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Using Matlab
SISOTOOL 2016 part 2

Anthony Rossiter

http://controleducation.group.shef.ac.uk/indexwebbook.html

Slides by Anthony Rossiter

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Introduction
• However, there has been a relatively major
change in the presentation and functionality of
sisotool in MATLAB 2016.
• This resource gives a quick overview of how
different compensator designs can be saved and
overlaid for effective comparison.
• We assume viewers have gone through the part 1
resource so they can open and access key plots in
the tool.
• Real time demonstrations are given at the end of
the video.
Slides by Anthony Rossiter
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Assumptions
This resource assumes a simple feedback structure
as follows (although sisotool will deal with more
complicated structures).
Compensator or System or process to
controller be controlled

Target (a
unit step)
Slides by Anthony Rossiter
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Overlaying plots
A common requirement is to compare and contrast
different compensators.
• sisotool has an option to save designs.
• Each design is given a separate name for clarity.

Don’t forget to include C=1 as a design so that this

option is included in the relevant Nyquist and/or
Bode plots where desired.

Slides by Anthony Rossiter

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Saving compensator designs

These are available under the tab ‘store’

Design now
Select saved as
store Design1

Slides by Anthony Rossiter

 Saving several
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designs
Now, 3 designs
are saved!

Go to the compensator editor, make C=2, go to

store and save design.
Go to the compensator editor, make C=3, go to
store and save design.
Slides by Anthony Rossiter
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Overlaying plots
Select
This done through the compare button designs you
wish to
overlay

Slides by Anthony Rossiter

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Comparing step responses of

Design1, Design2, Design3

4 plots because also

includes current
design (which may not
be saved yet).

Right click over plot

to find which colour
goes with which
design.
Slides by Anthony Rossiter
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Comparing Nyquist of Design1,

Design2, Design3

Root-loci pink
blobs always
based on
current design

Right click over plot

to find which colour
goes with which
design.
Slides by Anthony Rossiter
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Overlaying Bode

Same principle as
others, through
new plot, however
best to put in
middle window.

Slides by Anthony Rossiter

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Conclusion
This video has demonstrated the basic use of
sisotool in MATLAB 2016 for overlaying different
compensator designs.
This is useful for compare and contrast tasks as well
as design.
The next video shows how to use the tool for
simple compensator design.
The last video looks at lead and lag design.

Slides by Anthony Rossiter

 http://controleducation.group.shef.ac.uk/indexwebbook.html

Anthony Rossiter
Department of Automatic Control and
Systems Engineering
University of Sheffield
www.shef.ac.uk/acse

© 2016 University of Sheffield

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