MATLAB and Simulink for Control Systems

V.SitaramGupta

Control Systems
Control means to regulate, direct, command, or govern. A system is a collection, set, or arrangement of elements (subsystems). A control system is an interconnection of components forming a system configuration that will provide a desired system response In order to identify, delineate, or define a control system, we introduce two terms: input and output here The input is the stimulus, excitation, or command applied to a control

system, and the output is the actual response resulting from a control
system

Control Systems
Control systems can have more than one input or output The input and the output represent the desired response and the actual response respectively. A control system provides an output or response for a given input or stimulus, as shown in Fig

Control system applications are found in robotics, space-vehicle systems, aircraft autopilots and controls, ship and marine control systems, intercontinental missile guidance systems, automatic control systems for hydrofoils, surface-effect ships, and high-speed rail systems including the magnetic levitation systems

Examples of Control Systems

Residential heating and air-conditioning systems controlled by a thermostat The cruise (speed) control of an automobile Manual control: Opening or closing of a window for regulating air temperature or air quality Activation of a light switch to regulate the illumination in a room

Human controlling the speed of an automobile by regulating the gas supply to

the engine Automatic traffic control (signal) system at roadway intersections Control system which automatically turns on a room lamp at dusk, and turns it off in Daylight Automatic hot water heater

Control System Configuration

Block: -A block is a set of elements that can be grouped together, with overall characteristics described by an input/output relationship as

shown in Fig

Transfer Function: - The transfer function is a property of the system elements only, and is not dependent on the excitation and initial conditions. The transfer function of a system (or a block) is defined as the ratio of output to input as shown in Fig

Control System Configuration

Open-loop Control System: - Open-loop control systems represent the simplest form of controlling devices. A general block diagram of open-

loop system is shown in Fig

Closed-loop (Feedback Control) System: - Closed-loop control systems derive their valuable accurate reproduction of the input from feedback comparison.

Control System Terminology

An Introduction to MATLAB and the Control Systems toolbox

MATLAB
MATLAB is essentially a programming interface that can be used for a
variety of scientific calculations, programming and graphical

visualization Its basic data element is an array, and its computations are optimized for this data type, which makes it ideal for problems with matrix and vector formulations MATLAB is also extendible by means of add-on script packages called toolboxes, which provide application-specific functions for use with

MATLAB
For this course, we will mostly be using MATLABs basic matrix/vector operations and graphing capabilities in conjunction with the control

system toolbox

Interface

See the text book Analysis and Design of Control System using MATLAB

Examples an MATLAB and Basic Control Systems

Control System Toolbox

Control System Toolbox is a package for MATLAB consisting of tools specically developed for control applications

The package offers data structures to describe common system

representations such as state space models, zero-pole gain and transfer functions, as well as tools for analysis and design of control systems

It has a collection of algorithms, written mostly in M-files, that

implements common control system design, analysis, and modeling techniques Here you will get to know the basic commands of Control System Toolbox. When you have completed this exercise, you should be able to understand and use Control Systems Toolbox

Control System Toolbox

The most commonly used functions are presented below. You are encouraged to look through the help files for other functions and options that you might find useful in future Using MATLAB to Create Models: Why Model?
Represent
Analyze

What kind of systems are we interested?

Single-Input-Single-Output (SISO)
Linear Time Invariant (LTI) Continuous

Control System Toolbox

Three Basic types of model representation for continuous LTI systems
Transfer Function Representation (TF) Zero-Pole-Gain Representation (ZPK) State Space Representation (SS)

Transfer Function Models are created using the function tf( numerator, denominator) where numerator and denominator are two vectors containing the coefficients of the polynomials in the numerator and denominator of the transfer function

Control System Toolbox

State space models are created using the function ss(A,B,C,D) where A,B,C and D are the matrices forming the state space system

Zero-Pole-Gain forms of transfer functions, ie

can be specified directly as zpk(z,p,K) where z and p are the vectors of

zero and pole values in the complex plane (z = [z1 z2 ] and p = [p1 p2 ]), and K is the gain

Control System Toolbox

The models thus generated can be used in conjunction with the operators

+,- and * to generate new models. sys1 * sys2 produces a series

interconnection from input through sys2 and sys1 (in that order) to the output. sys1 sys2 represent parallel interconnections

Control System Toolbox

Converting Models:- Control system models can be converted from one form to the other. The three functions presented above (ss(), tf(),

zpk()) are overloaded to perform arbitrary system conversions. For

example, if sys1 is a state-space model, we can generate an equivalent transfer function model sys2 by issuing the command

>> sys2 = tf(sys1);

In addition to these, there are other functions that are used for converting

elements of one form(say, the matrices of a state-space model) to the

elements of another form(say, the numerator and denominator of a transfer function model: tf2ss, ss2tf, tf2zp, zp2tf, zp2ss, ss2zp

Control System Toolbox

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:
Stability analysis e.g. pole placement Time domain analysis e.g. response to different inputs Frequency domain analysis e.g. bode plot

Control System Toolbox

Stability analysis: Stability of a linear system is determined by the location of its poles in

the complex plane. (What is the condition for stability?) Use the
commands ssdata and tfdata to extract the necessary data from the models, and eig and roots to determine stability of the system

Control System Toolbox

When a system becomes unstable, the output of the system approaches infinity (or negative infinity) Example: - An example to illustrate the importance of

stability is the control of a nuclear reactor

Control System Toolbox

Time domain analysis:- in the form of time response of a system to a specified input can be obtained using the following commands:
step(sys) plots the step response of a system sys. impulse(sys) plots the impulse response of sys lsim(sys,input_vector,time_vector,initial_state_vector) plots the

response of sys to an arbitrary input. The elements of input_vector define

the values of the input at times corresponding to the elements of time_vector. The initial state vector can be specified for state-space models only Once a model has been inserted in MATLAB, the step response can be obtained directly from: step(sys) and etc.,

Control System Toolbox

Step Response 1.4

1.2

Amplitude

0.8

0.6

0.4

0.2

0.5

1.5 Time (sec)

2.5

Control System Toolbox

MATLAB also caries other useful functions for time domain analysis:
Impulse Response

Impulse response impulse(sys) Response to an arbitrary input e.g. t = [0:0.01:10]; u = cos(t); lsim(sys,u,t)
1.5 1

3.5 3 2.5 2

Amplitude

1.5 1 0.5 0 -0.5 -1

Linear Simulation Results

0.5

1.5 Time (sec)

2.5

0.5

Amplitude

-0.5

-1

-1.5

5 Time (sec)

10

Control System Toolbox

Frequency domain analysis tools: rlocus(sys) plots the root locus of the system sys with variations in gain bode(sys) plots the magnitude and phase angle Bode plots [Gm,Pm,Wg,Wp] = margin(sys) calculates the gain margin Gm, the phase margin Pm, and the frequencies corresponding to their occurrence. Issuing the command margin(sys) alone plots the Bode diagram and marks the margins on it nyquist(sys) plots the Nyquist plot of the system. Note that the loop at infinity is not represented on the plot sisotool(plant,compensator) opens an interactive mode of the root locus and bode plots, which can be used to modify the compensator and gain to achieve the desired system characteristics

Control System Toolbox

Bode Diagram 20
5 4 3 System: sys Pole : -2 + 4.58i Damping: 0.4 Overshoot (%): 25.4 Frequency (rad/sec): 5

Pole-Zero Map

Magnitude (dB)

-20
2

Imaginary Axis

-40

1 0 -1 -2 -3 -4 -5 -2

-60 0 -45

-90 -135 -180 10

-1

System: sys Pole : -2 - 4.58i Damping: 0.4 Overshoot (%): 25.4 Frequency (rad/sec): 5

Phase (deg)

-1.8

-1.6

-1.4

-1.2

-1 Real Axis

-0.8

-0.6

-0.4

-0.2

10

10 Frequency (rad/sec)

10

Control System Toolbox

Extra: Partial Fraction Expansion: -

Control System Toolbox

State space tools: ctrb(sys) returns the controllability matrix of a state-space system sys obsv(sys) returns the observability matrix of a state-space system sys [K,S,E] = lqr(A,B,Q,R) : Linear quadratic regulator design calculates

optimal gain K for a state space system, based on the optimizing

matrices Q and R provided by the designer

Control System Toolbox

Some useful MATLAB commands

SIMULINK Control System

Simulink is a simulation program based upon MATLAB There are several ways to define a model. One can work graphically

and connect block diagrams with pre-define blocks

Alternatively one can give the mathematical description in forms of differential equations in an mle (the format for programs written in the MATLAB programming language) MATLAB/SIMULINK supports both these representations as well as combinations. Furthermore one can use descriptions that include a hierarchy of connected subsystems

SIMULINK Control System

How to Start Simulink: Start Matlab9. Then give the command SIMULINK in MATLAB. This

gives a window with blocks as in Figure

SIMULINK Control System

A Simple System Click on File in the Simulinkwindow and choose New->Model. Click on

the block Continous and move a Transfer Fcn to the new window called
Untitled. Do the same with Source->Step Fcn and Sinks->Scope. Draw arrows (left mouse button) and connect the ports on the block. You

should now have a block diagram as in Figure.

Choose Simulation->Parameters in the window called Untitled. Set Stop time to 5. Open the window Scope by double clicking on it. Put

Horizontal Range to 6. Start a simulation by Simulation->Start (or by

pressing Ctrlt in the window called Untitled)

SIMULINK Control System

How to Change a System To change the system to

you doubleclick on the block Transfer Fcn and change Denominator to [1

0.5 2]. Simulate the new system (Simulation->Start or Ctrlt). Change

parameters in the Simulation menu and the scales in the block Scope until you are satised

SIMULINK Control System

How to Change an Input Signal : -To change the input signal, start with removing the block Step Fcn by clicking on it and delete it by

using Edit->Cut (or pressing Ctrlx). Replace it by a Sources->Signal

Gen block. Doubleclick on Signal Gen and select signal, amplitude and frequency. Also change Simulation-> Start->Stop Time to 99999 and

press Simulation->Start. This gives an in nite simulation that can be

stopped by pressing Simulation->Stop (or Ctrlt). Can the amplitude of the input signal be changed during simulation? Also try to change the

block Transfer Fcn during simulation

SIMULINK Control System

How to Use Matlab Variables in Blocks :- Note that variables defined in the
MATLAB environment can be used in Simulink. Define numerator and denominator by writing the following in the MATLAB window
num=[1 1]
den=[1 2 3 4]

Change Transfer Fcn->Numerator to num and Denominator to den

How to Save Results to MATLAB variables To save input and output move
two copies of the block Sinks->To Workspace. Make sure that the save format option is set to Array