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574720133

control with matlab application

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11 views23 pages

574720133

control with matlab application

Uploaded by

abbasmiry83
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Dp OKLAHOMA STATE UNIVERSITY @ ECEN 4413 - Automatic Control Systems Matlab Lecture 1 Introduction and Control Basics Presented by Moayed Daneshyari 1 What is Matlab? + Invented by Cleve Moler in late 1970s to give students access to LINPACK and EISPACK without having to learn Fortran. * Together with Jack Little and Steve Bangert they founded Mathworks in 1984 and created Matlab. * The current version is 7. + Interpreted-code based system in which the fundamental element is a matrix. The Interface Workspace and Launch Pad Command Window Command History and Current Directory Variable assignment *Scalar: a=4 *Vector: v= (35 1] == v=[3 5 1] v@)=8=—> v=[3 8 1] t=[0:0.1:5]==—— t=[0 01 02 =. 49 5] ee = (2:3 m=) “| Ao m(12-0=—> m=|. ° Basic Operations * Scalar expressions 10 b= 10/ (sar(a) +3) / =p b= Va+3 c= cos (b* pi) ==> © =cos(bz) + Matrix expressions om tor=enls ala) (3 Useful matrix operations * Determinant: det(m) * Inverse: inv(m) + Rank: rank(m) + i by j matrix of zeros: m = zerosii,)) + i by j matrix of ones: m = ones(i,)) + i by i identity matrix: m = eye(i) Example » Generate and plot a cosine function Example + Adding titles to graphs and axis Adding graphs to reports * Three options: 1) Print the figure directly 2) Save it to a JPG / BMP / TIFF file and add to the report (File > Export...) 3) Copy to clipboard and paste to the report (Edit — Copy Figure) * * The background is copied too! By default it is gray. To change the background color use: set(gcf,’color’,’white’) The .m files + Programming in Matlab is done by creating “.m’” files. File New > M-File + Useful for storing a sequence of commands or creating new functions. * Call the program by writing the name of the file where it is saved (check the “current directory”) *“%” can be used for commenting. Other useful information * help displays the help for the function ex.; help plot + helpdesk brings up a GUI for browsing very comprehensive help documents * save saves everything in the workspace (all variables) to .mat. + load loads the file. Using Matlab to create models + Why model? - Represent - Analyze + What kind of systems are we interested? - Single-Input-Single-Output (SISO) - Linear Time Invariant (LT1) - Continuous Model representations —————__ Three Basic types of model representations for continuous LTI systems: + Transfer Function representation (TF) + Zero-Pole-Gain representation (ZPK) + State Space representation (SS) ! More help is available for each model representation by typing: help Itimodels 13 Transfer Function representation 25 Y¥(s)_ Se 2) (a) eS Matlab function: tf Method (a) Method (b) Zero-Pole-Gain representation on ye Ys) 8(5-1) SN SS ia) a (emOR GEE) Matlab function: zpk State Space representation 3 1 0 1 : . [x=Ax+ Bu A-| e-| | Given: ees : ol 0 c=[3 -2] D=[0] Matlab function: ss System analysis + Once a model has been introduced in Matlab, we can use a series of functions to analyze the system. + Key analyses at our disposal: 1) Stability analysis e.g. pole placement 2) Time domain analysis e.g. response to different inputs 3) Frequency domain analysis e.g. bode plot Stability analysis Is the system stable? Recall: All poles of the system must be on the right hand side of the S plain for continuous LTI systems to be stable. Manually: Poles are the roots for the denominator of transfer functions or eigen values of matrix A for state space representations In Matlab: pole(sys) Time domain analysis Once a model has been inserted in Matlab, the step response can be obtained directly from: step(sys) Unit Step Response of G(s) Steady State overshoot Amplitude 1 i i i i Settling Time; Peak Time i o A 1.5 2 25 3 4 Time (sec) 19 Rise Time Time domain analysis Matlab also caries other useful functions for time domain analysis: + Impulse response + Response to an arbitrary input e.g. ! It is also possible to assign a variable to those functions to obtain a vector with the output. For example: y = impulse(sys); 20 Frequency domain analysis Bode plots can be created directly by using: bode(sys) Frequency domain analysis For a pole and zero plot: _pzmap(sys) | Imaginary Ais Extra: partial fraction expansion 2 Given: G@uee 9 +354+2 num=[2 3 2]; den=[1 3 2]; [,p,k] = residue(num,den) Answer: re 7 6(s)=k(s) 4g... ! s-pll) pla) re i, a © 5-2) 5-(-1)

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