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The Almighty

Control System Toolbox


University of
Mohaghegh Ardabili

The SISO Design Tool

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LTIView

Sisotool

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Transfer Function

2 + 4
2 + 6 + 5

( + )
=
( + )( + )

= (, , )

2( + 2)
=
( + 1)( + 5)

= ( 2, 1 2 , ( 1 1 , 1 5 ))

B=

C= [2 4]
D= 0
A=

= ( 2 4 , 1 6 5 )

[ ] = (, , , )
sys= tf(n,p)

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LTIView

Sisotool

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LTI Viewer
The LTI Viewer can display up to Seven different plot types

simultaneously, including step, impulse, Bode (magnitude and


phase or magnitude only), Nyquist, Nichols, sigma, pole/zero,
and I/O pole/zero

Access the LTI Viewer

typing ltiview in the MATLAB Command Window

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LTIView

Sisotool

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LTI Viewer
File --> Import

whose responses you wish to display in the LTI


Viewer sometime during your current session

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LTIView

LTI Viewer
Right Click

Sisotool

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LTIView

Sisotool

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SISO TOOL

The SISO Design analyze and tune SISO feedback control systems
Using the SISO Design Tool, you can graphically tune the gains and
dynamics of the compensator (C) and prefilter (F)

root locus view to stabilize the feedback loop Enforce some minimum damping
and
Bode diagrams to adjust the bandwidth, check the gain and phase margins

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LTIView

Sisotool

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SISO TOOL
You can perform the following tasks:

Manipulate closed-loop dynamics using root locus techniques.


Shape open-loop Bode responses.
Add compensator poles and zeros.
Add and tune lead/lag networks and notch filters.
Inspect closed-loop responses (using the LTI Viewer).
Adjust phase and gain margins.
Convert models between discrete and continuous time.
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LTIView

Sisotool

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SISO TOOL
Access

= ( , )
()
= ( 2 4 , 1 6 5 )
= (1, 2 5 )
(, )
8

( )

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LTIView

Sisotool

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SISO TOOL

Add/Delete Zero or Pole

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LTIView

Sisotool

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SISO TOOL

Compensator

Plant

Prefilter

Sensor

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SISO TOOL

File --> Import

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LTIView

Sisotool

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LTIView

Sisotool

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SISO TOOL
Add/Delete Pole and Zero
Change (Pole and Zero) location

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SISO TOOL

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LTIView

Sisotool

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SISO TOOL

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LTIView

Sisotool

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LTIView

Sisotool

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SISO TOOL

You can do so many features


by right clicking on
corresponding plot windows

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LTIView

Sisotool

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SISO TOOL

To see closed-loop step-response,


choose Responses Step Command
from Analysis menu.

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LTIView

Sisotool

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SISO TOOL
To transfer the plots to another application such as WORD, choose Print to Figure

from File menu and then Save it by an .emf type file so you can change some
properties later even in Microsoft Word

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LTIView

Sisotool

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SISO TOOL
To transfer the data to SIMULINK, choose
Draw Simulink Diagram from the Tools menu
Note that:
plant and
compensator data
have already been
exported to
MATLAB workspace
File --> Export

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LTIView

Example 1

Design in Time Domain


>> G = tf(1,[1 7 10 0])

>> sisotool(G)

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LTIView

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Example 1
To find the value of K for marginal stability
drag the closed-loop pole along the locus to the jw-axis intersect

And the value of K


will change to 70

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LTIView

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Example 1
To find the gain of damping ratio of 0.6 drag the complex pole
Until the Damping displayed in the bottom panel reach to that value

And the value of K


will change to 8.89

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LTIView

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Example 1
Now, Lets Design a PD compensator C(s) = KP + KDS for the following case :

Damping ratio

= 0.707

Settling time of ts = 2s

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LTIView

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Example 1
To place a pair of complex poles on your diagram at a damping ratio of 0.707

You can do the same for settling time

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LTIView

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To have a close loop pole


at -2+j2, A zero must be added
to shift the luci

towards the left halfs plane

Sisotool

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LTIView

Example 1

Zero at -2.397
K =24
Using in workspace
File --> Export
Response to Step Command
From Analysis menu

Sisotool

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LTIView

Sisotool

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Example 2
Design in Frequency Domain

50 < c < 70
Minimum Phase Margin = 60

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LTIView

Sisotool

Example 2

But PM :

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LTIView

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Example 2
As we need Phase Margin to be more than 60
We have too use a compensator
Here we will use a Lead compensator

m = 60 11.3 =48.7
We choose 55

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LTIView

Example 2
To Find K :

For K= 100

Sisotool

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Thanks

[1] Matlab Help on Control System Toolbox Root Locus Design GUI
[2] Guidelines for MATLABs SISO Design Tool GUI , Dr. Farzad Pourboghrat
[3] Linear Control Systems , Faculty of Electrical , Amirkabir University , fall 2009 ( In Persian )