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Lecture No.“4”
SIMATIC HMI
MATLAB
The Human
Programming
Machine Interface
Introduction

MATLAB
MATLAB Basics

Vectors & Arrays

Math. Functions

Polynomials

MATLAB plotting

2-D & 3-D Graphics

Flow Control

System analysis
The Language of
Curve fitting Technical Computing
Symbolic math.

Signal processing
Prepared by:
Function m-file
Dr./ Essam Nabil
MATLAB Simulink

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Flow Control
SIMATIC HMI
MATLAB
The Human
Programming
This section covers those MATLAB
Machine Interface
Introduction
functions that provide conditional program
MATLAB Basics
control and program control over program
Vectors & Arrays loops.
Math. Functions

Polynomials
Flow Control Statements
MATLAB plotting

2-D & 3-D Graphics

Flow Control

System analysis Conditional

Curve fitting Control Loop Control
Symbolic math. if, else - for -statement
Signal processing statement while -
Function m-file switch, case - statement
MATLAB Simulink statement
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Flow Control
SIMATIC HMI
MATLAB
The Human
Relational Operators:
Programming
Machine Interface
Introduction
MATLAB Basics

Vectors & Arrays

Math. Functions

Polynomials

MATLAB plotting

2-D & 3-D Graphics

Flow Control

System analysis
Logical Operators:
Curve fitting

Symbolic math.

Signal processing

Function m-file

MATLAB Simulink

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Conditional Control Statements

SIMATIC HMI
if statement
MATLAB
The Human
Programming
Machine Interface
if statement used to execute code once
Introduction when the logical test (expression) returns a
MATLAB Basics true value (1). An "else" statement
Vectors & Arrays
following an if statement is executed if the
Math. Functions
same expression  isDiscount
false (0). in Sales
Polynomials
Syntax1: application
MATLAB plotting

2-D & 3-D Graphics

if expression price=input(‘Enter the
Flow Control
Statements1; price=‘)
System analysis
else if price>1000
Curve fitting
Statements2; discount=30/100
Symbolic math.
end else
Signal processing

Function m-file
discount=5/100
MATLAB Simulink
end
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cost=price-price*discount
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Conditional Control Statements

Discount in Sales
SIMATIC HMI
MATLAB
The Human
Syntax2: application:
Programming
Machine Interface
price=input(‘Enter the total
Introduction
if expression1 price=‘);
MATLAB Basics
Statements1; if price>1000
Vectors & Arrays

Math. Functions
elseif discount=30/100
Polynomials
expression2 elseif price>900
MATLAB plotting
Statements2; discount=25/100
2-D & 3-D Graphics
elseif elseif price>800
Flow Control
expression3 discount=20/100
System analysis
statements3; elseif price>500
Curve fitting
… discount=10/100
Symbolic math. else else
Signal processing Statementsn; discount=5/100
Function m-file end end
MATLAB Simulink cost = price -
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Conditional Control Statements

SIMATIC HMI Note:
MATLAB
The Human
Programming To write multiple conditions in the expression we use
Machine Interface
Introduction
logical operators as: if
MATLAB Basics (x>0
switch-case ) & (x<=1)statement
Vectors & Arrays
switch statement executes one set of
Math. Functions
statements selected from an arbitrary
Polynomials
number of alternatives. Each alternative is
MATLAB plotting
called a case.
2-D & 3-D Graphics

Flow Control
Syntax1:
System analysis
switch expression (scalar or string)
Curve fitting
case value1
Symbolic math.
statement1;
Signal processing …
Function m-file otherwise
MATLAB Simulink statement, ..., statement
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Conditional Control Statements

Unit conversion to “centimeter”
SIMATIC HMI
MATLAB
The Human
Programming
application:
Machine Interface
value=input(‘Enter the value =‘);
Introduction
unit=input(‘Enter the unit =‘);
MATLAB Basics

Vectors & Arrays

switch unit
Math. Functions
case {‘inch’ , ‘in’}
output = value * 2.54
Polynomials
case {‘feet’ , ‘ft’}
MATLAB plotting
output = value * 2.54 *12
2-D & 3-D Graphics
case {‘meter’ , ‘m’}
Flow Control
output = value * 100
System analysis
case {‘centimeter’ , ‘cm’}
Curve fitting output = value
Symbolic math.
case {‘millimeter’ , ‘mm’}
Signal processing
output = value /10
Function m-file otherwise
MATLAB Simulink output=NaN
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Loop Control Statements

SIMATIC HMI
MATLAB
for loop statement
The Human
Programming
Machine Interface For loop statement repeatedly executes
Introduction one or more MATLAB statements in a loop
MATLAB Basics
for a number of times.
Vectors & Arrays
Syntax1:
Math. Functions
for x=start : increment : end
Polynomials
statements; Y=[ ];
MATLAB plotting
end T =[ ];
2-D & 3-D Graphics for i= 1 :
Flow Control for i= 1 : 100 0.01 :10
System analysis y(i) = y = cos(pi*i);
Curve fitting cos(pi*i); Y=[Y y ];
Symbolic math.
t(i)=i; t=i;
Signal processing
end T =[T t ];
Function m-file
plot(t,y) end
MATLAB Simulink

Final Test
plot(T,Y)
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Loop Control Statements

SIMATIC HMI
while loop statement
MATLAB
The Human
Programming
Machine Interface while loop statement repeatedly executes
Introduction one or more MATLAB statements in a loop,
MATLAB Basics continuing until expression no longer holds
Vectors & Arrays
true (1) or until MATLAB encounters a
Math. Functions
break, or return instruction. thus forcing
Polynomials
an immediately exit of the loop.
MATLAB plotting
Syntax1:
2-D & 3-D Graphics

Flow Control
while expression n=0;
System analysis
Statements; while 2^n < 10
Curve fitting
end n=n+1
Symbolic math.

Signal processing
end
Function m-file

MATLAB Simulink

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System analysis
SIMATIC HMI
MATLAB
The Human
Any dynamical system are described by
Programming
Machine Interface set of differential equations that can be
Introduction
modeled in time-domain using state space
MATLAB Basics

Vectors & Arrays

representation or s-domain using transfer
Math. Functions
function.
Polynomials System model
MATLAB plotting

2-D & 3-D Graphics

State-space
Flow Control
Transfer function representation
System analysis
-used for SISO -used for MIMO
Curve fitting

Symbolic math. systems systems

Signal processing -Zero initial -Non zero initial
Function m-file conditions. conditions.
MATLAB Simulink -Linear system -Linear and
Final Test models
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Transfer Function
SIMATIC HMI
MATLAB
The Human
Transfer functions are frequency-domain
Programming
Machine Interface representations of LTI systems. A SISO transfer
Introduction function is a ratio of polynomials:
MATLAB Basics

Vectors & Arrays

Math. Functions
To enter transfer function specify the
Polynomials
numerator and denominator polynomials:
MATLAB plotting
5
2-D & 3-D Graphics
G(s)=
Flow Control
-------------
System analysis

Curve fitting
s^2 + 2 s + 5
Symbolic math.
>>n=5;
Signal processing
>>d=[1 2 5];
Function m-file
>>printsys(n,d)
MATLAB Simulink
num/den =
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Transfer Function
SIMATIC HMI
MATLAB
The Human
OR:
Programming
Machine Interface use tf function to construct the system
Introduction
transfer function :
MATLAB Basics
>> n=5;
Vectors & Arrays
>> d=[1 2 5];
Math. Functions
>> G=tf(n,d)
Polynomials
Transfer function:
MATLAB plotting
5
2-D & 3-D Graphics
-------------
Flow Control s^2 + 2 s + 5
Ex.1: 3 (s + 2)
System analysis
G(s)= -----------------------
Curve fitting

Symbolic math.
(s^2 + 4 s+ 5)
Signal processing
(s+3)
Function m-file
>> n=3*[1 2];
MATLAB Simulink
>> d=conv([1 4 5],[1 3]);
Final Test >> G=tf(n,d)
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Transfer Function
SIMATIC HMI
MATLAB
The Human
Programming
Machine Interface Ex.2:
Introduction
10 (s + 2)
MATLAB Basics

Vectors & Arrays

G(s)= -----------------------
Math. Functions
(s+1)(s+3)(s+5)
Polynomials
(s+10)
MATLAB plotting >> n=10*[1 2];
2-D & 3-D Graphics >> d=poly([-1 -3 -5 -10]);
Flow Control >> G=tf(n,d)
System analysis

Curve fitting OR:

Symbolic math. >> n=10*[1 2];
Signal processing >> d=conv( conv([1 1],[1 3]) , conv
Function m-file ([1 1],[1 3]) );
MATLAB Simulink >> G=tf(n,d)
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Transfer Function
SIMATIC HMI
MATLAB
The Human
Creation of Zero-Pole-Gain Models:
Programming
Machine Interface zpk function is used to create zero-pole-gain
Introduction
models (ZPK objects) or to convert TF or SS
MATLAB Basics
models to zero-pole-gain form.
Vectors & Arrays

Math. Functions
Syntax
Polynomials
sys = zpk ( z, p, k) %creates a
MATLAB plotting
continuous-time zero
2-D & 3-D Graphics
pole-gain model
Flow Control
with zeros z, poles
System analysis p, and gain(s) k.
Curve fitting Ex.2: 10 (s + 3)
Symbolic math. G(s)= ------------------
Signal processing (s+1)(s+2)(s+5)
Function m-file >> z=-3;
MATLAB Simulink >> p=[-1 -2 -5];
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Transfer Function
SIMATIC HMI
MATLAB
The Human
System Response:
Programming
Machine Interface 1. Time response:
Introduction
 Impulse response:-
MATLAB Basics

Vectors & Arrays

>>impulse(G) %Plot impulse
Math. Functions
response with
Polynomials confidence
MATLAB plotting interval.
2-D & 3-D Graphics >>[y,t] = impulse(sys) %Calculate
Flow Control impulse response for
System analysis model object.
Curve fitting >>[y,t,x] = impulse(sys) % for state-
Symbolic math. space models only.
Signal processing

Function m-file  Step response:-

MATLAB Simulink >>step(G) %Plot step response
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Transfer Function
SIMATIC HMI
MATLAB
The Human
50 (s + 2)
Programming
Machine Interface G(s)= --------------------
Introduction
(s^2 + 4 s+ 25)(s+3)
MATLAB Basics

Vectors & Arrays

n=50*[1 2];
Math. Functions
d=conv([1 4 25],[1 3]);
Polynomials
G=tf(n,d)
MATLAB plotting
subplot(211)
2-D & 3-D Graphics
impulse(G)
xlabel( ‘Time (sec)’ )
Flow Control
ylabel( ‘System Output’ )
System analysis
title( ‘Impulse Response’ )
Curve fitting
subplot(212)
Symbolic math.
step(G)
Signal processing
xlabel( ‘Time (sec)’ )
Function m-file
ylabel( ‘System Output’ )
MATLAB Simulink title( ‘Step Response’ )
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Transfer Function
SIMATIC HMI
MATLAB
The Human  Root locus diagram:-
Programming
Machine Interface
The root locus gives the closed-loop pole
Introduction
MATLAB Basics
trajectories as a function of the feedback gain
Vectors & Arrays
K (assuming negative feedback). Root locus
Math. Functions
are used to study the effects of varying
Polynomials
feedback gains on closed-loop pole locations.
In turn, these locations provide indirect
MATLAB plotting
information on the time and frequency
2-D & 3-D Graphics
responses.
Flow Control

System analysis
>>rlocus(G) %calculates and plots
Curve fitting

Symbolic math.
the root locus of
Signal processing
the open-loop SISO
Function m-file
model sys.
MATLAB Simulink
>>[r,k] = rlocus(sys) % return the
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Transfer Function
SIMATIC HMI
MATLAB
The Human
50 (s + 2)
Programming
Machine Interface G(s)= --------------------
Introduction
(s^2 + 4 s+
MATLAB Basics

Vectors & Arrays

25)(s+3)
Math. Functions
n=50*[1 2];
Polynomials
d=conv([1 4 25],[1 3]);
MATLAB plotting
G=tf(n,d)
2-D & 3-D Graphics
rlocus(G)
Flow Control
sgrid
System analysis

Curve fitting

Symbolic math.

Signal processing

Function m-file

MATLAB Simulink

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Transfer Function
SIMATIC HMI
MATLAB
The Human
Programming
2. Frequency response:
Machine Interface  Bode plots:-
Introduction
MATLAB Basics
>>bode(G) % plots Bode
Vectors & Arrays
plot for the model G
Math. Functions >>[mag,phase,w] = bode(G) %
Polynomials computes the magnitude
MATLAB plotting mag and
2-D & 3-D Graphics phase values of the
Flow Control

System analysis frequency response.

Curve fitting >>[Gm,Pm,Wg,Wp] = margin(G)
Symbolic math. %computes the gain
Signal processing
margin Gm, the phase
Function m-file
margin Pm, and
MATLAB Simulink
the corresponding
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Transfer Function
SIMATIC HMI
MATLAB
The Human
50 (s + 2)
Programming
Machine Interface G(s)= --------------------
Introduction
(s^2 + 4 s+
MATLAB Basics

Vectors & Arrays

25)(s+3)
Math. Functions
n=50*[1 2];
Polynomials
d=conv([1 4 25],[1 3]);
MATLAB plotting
G=tf(n,d)
2-D & 3-D Graphics
bode(G)
Flow Control
grid on
System analysis

Curve fitting

Symbolic math.

Signal processing

Function m-file

MATLAB Simulink

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Transfer Function
SIMATIC HMI
MATLAB
The Human
50 (s + 2)
Programming
Machine Interface G(s)= --------------------
Introduction
(s^2 + 4 s+
MATLAB Basics

Vectors & Arrays

25)(s+3)
Math. Functions
n=50*[1 2];
Polynomials
d=conv([1 4 25],[1 3]);
MATLAB plotting
G=tf(n,d)
2-D & 3-D Graphics
nyquist(G)
Flow Control
grid on
System analysis

Curve fitting

Symbolic math.

Signal processing

Function m-file

MATLAB Simulink

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Transfer Function
SIMATIC HMI
MATLAB
The Human
Discrete-Time System Models
Programming
Machine Interface The discrete-time system models are
Introduction representational schemes for digital filters. The
MATLAB Basics
transfer function is a basic z-domain
Vectors & Arrays
representation of a digital filter, expressing the
Math. Functions
filter as a ratio of two polynomials.
Polynomials

MATLAB plotting >>n =1;

2-D & 3-D Graphics >>d= [1 0.3];
Flow Control >>Ts = 0.2;
System analysis >>H = tf(n,d,Ts)
Curve fitting Transfer function:
Symbolic math. 1
Signal processing
-------
Function m-file
z + 0.3
MATLAB Simulink
Sampling time: 0.2
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Transfer Function
SIMATIC HMI
MATLAB Transforming Between Discrete-Time
The Human
Programming
Machine Interface and Continuous-Time Representations:
Introduction
>>sysd = c2d(sysc,Ts) %discretizes the
MATLAB Basics

Vectors & Arrays

continuous-time
Math. Functions
LTI model sys
Polynomials
using zero-order
MATLAB plotting
hold on the
2-D & 3-D Graphics inputs and a sample
Flow Control time of Ts
System analysis seconds.
Curve fitting >>sysd = c2d(sysc,Ts,method) %gives
Symbolic math. access to alternative discretization schemes.
Signal processing The string method selects the discretization
Function m-file method among the following:
MATLAB Simulink ‘zoh‘--------Zero-order hold. The control inputs
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Transfer Function
SIMATIC HMI
MATLAB
The Human s-1
Programming
Machine Interface
G(s)= --------------
Introduction
MATLAB Basics
s^2 + 4 s +
Vectors & Arrays
5
Math. Functions >>n= [1 -1];
Polynomials >>d= [1 4 5];
MATLAB plotting >>H=tf(n,d);
2-D & 3-D Graphics >>Hd =
Flow Control c2d(H,0.1,'foh')
System analysis Transfer function:
Curve fitting 0.04226 z^2 -
Symbolic math. 0.01093 z - 0.03954
Signal processing ----------------------------
Function m-file -----
MATLAB Simulink
z^2 - 1.629 z +
Final Test
0.6703
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Transfer Function
SIMATIC HMI
MATLAB
The Human
Programming >>sysc = d2c(sysd) %produces a
Machine Interface
Introduction
continuous-time model
MATLAB Basics sysc that is
Vectors & Arrays equivalent to the discrete
Math. Functions time LTI model sysd
Polynomials using zero-order
MATLAB plotting hold on the inputs.
2-D & 3-D Graphics >>sysc = d2c(sysd,method) %gives
Flow Control access to alternative
System analysis
conversion schemes.
Curve fitting
The string method
Symbolic math.
selects the conversion
Signal processing
method among
Function m-file
the following:
MATLAB Simulink
‘zoh‘ -----Zero-order hold on the inputs. The
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Transfer Function
SIMATIC HMI
MATLAB
The Human
(z+0.2)
Programming
Machine Interface
Introduction
H(z)=-------------------------
MATLAB Basics

Vectors & Arrays

(z+0.5) (z^2
Math. Functions
+ z + 0.4)
Polynomials
>>Ts = 0.1;
MATLAB plotting
>>H=tf([1 0.2],conv([1 0.5],[1 1
2-D & 3-D Graphics
0.4]),Ts);
Flow Control >>Hc = d2c(H)
System analysis Transfer function:
Curve fitting -33.66 s^3 - 741 s^2 -
Symbolic math. 2.908e004 s + 2.199e005
Signal processing -----------------------------------------------
Function m-file -----
MATLAB Simulink s^4 + 23.03 s^3 + 1799 s^2 +
Final Test 1.832e004 s + 6.596e005
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Transfer Function
SIMATIC HMI
MATLAB
The Human >>sysd2 = d2d(sysd1,Ts,method)
Programming
Machine Interface
%resamples the discrete
Introduction
time model sys to produce an
MATLAB Basics

Vectors & Arrays

equivalent
Math. Functions discrete-time model sys1 with
Polynomials new sample
MATLAB plotting time Ts (in seconds) using
2-D & 3-D Graphics resampling method
Flow Control among the following:
System analysis 'zoh' ---- Zero-order hold on the inputs
Curve fitting 'tustin' ---- Bilinear (Tustin) approximation
Symbolic math. 'prewarp' ---- Tustin approximation with
Signal processing frequency warping.
Function m-file Specify the critical frequency Wc
MATLAB Simulink (in rad/s) as a
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State Space Model

SIMATIC HMI
MATLAB
The Human
State space models are models that use
Programming
Machine Interface state variables to describe a system by a set of
Introduction first-order differential or difference equations.
MATLAB Basics State equation
Vectors & Arrays

Math. Functions
Output equation
Polynomials where
MATLAB plotting x :is the state vector ∈Rnx1
2-D & 3-D Graphics n :system order
Flow Control A :is the system matrix ∈Rnxn
System analysis B :is the control matrix ∈Rnxp
Curve fitting p :no. of inputs
Symbolic math. u :is the input control vector ∈Rpx1
Signal processing y :is the measured output ∈Rqx1
Function m-file
C :is the output matrix ∈Rqxn
MATLAB Simulink
q :no. of outputs
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State Space Model

SIMATIC HMI
MATLAB
The Human state-space model block diagram:
Programming
Machine Interface
Introduction
MATLAB Basics

Vectors & Arrays

Math. Functions

Polynomials

MATLAB plotting

2-D & 3-D Graphics

Flow Control

System analysis

Curve fitting

Symbolic math.

Signal processing

Function m-file

MATLAB Simulink

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State Space Model

SIMATIC HMI
MATLAB
The Human
>> sys = ss(A,B,C,D) %creates a State
Programming
Machine Interface space object
Introduction
representing the
MATLAB Basics

Vectors & Arrays

continuous-time
Math. Functions
state-space model.
Polynomials
>> [n,d] = ss2tf(A,B,C,D,iu) % converts a
state-space
MATLAB plotting
representation of a given system
2-D & 3-D Graphics
to an equivalent
Flow Control transfer function representation
System analysis from the iu-th input.
Curve fitting >> [A,B,C,D] = tf2ss(n,d) % converts the
Symbolic math. parameters of a
>>sys = ss([0 1;-5 -2],
Signal processing transfer function representation
[0;3],[0 1],0); to
of a given system
Function m-file
>> step(sys) those of an equivalent state-
MATLAB Simulink
space representation.
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State feedback controller design

using pole-placement method
SIMATIC HMI
MATLAB
The Human Controllability matrix
Programming
Machine Interface
Introduction
MATLAB Basics

The system is said to be completely controllable if

Vectors & Arrays

Math. Functions

Polynomials
rank(Cm) =n
MATLAB plotting

2-D & 3-D Graphics Synatx:

Flow Control

System analysis >>Cm = ctrb(A,B) %calculates the

Curve fitting controllability
Symbolic math.
matrix of the
Signal processing
state-space model
Function m-file

MATLAB Simulink
OR:
Final Test
>> Cm = ctrb(sys) Industrial%calculates the
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State feedback controller design

using pole-placement method
SIMATIC HMI
MATLAB
The Human state-feedback controller design:
Programming
Machine Interface
Introduction
MATLAB Basics

Vectors & Arrays

Math. Functions

Polynomials

MATLAB plotting

2-D & 3-D Graphics

Flow Control

System analysis

Curve fitting Control law

Symbolic math.

Signal processing where

Function m-file K :is controller gain matrix ∈Rpxn
MATLAB Simulink r :is the reference input
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State feedback controller design

using pole-placement method
SIMATIC HMI
MATLAB
The Human
Programming
The closed-loop system equation will be:
Machine Interface
Introduction
MATLAB Basics

Vectors & Arrays

 The closed-loop system characteristic equation:
Math. Functions

Polynomials

MATLAB plotting -------

2-D & 3-D Graphics (1)
 The desired characteristic equation is given as:
Flow Control

System analysis

-------
Curve fitting

Symbolic math.

Signal processing
Equating coefficients of (2)
Function m-file
equations (1) and (2) and solving
MATLAB Simulink

Final Test
for the controller gain matrix K
Faculty of Electronic Engineering Industrial Electronics and Automatic Control Engineering
 for internal use only Automation
Dr./ Essam and
Nabil
Drives

State feedback controller design

using pole-placement method
SIMATIC HMI
MATLAB
The Human Pole placement design using MATLAB:
Programming
Machine Interface
Introduction >>K = place(A,B,p) %computes a
MATLAB Basics feedback gain matrix
Vectors & Arrays
K that achieves
Math. Functions
the desired closed
Polynomials
loop pole
MATLAB plotting
locations p
2-D & 3-D Graphics
OR:
Flow Control
>>K = acker(A,B,p) %computes a
System analysis
feedback gain matrix
Curve fitting

Symbolic math.
K for the desired
Signal processing
closed loop pole
Function m-file
p, using
MATLAB Simulink
Ackermann's formula.
Final Test Notes:
Faculty of Electronic Engineering Industrial Electronics and Automatic Control Engineering
 for internal use only Automation
Dr./ Essam and
Nabil
Drives

State feedback controller design

using pole-placement method
SIMATIC HMI
MATLAB
The Human Application example:
Programming
Machine Interface
Introduction
clear,clc
MATLAB Basics
%The system state-space model
Vectors & Arrays parameters
Math. Functions A = [0 1 0;0 0 1;-12 -19 -8];
Polynomials
B = [0;0;1];
MATLAB plotting
C = [1 0 0];
2-D & 3-D Graphics
Cm = ctrb(A,B) %computes
Flow Control
Controllability matrix
System analysis
Cm_test=det(Cm)
Curve fitting
%controllability test
Symbolic math.

Signal processing
if(Cm_test~=0)
Function m-file
p=[-1 -2 -3]; %The desired
MATLAB Simulink
closed-loop poles i.e. p
Final Test
K = place(A,B,p) Industrial%finds
Faculty of Electronic Engineering
controller
Electronics and Automatic Control Engineering
 for internal use only Automation
Dr./ Essam and
Nabil
Drives

Observer design
using pole-placement method
SIMATIC HMI
MATLAB
The Human Observability matrix
Programming
Machine Interface
Introduction
MATLAB Basics

Vectors & Arrays

Math. Functions

Polynomials

MATLAB plotting
The system is said to be completely
2-D & 3-D Graphics
state observable
Flow Control
if only: rank(Om) =n
Synatx:
System analysis
>>Om = obsv(A,B) %calculates the
Curve fitting

Symbolic math.
observability
Signal processing
matrix of the
Function m-file
state-space model
MATLAB Simulink OR:
Final Test >> Om = obsv (sys) %calculates
Industrial Electronics
Faculty of Electronic Engineering and Automatic Controlthe
Engineering
 for internal use only Automation
Dr./ Essam and
Nabil
Drives

Observer design
using pole-placement method
SIMATIC HMI
MATLAB
The Human
Programming
Observer schematic diagram:
Machine Interface
Introduction
MATLAB Basics

Vectors & Arrays

Math. Functions

Polynomials

MATLAB plotting

2-D & 3-D Graphics

Flow Control

System analysis

Curve fitting

Symbolic math.

Signal processing

Function m-file

MATLAB Simulink

Final Test Faculty of Electronic Engineering Industrial Electronics and Automatic Control Engineering
 for internal use only Automation
Dr./ Essam and
Nabil
Drives

Observer design
using pole-placement method
SIMATIC HMI
MATLAB
The Human
The observer state equations will be:
Programming
Machine Interface
Introduction
MATLAB Basics

Vectors & Arrays

Math. Functions
State estimation error is given by:
Polynomials

MATLAB plotting

2-D & 3-D Graphics

 The observer characteristic equation:
Flow Control

System analysis -------

 The desired characteristic equation is given as:
Curve fitting

Symbolic math.
(1)
-------
Signal processing

Function m-file
Equating coefficients of equations (1) and
MATLAB Simulink (2) L
(2) and solving for observer gain matrix
Final Test Faculty of Electronic Engineering Industrial Electronics and Automatic Control Engineering
 for internal use only Automation
Dr./ Essam and
Nabil
Drives

Observer design
using pole-placement method
SIMATIC HMI
MATLAB
The Human Observer design using MATLAB:
Programming
Machine Interface
Introduction >>L = place(A’,C’,p) %computes
MATLAB Basics observer gain matrix
Vectors & Arrays
L for the
Math. Functions
desired poles locations p
Polynomials
OR:
MATLAB plotting

2-D & 3-D Graphics

>>L = acker(A’,C’,p) %computes
Flow Control
observer gain matrix
System analysis
L for the
Curve fitting

Symbolic math.
desired poles locations p
Signal processing
using
Function m-file
Ackermann's formula.
MATLAB Simulink
Notes:
Final Test
 The length of p must
Faculty of Electronic Engineering
match the row
Industrial Electronics and Automatic Control Engineering
 for internal use only Automation
Dr./ Essam and
Nabil
Drives

Observer design
using pole-placement method
SIMATIC HMI
MATLAB
The Human Application example:
Programming
Machine Interface
Introduction
clear,clc
MATLAB Basics
%The system state-space model
Vectors & Arrays parameters
Math. Functions A = [0 1 0;0 0 1;-12 -19 -8];
Polynomials
B = [0;0;1];
MATLAB plotting
C = [1 0 0];
2-D & 3-D Graphics
Om = obsv(A,C) %computes
Flow Control
Observability matrix
System analysis
Om_test=det(Om)
Curve fitting
%Observability test
Symbolic math.

Signal processing
if(Om_test~=0)
Function m-file
p=[-5 -10 -30]; %The desired
MATLAB Simulink
Observer poles i.e. p
Final Test
L = place(A’,C’,p) Industrial Electronics
Faculty of Electronic Engineering
%finds and Automatic Control Engineering
 for internal use only Automation
Dr./ Essam and
Nabil
Drives

End of Lecture No. “4”

SIMATIC HMI
MATLAB
The Human
Programming
Machine Interface
Introduction
MATLAB Basics

Vectors & Arrays

Math. Functions

Polynomials

MATLAB plotting

2-D & 3-D Graphics

Flow Control

System analysis

Curve fitting

Symbolic math.

Signal processing

Function m-file

MATLAB Simulink

Final Test Faculty of Electronic Engineering Industrial Electronics and Automatic Control Engineering