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MATLAB CONTROL SYSTEM TOOLBOX 9 podręczniki

Instrukcje obsługi i podręczniki użytkownika dla Oprogramowanie MATLAB CONTROL SYSTEM TOOLBOX 9.
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Matlab CONTROL SYSTEM TOOLBOX 9 Dokumentacja (591 strony)


Marka: Matlab | Kategoria: Oprogramowanie | Rozmiar: 3.71 MB |

 

Spis treści

Control System

1

How to Contact The MathWorks:

2

Operations on LTI Models

4

SISO Design Tool Reference

9

LTI Viewer Reference

10

Function Reference

12

Contents

14

1 Introduction

18

LTI Models

19

2 LTI Models

20

Other Uses of FRD Models

21

LTI Properties and Methods

22

Precedence Rules

23

Command Summary

24

Creating LTI Models

26

SISO Transfer Function Models

26

MIMO Transfer Function Models

28

Pure Gains

29

MIMO Zero-Pole-Gain Models

31

Discrete-Time Models

37

Data Retrieval

41

LTI Properties

43

Direct Property Referencing

49

Sample Time

51

Input Names and Output Names

53

)oranoutputgroup(O)

55

Model Conversion

58

Automatic Conversion

59

Time Delays

61

Distillation Column Example

63

Resizing LTI Systems

83

Arithmetic Operations

85

Multiplication

87

Transposition

88

Pertransposition

88

Zero-Order Hold

94

First-Order Hold

96

Tustin Approximation

96

Matched Poles and Zeros

97

Amplitude

99

3 Operations on LTI Models

100

References

101

Model Analysis Tools

103

4 Model Analysis Tools

104

General Model Characteristics

105

Model Dynamics

107

State-Space Realizations

110

Arrays of LTI Models

113

5 Arrays of LTI Models

114

Introduction

114

The Concept of an LTI Array

116

Building LTI Arrays

124

Indexing Into LTI Arrays

132

Operations on LTI Arrays

136

Customization

143

6 Customization

144

User Preferences

145

SISO Design Tool

145

LTI Viewer

145

Setting Toolbox

147

Preferences

147

7 Setting Toolbox Preferences

148

Units Page

149

Style Page

149

SISO Tool Page

151

Setting Toolbox Preferences

152

Setting Tool Preferences

153

8 Setting Tool Preferences

154

Parameters Page

157

Grids Panel

160

Fonts Panel

160

Colors Panel

161

Customizing Response

165

Plot Properties

165

Property Editor is

166

Property Editor

167

Labels Page

168

Limits Page

168

Characteristics Page

172

Property Editing for Subplots

174

Auto-Scale checkboxes

177

Options Page

178

Design Case Studies

185

10 Design Case Studies

186

Open-Loop Analysis

189

Root Locus Design

193

WOF = -K * H;

201

(2,2) I/O pair

203

Hard Disk Drive

204

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

209

K = 4.11e+03;

211

LQG Design for the x-Axis

218

LQG Design for the y-Axis

225

Cross-Coupling Between Axes

227

Kalman Filtering

234

Steady-State Design

235

Now simulate with lsim

239

Time-Varying Kalman Filter

241

Reliable Computations

247

11 Reliable Computations

248

Numerical Stability

252

Choice of LTI Model

254

Zero-Pole-Gain Models

259

GUI Reference

265

12 GUI Reference

266

Reference

267

13 SISO Design Tool Reference

268

Menu Bar

270

System Name

271

Import From

271

System Data

271

Exporting to the Workspace

272

Exporting to a MAT-file

273

Print to Figure

275

Undo and Redo

275

Root Locus and Bode Diagrams

275

Customizing Loop Responses

279

Conversion domain

281

Draw a Simulink Diagram

283

Compensator

283

Changing the gain

285

Changing the format

285

Adding poles and zeros

286

Deleting poles and zeros

286

Retrieve

287

Tool Bar

289

Current Compensator

290

Feedback Structure

291

Root Locus Right-Click Menus

292

Delete Pole/Zero

293

Edit Compensator

293

Settling Time

294

Peak Overshoot

294

Damping Ratio

294

Natural Frequency

294

Zoom opens this submenu

299

Status Panel

301

14 LTI Viewer Reference

304

LTI Viewer Menu Bar

306

New Viewer

307

Import Using the LTI Browser

307

Setting Preferences

313

Ordering Properties

313

Plot Type

315

Step Response

317

Impulse Response

318

Bode Diagram

319

Bode Magnitude

320

Nyquist Diagrams

321

Nichols Charts

322

, which is the largest

323

Pole/Zero

324

Properties

325

Axis Grouping

327

I/O Selector

327

Right-Click Menus for

331

Response Plots

331

- regroup the plots

333

- Select subsets of I/O pairs

333

Characteristics

334

Properties online

337

16 Function Reference

342

Functions by Category

343

Syntax S = allmargin(sys)

352

16append

353

Feedback connection

355

Parallel connection

355

Series connection

355

Syntax asys = augstate(sys)

356

Syntax sysb = balreal(sys)

357

Phase (deg); Magnitude (dB)

359

Syntax bode(sys)

361

Syntax bodemag(sys)

366

Syntax sysd = c2d(sys,Ts)

367

Example Consider the system

368

Modal Form

370

Companion Form

370

Examples Example 1

373

Example 2

374

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

376

16connect

377

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

382

Syntax Co = ctrb(A,B)

385

Syntax sysc = d2c(sysd)

389

Syntax sys1 = d2d(sys,Ts)

392

Syntax [Wn,Z] = damp(sys)

393

1746–1754

397

16dcgain

398

Syntax X = dlyap(A,Q)

402

Syntax sys = drss(n)

403

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

406

Example The command

406

16dssdata

408

Compute (transmission) zeros

410

Syntax est = estim(sys,L)

411

16evalfr

413

Example 3

417

Syntax sys = filt(num,den)

418

Example Typing the commands

419

Example Type the commands

421

Create transfer functions

422

Create zero-pole-gain models

422

Set model properties

424

16freqresp

425

16gensig

428

Syntax hasdelay(sys)

434

16impulse

435

Syntax impulse(sys)

435

Syntax initial(sys,x0)

439

Impulse response

441

LTIsystemviewer

441

Step response

441

16interp

442

Purpose Invert LTI systems

443

Syntax isys = inv(sys)

443

Example Consider

443

Syntax boo = isct(sys)

445

Syntax boo = isempty(sys)

446

Example Both commands

446

Syntax boo = isproper(sys)

447

Syntax boo = issiso(sys)

448

16kalman

449

(Measurement noise)

450

Syntax sys = lft(sys1,sys2)

455

Syntax rlqg = lqgreg(kest,k)

457

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

461

Syntax lsim(sys,u,t)

465

Purpose Help on LTI models

470

Syntax ltimodels

470

16ltiview

472

Syntax ltiview

472

See Also bode Bode response

473

Nichols response

474

Nyquist response

474

Pole/zero map

474

Singular value response

474

16margin

477

Syntax sysr = minreal(sys)

480

Example The commands

480

Purpose Model order reduction

482

Syntax n = ndims(sys)

486

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

486

Syntax ngrid

487

Nichols plots

488

16nichols

489

Syntax nichols(sys)

489

Algorithm See bode

491

See Also bode Bode plot

491

16nyquist

496

Syntax nyquist(sys)

496

Syntax Ob = obsv(A,B)

500

Example Determine if the pair

500

MATLAB responds with

501

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

504

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

505

N>10 should be avoided

506

16parallel

508

Purpose Pole placement design

510

Syntax K = place(A,B,p)

510

Syntax pzmap(sys)

513

Syntax rsys = reg(sys,K,L)

515

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

518

16rlocus

519

Purpose Evans root locus

519

Syntax rlocus(sys)

519

See Also pole System poles

521

Syntax sys = rss(n)

522

16series

524

Property

527

Syntax sgrid

533

Plot pole-zero map

534

Plot root locus

534

Generate z-plane grid lines

534

Syntax sigma(sys)

535

16sisotool

539

Syntax sisotool

539

P to plant and the

540

Syntax size(sys)

542

Test if LTI model is empty

543

Test if LTI model is SISO

543

Syntax msys = sminreal(sys)

544

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

546

Conversion to State Space

547

Syntax sysT = ss2ss(sys,T)

550

Syntax [sysb,T] = ssbal(sys)

551

16ssdata

553

Syntax step(sys)

555

Syntax sys = tf(num,den)

558

Example 4

561

Discrete-Time

562

Conventions

562

16tfdata

565

Specify transfer functions

567

Syntax td = totaldelay(sys)

568

Syntax zgrid

570

Generate s-plane grid lines

571

Syntax sys = zpk(z,p,k)

572

Variable

574

Selection

574

Example Example 1

574

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

577

Specify zero-pole-gain models

579




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