Using MATLAB, SIMULINK and Control System Toolbox

Transcription

1 Using MATLAB, SIMULINK and Control System Toolbox A practical approach Alberto Cavallo Roberto Setola Francesco Vasca Prentice Hall London New York Toronto Sydney Tokyo Singapore Madrid Mexico City Munich

2 1 Introduction 1 MATLAB 5 2 Fundamentals Keyboard input Input from external files Utility commands Exercises 14 3 Vector and matrix manipulation Elements of a matrix Interval representation Matrix manipulation operations Special matrices Character strings Advanced matrix manipulation techniques Exercises 21 4 Scalar operations Arithmetic operations Elementary and transcendental functions Examples Logical and relational operators Exercises 32

3 vi Matrix operations 5.1 Transpose 5.2 Algebraic operations 5.3 Matrix functions 5.4 Logic operations 5.5 Complements on matrices 5.6 More special matrices 5.7 Exercises Polynomials 6.1 Basic operations 6.2 Interpolation 6.3 Exercises Graphics D graphics -~ Multiple plots Axis scaling Complex data More 2D graphs Plotting more graphs on the same window D graphics Functions of two variables Color in MATLAB Parametric plots Revolution surfaces Printing graphics Exercises 87 8 Programming in MATLAB Basic programming structures Script files Functions Debugging programs Exercises Numeric analysis Infinitesimal analysis Nonlinear equations and optimization Differential equations Exercises 117

4 vii II SIMULINK Fundamentals Building a SIMULINK scheme Analysis of the scheme Exercises SIMULINK schemes Using the mouse Structural properties of the blocks A nonlinear example Sources and sinks Some nonlinear blocks Exercises Simulation in SIMULINK Simulation problems Integration methods ' System with discontinuities Time-varying systems Exercises Multi-variable systems Multi-variable schemes Connections An example: a planar manipulator Exercises Group operation Using the group option Exercises Discrete-time systems An example: the repopulation of a lake Exercises ; Hybrid systems Hybrid schemes Exercises Advanced topics.^ System analysis " Using Mask Customizing SIMULINK 207

5 viii 17.4 Exercises Blocks library Sources Sinks " Discrete Linear Nonlinear Connections Extras 230 III Control System Toolbox Models for LTI systems LTI system representations ^ Conversions among representations " Continuous to discrete conversion Controllability and observability Commands for other properties Model order reduction System connections Exercises Time domain response Unforced response Step response Impulse response Response to any input Exercises Frequency domain response Bode plots ' Nyquist plots Nichols plots Gain and phase margins Exercises Root locus Root locus plot ; Exercises 310

6 ix 23 State feedback Feedback gain design The observer Linear quadratic optimal control Kalman filter Separation principle Exercises Discrete functions Discrete to continuous conversion Properties Model reduction Time domain response Frequency domain response State feedback design Exercises Utility functions Modeling Time response Frequency response Lyapunov and Riccati equations 345 IV Appendices 347 A Advanced graphic functions A.I Graphic objects in MATLAB A.2 Root A.3 Figure A.4 Axes A.5 Line A.6 Surface A.7 Image A.8 Text B Graphic user interface design B.I Controls B.2 Menu B.3 Using the mouse S-function ~ v x 386 C.I Writing an S-function 386 C.2 Continuous-time systems 389

7 x C.3 Discrete-time systems 390 C.4 Hybrid systems 391 C.5 Observations 392 References 393 Index 397