Feedback Control Systems: Matlab/Simulink Approach PDF
Preview Feedback Control Systems: Matlab/Simulink Approach
Feedback Control Systems The MATLAB®/Simulink® Approach Synthesis Lectures on Control and Mechatronics Editors ChaoukiAbdallah,GeorgiaInstituteofTechnology MarkSpong,UniversityofTexasatDallas FeedbackControlSystems:TheMATLAB®/Simulink® Approach FarzinAsadi,RobertE.Bolanos,andJorgeRodríguez 2019 MobileRoboticsforMultidisciplinaryStudy CarlottaA.Berry 2012 ControlSystemSynthesis:AFactorizationApproach,PartI MathukumalliVidyasagar 2011 ControlSystemSynthesis:AFactorizationApproach,PartII MathukumalliVidyasagar 2011 TheReactionWheelPendulum DanielJ.Block,KarlJ.Åström,andMarkW.Spong 2007 Copyright©2019byMorgan&Claypool Allrightsreserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmittedin anyformorbyanymeans—electronic,mechanical,photocopy,recording,oranyotherexceptforbriefquotations inprintedreviews,withoutthepriorpermissionofthepublisher. FeedbackControlSystems:TheMATLAB®/Simulink®Approach FarzinAsadi,RobertE.Bolanos,andJorgeRodríguez www.morganclaypool.com ISBN:9781681735399 paperback ISBN:9781681735405 ebook ISBN:9781681735412 hardcover DOI10.2200/S00909ED1V01Y201903CRM005 APublicationintheMorgan&ClaypoolPublishersseries SYNTHESISLECTURESONCONTROLANDMECHATRONICS Lecture#5 SeriesEditors:ChaoukiAbdallah,GeorgiaInstituteofTechnology MarkSpong,UniversityofTexasatDallas SeriesISSN Print1939-0564 Electronic1939-0572 Feedback Control Systems The MATLAB®/Simulink® Approach Farzin Asadi KocaeliUniversity,Kocaeli,Turkey Robert E. Bolanos SouthwestResearchInstitute,Texas,U.S.A. Jorge Rodríguez PowerSmartControl,Leganés,Spain SYNTHESISLECTURESONCONTROLANDMECHATRONICS#5 M &C Morgan &cLaypool publishers ABSTRACT Feedbackcontrolsystems is an important course in aerospace engineering,chemical engineering, electrical engineering, mechanical engineering, and mechatronics engineering, to name just a few. Feedback control systems improve the system’s behavior so the desired response can be acheived. The first course on control engineering deals with Continuous Time (CT) Linear Time Invariant(LTI)systems.Plentyofgoodtextbooksonthesubjectareavailableonthemarket,so thereisnoneedtoaddonemore.Thisbookdoesnotfocusonthecontrolengineeringtheories as it is assumed that the reader is familiar with them, i.e., took/takes a course on control en- gineering, and now wants to learn the applications of MATLAB® in control engineering. The focusofthisbookiscontrolengineeringapplicationsofMATLAB®forafirstcourseoncontrol engineering. KEYWORDS closed-loop control, control, controller, feeback, PID controller, MATLAB®, Simulink® vii Contents Preface ........................................................... xi Acknowledgments ................................................ xiii 1 IntroductiontoMATLAB® ..........................................1 1.1 Introduction ..................................................... 1 1.2 DifferentPartsofMATLAB® ...................................... 2 1.3 MATLAB’sEditor................................................ 3 1.4 MATLAB’sHelpSystem .......................................... 6 1.5 MATLAB’sKeywords ............................................. 6 1.6 MATLAB’sToolboxes............................................. 9 1.7 Variables ........................................................ 9 1.8 BasicOperators ................................................. 11 1.9 LogicalOperators................................................ 12 1.10 TrigonometricsFunctions ......................................... 12 1.11 LogarithmicandExponentialFunctions.............................. 16 1.12 ComplexNumbersFunctions ...................................... 16 1.13 RoundingFunctions.............................................. 16 1.14 RemainderFunctions ............................................. 16 1.15 MatrixesinMATLAB® .......................................... 20 1.16 Commands:rand,ones,zeros,eye ................................ 20 1.17 TheColonOperator.............................................. 21 1.18 logspaceandlinspaceCommands ................................ 21 1.19 OperationwithMatrices .......................................... 21 1.20 FindingPolynomialRoots ......................................... 22 1.21 ProductofTwoPolynomials ....................................... 22 1.22 SolutionofLinearSystemsofEquations ............................. 23 1.23 SolutionofNonlinearSystemsofEquations .......................... 23 1.24 SolvingDifferentialEquations ..................................... 25 1.25 DifferentionandIntegration ....................................... 28 viii 1.26 DrawingDiagramswithMATLAB® ................................ 29 1.27 DrawingtheGraphofCollectedData ............................... 37 1.28 DrawingTwoorMoreDataSimultanously ........................... 44 1.29 DrawingtheFrequencyResponse ................................... 50 2 CommonlyUsedCommandsinAnalysisofControlSystems ..............55 2.1 Introduction .................................................... 55 2.2 DefiningtheTransferFunction ..................................... 55 2.3 ImpulseResponseofaSystem...................................... 62 2.4 StepResponseofaSystem......................................... 73 2.5 DrawingtheFrequencyResponseofaSystem ......................... 78 2.6 DrawingtheNyquistDiagramofaSystem ........................... 81 2.7 RootLocusPlot ................................................. 85 2.8 ConnectingtheSystemsTogether................................... 89 3 IntroductiontoSimulink® ..........................................93 3.1 Introduction .................................................... 93 3.2 RunningtheSimulink® ........................................... 93 3.3 SearchingforBlocks.............................................. 98 3.4 Example1:Simulink® ofaRLCCircuit.............................. 98 3.5 ExportingtheResultstoWorkspace ................................ 105 3.6 Example2:SimulationinTransferFunctions......................... 108 3.7 Example3:SimulationofElectricCircuitswiththeAidofSimscapLibrary 109 3.8 Example4:SimulationofNonlinearSystems......................... 123 3.9 Subsystem..................................................... 126 3.10 FunctionBlock ................................................. 128 3.11 Example5:UseofFunctionBlockintheSimulink® Simulations ......... 128 3.12 SimulationofDiscreteTimeSystems ............................... 132 3.13 Example6:SimulationofDiscreteTimeSystems ..................... 139 3.14 Example7:SimulationofDiscreteTimeSystems ..................... 144 3.15 ShowingTwoorMoreSignalsSimultaneously ....................... 145 3.16 SimulationofaClosed-LoopControlSysteminSimulink® ............. 151 4 ControllerDesigninMATLAB® ....................................163 4.1 Introduction ................................................... 163 4.2 PIDControllerDesigninMATLAB® ............................. 163 ix 4.3 TuningthePIDControllersInsideTheSimulink® Environment ......... 172 4.4 DesignofLinearControllerswithSisotool(ControlSystemDesigner) .... 176 4.5 LoopShaping.................................................. 185 4.6 ManualControllerDesign........................................ 190 5 IntroductiontoSystemIdentificationToolbox™ .......................193 5.1 Introduction ................................................... 193 5.2 IllustrativeExample ............................................. 193 References .......................................................209 Authors’Biographies ..............................................211
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