Control System Design Overview 2-1

Control System Design Overview

MATLAB® and Simulink® for Control Design Acceleration

© 2014 MathWorks, Inc.

Control System Design Overview 2-2

Outline

• Defining a control design workflow

• Linearizing a model
• Finding system characteristics
• Setting controller requirements
• Tuning controllers
• Testing controllers
Control System Design Overview 2-4

The Digital Motion Control System

Motor Flexible shaft Load encoder

Motor encoder

I/O connectors

Power
amplifier
Control System Design Overview 2-5

Control Design Workflow Executable

Specifications
from Models

Design Continuous
with Models Test and
Simulation Verification

Implementation
with Automatic
Modeling: Code Generation

Understanding your design problem

Control Design:

Solving your design problem

Verification:

Verifying the design meets requirements

Control System Design Overview 2-6

The Simulink® Model

Control System Design Overview 2-7

Setting Input and Output Points

Input perturbation Output measurement

Control System Design Overview 2-8

Linear Analysis
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Defining the Linearization Task

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Setting Operating Points

Operating point affects

result of linearizing
lookup table block.
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The Linearized Model

Step response contains

high frequency oscillation.

Linear model
has five states.
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Viewing Other Responses

High frequency, lightly

damped pole

High frequency
oscillation
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Finding System Characteristics

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Control Requirements

• Maintain settling time

• Eliminate high
frequency oscillation
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Using a Controller
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Tuning a Controller
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Selecting Blocks to Tune

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Selecting Design Plots

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Selecting Analysis Plots

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Viewing Design and Analysis Plots

Open loop analysis Closed loop analysis

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Adding Design Requirements

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Tuning to Requirements
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Testing the Controller

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Summary

• Defining a control design workflow

• Linearizing a model
• Finding system characteristics
• Setting controller requirements
• Tuning controllers
• Testing controllers
Control System Design Overview 2 - 25

Test Your Knowledge

1. (T/F): Simulink models can be linear or nonlinear.

2. (T/F): Most classical control design methods rely on the

existence of a linear system model.

3. Analyzing a linear model using the Linear Analysis Tool

allows you to quickly obtain:
A. Frequency response of the system (Bode plot)
B. Step / Impulse system responses
C. Poles / Zeros of the linear system
D. All of the above
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Test Your Knowledge

4. Which of the following allows you to tune a controller block

in Simulink while analyzing the open-loop and closed-loop
system?
A. Linearization Task
B. Control System Designer
C. Control System Tuner
D. Parameter Estimation Task