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Contents 1 Introduction I MATLAB 2 Fundamentals 21 2.2 2.3 24 Keyboard input Input from external files Utility commands Exercises 3. Vector and matrix manipulation 31 3.2 3.3 34 3.5 3.6 37 Elements of a matrix Interval representation Matrix manipulation operations Special matrices Character strings Advanced matrix manipulation techniques Exercises 4 Scalar operations 41 4.2 4.3 AA 45 Arithmetic operations Elementary and transcendental functions Examples ne Logical and relational operatots Exercises ouy 4 15 15 17 18 19 20 21 2k 25 26 26 30 31 32vi Contents Matrix operations 5.1 Transpose 5.2 Algebraic operations 5.3. Matrix functions 5.4 Logic operations 5.5 Complements on matrices 8.6 More special matrices 5.7 Exercises Polynomials 6.1 Basic operations 6.2 Interpolation 6.3 Exercises Graphics 7.1 2D graphics 7.2 Multiple plots 7.3 Axis scaling 7.4 Complox data 7.5 More 2D graphs 7.6 Plotting more graphs on the same window 7.7 3D graphics 7.8 Functions of two variables 7.9 Color in MATLAB 7.10 Parametric plots 7.11 Revolution surfaces 7.12 Printing graphics 7.13 Exercises Programming in MATLAB 8.1 Basic programming structures 8.2. Script files 8.3. Functions 8.4 Debugging programs 8.5 Exercises Numeric analysis 9.1 Infinitesimal analysis 9.2 Nonlinear equations and optimization 9.3 Differential equations 9.4 Exercises 35 35 66 66 70 73 74 75 76 7 79 83, 84 84 87 91 91 93 94 99 103 lll 112 113 115 117Contents vii IL SIMULINK 124 10 Fundamentals 123 10.1 Building a SIMULINK scheme 124 10.2 Analysis of the scheme 127 10.3 Exercises 129 11 SIMULINK schemes 131 11.1 Using the mouse 131 11.2 Structural properties of the blocks 134 11.3 A uonlinear example 136 11.4 Sources and sinks 139 11.5 Some nonlinear blocks 42 11.6 Exercises 145 12 Simulation in SIMULINK 153 12.1 Simulation problems z 153 12.2 Integration methods 7 1ST 12.3 System with discontinuities 159 12.4 Time-varying systems 161 12.5 Exercises 163 13 Multi-variable systems 167 13.1 Multi-variable schemes 167 13.2. Connections 170 13.3 An example: a planar manipulator 1m2 13.4 Exercises 174 14 Group operation 179 14.1 Using the group option 179 14.2 Exercises 182 15 Diserete-time ‘systems 185 15.1 Au example: the repopulation of a lake 185 15.2. Exercises 188 16 Hybrid systems 193 16.1 Hybrid schemes 193 16.2 Exercises 196 17 Advanced topics . ~ 198 17.1 System analysis ts 198 17.2 Using Mask 203 17.3 Customizing SIMULINK 207villi Contents 17.4 Exercises 18 Blocks library 18.1 Sources 18.2 Sinks 18.3 Discrete 18.4 Linear 18.5 Nonlinear 18.6 Connections 18.7 Extras III Control System Toolbox 19 Models for LTI systems 19.1 LTI system representations 19.2 Conversions among representations 19.3 Continuous to discrete conversion 19.4 Controllability and observability 19.5 Commands for other properties 19.6 Model order reduction 19.7 System connections 19.8 Exercises 20 Time domain response 20.1 Unforced response 20.2 Step response 20.3 Impulse response 20.4 Response to any input 20.5 Exercises 21 Frequency domain response 21.1 Bode plots 21.2 Nyquist plots 21.3 Nichols plots 21.4 Gain and phase margins 21.5 Exercises 22 Root locus ‘ 22.1 Root locus plot 22.2, Exercises 207 209 209 213 216 219 222 229 230 235 237 242 24T 254 2538 261 265 270 278 280 281 284 285, 290 292 293 297 300 306 31023 State feedback 23.1 Feedback gain design 23.2 The observer 23.3 Linear quadratic optimal control 23.4 Kalman filter - 23,5 Separation principle 23.6 Exercises 24 Discrete functions 24.1 Discrete to continuous conversion 24.2 Properties 24.3 Model reduction 24.4 Time domain response 24,5 Frequency domain response 24.6 State feedback design 24.7 Exercises 25 Utility functions 25.1 Modeling 25.2 Time response 25,3 Frequency response 25.4 Lyapunov and Riccati equations IV Appendices A Advanced graphic functions A.l Graphic objects'in MATLAB A.2 Root AB. Figure AA Axes_ AS Line A6 Surface AT Image A8 Text B Graphic user interface design Bl Controls B2 Menu B.3. Using the mouse C S-function C.1 Writing an S-function C.2 Continuous-time systems Contents ix 313 314 315 317 321 324 324 328 328 329 331 331 334 339 340 e 343 343 343, 344 345 347 349 349 353 355 358. 361 361 363 376 379 386 389x Contents C.3 Diserete-time systems C4. Hybrid systems C.5 Observations References Index 393 397