Feedback Control Systems: Matlab/Simulink Approach

226 Pages·2019·14.386 MB·English

by  Farzin Asadi, Robert E. Bolanos, Jorge Rodriguez

Feedback Control Systems
The MATLAB®/Simulink® Approach

Synthesis Lectures on Control
and Mechatronics
Editors
ChaoukiAbdallah,GeorgiaInstituteofTechnology
MarkSpong,UniversityofTexasatDallas
FeedbackControlSystems:TheMATLAB®/Simulink® Approach
FarzinAsadi,RobertE.Bolanos,andJorgeRodríguez
2019
MobileRoboticsforMultidisciplinaryStudy
CarlottaA.Berry
2012
ControlSystemSynthesis:AFactorizationApproach,PartI
MathukumalliVidyasagar
2011
ControlSystemSynthesis:AFactorizationApproach,PartII
MathukumalliVidyasagar
2011
TheReactionWheelPendulum
DanielJ.Block,KarlJ.Åström,andMarkW.Spong
2007
Copyright©2019byMorgan&Claypool
Allrightsreserved.Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmittedin
anyformorbyanymeans—electronic,mechanical,photocopy,recording,oranyotherexceptforbriefquotations
inprintedreviews,withoutthepriorpermissionofthepublisher.
FeedbackControlSystems:TheMATLAB®/Simulink®Approach
FarzinAsadi,RobertE.Bolanos,andJorgeRodríguez
www.morganclaypool.com
ISBN:9781681735399 paperback
ISBN:9781681735405 ebook
ISBN:9781681735412 hardcover
DOI10.2200/S00909ED1V01Y201903CRM005
APublicationintheMorgan&ClaypoolPublishersseries
SYNTHESISLECTURESONCONTROLANDMECHATRONICS
Lecture#5
SeriesEditors:ChaoukiAbdallah,GeorgiaInstituteofTechnology
MarkSpong,UniversityofTexasatDallas
SeriesISSN
Print1939-0564 Electronic1939-0572
Feedback Control Systems
The MATLAB®/Simulink® Approach
Farzin Asadi
KocaeliUniversity,Kocaeli,Turkey
Robert E. Bolanos
SouthwestResearchInstitute,Texas,U.S.A.
Jorge Rodríguez
PowerSmartControl,Leganés,Spain
SYNTHESISLECTURESONCONTROLANDMECHATRONICS#5
M
&C Morgan &cLaypool publishers
ABSTRACT
Feedbackcontrolsystems is an important course in aerospace engineering,chemical engineering,
electrical engineering, mechanical engineering, and mechatronics engineering, to name just a
few. Feedback control systems improve the system’s behavior so the desired response can be
acheived.
The first course on control engineering deals with Continuous Time (CT) Linear Time
Invariant(LTI)systems.Plentyofgoodtextbooksonthesubjectareavailableonthemarket,so
thereisnoneedtoaddonemore.Thisbookdoesnotfocusonthecontrolengineeringtheories
as it is assumed that the reader is familiar with them, i.e., took/takes a course on control en-
gineering, and now wants to learn the applications of MATLAB® in control engineering. The
focusofthisbookiscontrolengineeringapplicationsofMATLAB®forafirstcourseoncontrol
engineering.
KEYWORDS
closed-loop control, control, controller, feeback, PID controller, MATLAB®,
Simulink®
vii
Contents
Preface ........................................................... xi
Acknowledgments ................................................ xiii
1 IntroductiontoMATLAB® ..........................................1
1.1 Introduction ..................................................... 1
1.2 DifferentPartsofMATLAB® ...................................... 2
1.3 MATLAB’sEditor................................................ 3
1.4 MATLAB’sHelpSystem .......................................... 6
1.5 MATLAB’sKeywords ............................................. 6
1.6 MATLAB’sToolboxes............................................. 9
1.7 Variables ........................................................ 9
1.8 BasicOperators ................................................. 11
1.9 LogicalOperators................................................ 12
1.10 TrigonometricsFunctions ......................................... 12
1.11 LogarithmicandExponentialFunctions.............................. 16
1.12 ComplexNumbersFunctions ...................................... 16
1.13 RoundingFunctions.............................................. 16
1.14 RemainderFunctions ............................................. 16
1.15 MatrixesinMATLAB® .......................................... 20
1.16 Commands:rand,ones,zeros,eye ................................ 20
1.17 TheColonOperator.............................................. 21
1.18 logspaceandlinspaceCommands ................................ 21
1.19 OperationwithMatrices .......................................... 21
1.20 FindingPolynomialRoots ......................................... 22
1.21 ProductofTwoPolynomials ....................................... 22
1.22 SolutionofLinearSystemsofEquations ............................. 23
1.23 SolutionofNonlinearSystemsofEquations .......................... 23
1.24 SolvingDifferentialEquations ..................................... 25
1.25 DifferentionandIntegration ....................................... 28
viii
1.26 DrawingDiagramswithMATLAB® ................................ 29
1.27 DrawingtheGraphofCollectedData ............................... 37
1.28 DrawingTwoorMoreDataSimultanously ........................... 44
1.29 DrawingtheFrequencyResponse ................................... 50
2 CommonlyUsedCommandsinAnalysisofControlSystems ..............55
2.1 Introduction .................................................... 55
2.2 DefiningtheTransferFunction ..................................... 55
2.3 ImpulseResponseofaSystem...................................... 62
2.4 StepResponseofaSystem......................................... 73
2.5 DrawingtheFrequencyResponseofaSystem ......................... 78
2.6 DrawingtheNyquistDiagramofaSystem ........................... 81
2.7 RootLocusPlot ................................................. 85
2.8 ConnectingtheSystemsTogether................................... 89
3 IntroductiontoSimulink® ..........................................93
3.1 Introduction .................................................... 93
3.2 RunningtheSimulink® ........................................... 93
3.3 SearchingforBlocks.............................................. 98
3.4 Example1:Simulink® ofaRLCCircuit.............................. 98
3.5 ExportingtheResultstoWorkspace ................................ 105
3.6 Example2:SimulationinTransferFunctions......................... 108
3.7 Example3:SimulationofElectricCircuitswiththeAidofSimscapLibrary 109
3.8 Example4:SimulationofNonlinearSystems......................... 123
3.9 Subsystem..................................................... 126
3.10 FunctionBlock ................................................. 128
3.11 Example5:UseofFunctionBlockintheSimulink® Simulations ......... 128
3.12 SimulationofDiscreteTimeSystems ............................... 132
3.13 Example6:SimulationofDiscreteTimeSystems ..................... 139
3.14 Example7:SimulationofDiscreteTimeSystems ..................... 144
3.15 ShowingTwoorMoreSignalsSimultaneously ....................... 145
3.16 SimulationofaClosed-LoopControlSysteminSimulink® ............. 151
4 ControllerDesigninMATLAB® ....................................163
4.1 Introduction ................................................... 163
4.2 PIDControllerDesigninMATLAB® ............................. 163
ix
4.3 TuningthePIDControllersInsideTheSimulink® Environment ......... 172
4.4 DesignofLinearControllerswithSisotool(ControlSystemDesigner) .... 176
4.5 LoopShaping.................................................. 185
4.6 ManualControllerDesign........................................ 190
5 IntroductiontoSystemIdentificationToolbox™ .......................193
5.1 Introduction ................................................... 193
5.2 IllustrativeExample ............................................. 193
References .......................................................209
Authors’Biographies ..............................................211