MATLAB & CONTROL SYSTEM TOOLBOX

MATLAB & CONTROL SYSTEM

TOOLBOX
 Introduction
 Definition of a linear system
 Block diagram reduction
 Time response
 Frequency response
 Other functions
 Simulink

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INTRODUCTION
 MATLAB (matrix laboratory) is developed
by MathWorks.
 Il allows matrix manipulations, plotting of functions
and data, creation of user interfaces.
 It interface with programs written in C, C++, Java,
and Fortran.
 Many toobox: Control System, Finacial, Fuzzy Logic,
Signal Processing, Statistics, Symbolic, System
Identification, …
 Website http://www.mathworks.com
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DEFINITION OF A LINEAR SYSTEM

 Transfer function (1)
Syntax
SYS = tf(num,den, Ts)
Creates a continuous-time transfer function SYS
num: numerator
den: denominator
Ts: sample time (for discrete system)

Example
s2
G1 ( s )  3 num1=3*[1 2];den1=[1 2 4];G1=tf(num1,den1);
s 2  2s  4
z  0.6 num2=2.1*[1 -0.6];den2=[1 -0.56]; T=0.5;
G2 ( z )  2.1
z 2  0.56 z  0.4 G2=tf(num2,den2,T)

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DEFINITION OF A LINEAR SYSTEM

 Transfer function (2)

For MIMO system

U1 Y1  G11 ( s ) G12 ( s ) ... G1n ( s ) 

G ( s ) G ( s ) G ( s ) 
G (s)   
21 22 2 n

Un G Yn
 ...



G p1 ( s ) G p 2 ( s ) G pn ( s )

G11=tf(num11,den11,T); G12=tf(num12,den12,T);...; G1n=tf(num1n,den1n,T);

G21=tf(num21,den21,T); G22=tf(num22,den22,T);...; G2n=tf(num2n,den2n,T);
Gp1=tf(nump1,denp1,T); G12=tf(nump2,denp2,T);...; Gpn=tf(numpn,denpn,T);
G=[G11,G12,...,G1n;G21;G22;...;G2n;...;Gp1,Gp2,...,Gpn];

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DEFINITION OF A LINEAR SYSTEM

 Zero-pole-gain model
 Syntax
SYS=zpk(Z,P,K,Ts)
• Z : zeros
• P: poles
• K: gain
• Use [] if no zero/pole
Example
s2
G(s)  Z=-2;P=[0 -5];K=1;G=zpk(Z,P,K);
s(s  5)
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DEFINITION OF A LINEAR SYSTEM

 State space
 Syntax
SYS=ss(A,B,C,D,Ts)
 Example
̇ −2 0 1 0.0025
= +
̇ 2 −4 2 0.0025

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DEFINITION OF A LINEAR SYSTEM

Conversion
State space to transfer function
Syntax: [num,den] = ss2tf(A,B,C,D)

ZPK to transfer function

Syntax: [num,den] = zp2tf(Z,P,K)

Transfer function to state space

Syntax: [A,B,C,D]=tf2ss(num,den)
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DEFINITION OF A LINEAR SYSTEM

 Conversion of continuous-time models to
discrete time
• Syntax
• SYS_dis=c2d(SYS_con,T,’method’)
 SYS_dis: discrete time model
 SYS_con: continuous time model
 method of discretization:
• ‘zoh’: zero order hold
• ‘foh’: first order hold
• ‘impulse’: impulse invariant discretization
• ‘tustin’: bilinear approximation

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DEFINITION OF A LINEAR SYSTEM

 Access of transfer function data

 Syntax
[num,den]=tfdata(SYS,’v’)
[A,B,C,D]=ssdata(SYS)

 System with delay

 Syntax
SET(SYS,’Iodelay’,t0)
t0: time delay

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BLOCK DIAGRAM

 Series
Syntax: SYS=series(SYS1,SYS2)

 Parallel
Syntax: SYS=parallel(SYS1,SYS2)

 Feedback
Syntax: SYS=feedback(SYS1,SYS2,sign)

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TIME RESPONSE

 Step response
 Syntax
step(sys)
step(sys,t_end)
step(sys,T)
With T=Tinitial:dt:Tfinal
step(sys1,sys2,sys3,…)

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TIME RESPONSE
 Impulse response
• Syntax: impulse(sys)

 Time response of arbitrary inputs

• Syntax: lsim(sys,u,t)
(u,t) describe input signal
• Example:
Time response of a single-input model SYS to the
input u(t)=sin(t) during 5 seconds:
T=0:0.1:5;u=sin(t);lsim(SYS,u,t)

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FREQUENCY RESPONSE

 Bode plot
 Syntax
bode(sys)
bode(sys,{w_min,w_max}):
bode(sys,w)
w: user-supplied vector of frequencies
bode(sys1,sys2,sys3,…)
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FREQUENCY RESPONSE

 Nyquist plot
Syntax: nyquist(sys)

 Nichols plot
Syntax: nichols(sys)

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OTHER FUNCTIONS (1)

 Compute steady state gain
 Syntax: dcgain(sys)

 Compute poles of LTI model

 Syntax: pole(sys)

 Compute zeros of LTI model

 Syntax: tzero(sys)

 Sketch pole-zero map

 Syntax: pzmap(sys)

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OTHER FUNCTIONS (2)

 Root locus of a SISO system
 Syntax: rlocus(sys)

 Compute gain, phase margin and crossover

frequency
 Syntax: [Gm,Pm,Wcg,Wcp] = MARGIN(SYS)

 Compute the observability matrix.

 Syntax: CO = OBSV(SYS)

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SIMULINK

 Thư viện Sources

• Step
• Ramp
• Constant

 Thư viện Sink

• Scope
• XY Graph
• To Workspace

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SIMULINK

 Thư viện Continuous

• Transfer Fcn
• State space
• ….
 Thư viện Discrete
• Discrete Transfer Fcn
• Discrete State Space
• …

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SIMULINK

 Thư viện Signal & System

• Mux
• Demux
• In1
• Out1
• ….
 Thư viện Maths
• Abs
• Sign
• Sum
• …
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SIMULINK

Examples

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