

164

General Model Characteristics

165

Model Dynamics

167

State-Space Realizations

169

Time and Frequency Response

171

Frequency Response

173

Customizing the Plot Display

179

The LTI Viewer

183

6 The LTI Viewer

184

File menu has

189

Tools menu items

189

1 Click on the marker

191

Importing Models

193

The LTI Viewer Menus

197

Interactive Help

199

The Right-Click Menus

201

Characteristics or the

203

The Axes Grouping Submenu

205

Axes Grouping

205

Shift key while

209

Arrays pull-down tab

213

Index into Dimensions

217

The LTI Viewer Tools Menu

221

2 Select either:

229

Simulink LTI Viewer

231

A Sample Analysis Task

231

Model_Inputs_and_Outputs

233

Get Line arized Mod el

239

Linearized Model

239

Performing Linear Analysis

243

Saving Analysis Models

247

7 Control Design Tools

250

Root Locus Design

251

Pole Placement

253

Optimal State-Feedback Gain

257

Kalman State Estimator

257

LQG Design

259

The Root Locus Design

261

8 The Root Locus Design GUI

262

A Servomechanism Example

265

Specifying the Design Model

271

Gain text boxon the

273

As you get close to a closed

275

Zoom button to zoom in

277

Gain,andpressingthe

281

Gain box

283

Add Grid/Boundary menu

285

Tools menu

285

Edit Compensator menu item to

287

Add compensator poles here

289

Compensator

293

Marker for the

295

Then type

297

Designating the Model Source

299

Listing Poles and Zeros

301

Show Ob ject buttons in this

303

OK to close this window

303

The plant, P (Gservo)

305

The root locus

305

Sensor dynamics, H

305

Pre-filter, F

305

9 Design Case Studies

310

H = zpk(0,–0.333,1);

323

D = zpk(0.85,0,1,Ts)

333

LQG Regulation

339

Cross-Coupling Between Axes

351

MIMO LQG Design

355

Steady-State Design

359

Kalman Filtering

361

Time-Varying Kalman Filter

365

10 Reliable Computations

374

Choice of LTI Model

381

11 Reference

392

Category Tables

393

11append

402

Example The commands

403

Feedback connection

404

Parallel connection

404

Series connection

404

Syntax asys = augstate(sys)

405

Syntax sysb = balreal(sys)

406

Phase (deg); Magnitude (dB)

407

Algorithm Consider the model

408

Syntax bode(sys)

409

Syntax sysd = c2d(sys,Ts)

414

Example Consider the system

414

Modal Form

417

Companion Form

417

Examples Example 1

420

Example 2

421

Example w = logspace(1,2,2);

423

11connect

424

Center, 1976

429

Syntax [P,Q] = covar(sys,W)

430

Syntax Co = ctrb(A,B)

433

Syntax sysc = d2c(sysd)

438

Syntax sys1 = d2d(sys,Ts)

441

Syntax [Wn,Z] = damp(sys)

442

1746–1754

446

11dcgain

447

Syntax sys = delay2z(sys)

448

Syntax X = dlyap(A,Q)

451

Syntax sys = drss(n)

452

Syntax sys = dss(a,b,c,d,e)

455

Example The command

456

11dssdata

457

Syntax s = esort(p)

458

, sort Sort system poles

459

Compute system poles

459

Pole-zero map

459

Compute (transmission) zeros

459

Syntax est = estim(sys,L)

460

11evalfr

462

11feedback

463

Example 3

466

Syntax sys = filt(num,den)

467

Example Typing the commands

468

Example Type the commands

470

Create transfer functions

471

Create zero-pole-gain models

471

Set model properties

473

11freqresp

474

11gensig

477

Plot the resulting signal

478

Syntax hasdelay(sys)

483

Syntax impulse(sys)

484

Amplitude

486

Syntax initial(sys,x0)

488

Purpose Invert LTI systems

491

Syntax isys = inv(sys)

491

Example Consider

491

Syntax boo = isct(sys)

494

Syntax boo = isempty(sys)

495

Example Both commands

495

Syntax boo = isproper(sys)

496

Syntax boo = issiso(sys)

497

Continuous-Time Estimation

498

Discrete-Time Estimation

499

Syntax sys = lft(sys1,sys2)

505

Syntax rlqg = lqgreg(kest,k)

507

Syntax [K,S,e] = lqr(A,B,Q,R)

511

Form LQG regulator

512

Syntax lsim(sys,u,t)

516

Then simulate with lsim

518

Syntax ltiview

523

See Also bode Bode response

524

11margin

527

MATLAB responds with

528

Syntax sysr = minreal(sys)

530

M odel order reduction

531

Structured model reduction

531

Purpose Model order reduction

532

Syntax n = ndims(sys)

536

Example sys = rss(3,1,1,3);

536

Syntax ngrid

537

Open−Loop Gain (dB)

538

Syntax nichols(sys)

539

See Also bode Bode plot

545

Syntax nyquist(sys)

546

Syntax Ob = obsv(A,B)

549

Example Determine if the pair

549

Syntax [A,B,C,D] = ord2(wn,z)

553

Syntax [num,den] = pade(T,N)

554

N>10 should be avoided

556

11parallel

558

Purpose Pole placement design

560

Syntax K = place(A,B,p)

560

Syntax pzmap(sys)

563

Imag Axis

564

Syntax rsys = reg(sys,K,L)

566

Example sys = rss(4,1,1,2,3);

569

11rlocfind

570

Purpose Evans root locus

572

Syntax rlocus(sys)

572

Syntax rltool

575

F and H

578

Syntax sys = rss(n)

579

11series

581

Property

584

Syntax sgrid

590

Syntax sigma(sys)

592

Nichols plot

596

Nyquist plot

596

Syntax size(sys)

597

Test if LTI model is empty

598

Test if LTI model is SISO

598

Syntax msys = sminreal(sys)

599

Syntax sys = ss(a,b,c,d)

601

Conversion to State Space

602

Syntax sysT = ss2ss(sys,T)

605

Syntax [sysb,T] = ssbal(sys)

606

11ssdata

608

Syntax step(sys)

610

Syntax sys = tf(num,den)

614

Example 4

618

Discrete-Time

618

Conventions

618

11tfdata

621

Specify transfer functions

623

Syntax td = totaldelay(sys)

624

Syntax zgrid

626

Syntax sys = zpk(z,p,k)

628

Variable

630

Selection

630

Example Example 1

631

Syntax [z,p,k] = zpkdata(sys)

633

Get properties of LTI models

635

Specify zero-pole-gain models

635

See state-space models

638

See also LTI models

639

See transposition

639

See Kalman estimator

639

See time response

639

See I/O groups

640

See also InputName

640

See also Simulink LTI Viewer

641

See delays

641

See model building

641

See delay

641

See frequency response

642

See also operations

642

See LTI properties

642

See Simulink LTI Viewer

643

See LTI objects

644

See also OutputName

644

See transfer functions

647

See zeros

648

See zero

648

See also noise

648




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