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Scilab in System and Control
Dr. Balasaheb M. Patre, Professor and Head, Department of Instrumentation Engineering, SGGS Institute of Engineering and Technology, Vishnupuri, Nanded-431606. E-mail: [email protected]
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Introduction
A powerful tool to the numerical study of:
Input-Output dynamic systems Input-State-Output dynamic system Feedback analysis Feedback control design
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Transfer Function
-->s=%s; // first create a variable -->num=36;den=36+3*s+s^2;
-->//create a scilab continuous system LTI object
-->TF=syslin(c,num,den) TF =
36 -------------36 + 3s + s2
-->typeof(TF) ans = rational
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Impulse, Step, and Ramp Response
-->t=linspace(0,5,500); -->imp_res=csim('imp',t,TF); -->plot(t,imp_res),xgrid(),xtitle('Impulse response','time','response'); -->step_res=csim('step',t,TF); -->plot(t,step_res),xgrid(),xtitle('Step response','time','response'); -->ramp_res=csim(t,t,TF); -->plot(t,ramp_res),xgrid(),xtitle('Ramp response','time','response');
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Impulse Response
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Step Response
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Ramp Response
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TF to SS Conversion
-->SS1=tf2ss(TF) SS1 = SS1(1) (state-space system:) !lss A B C D X0 dt ! SS1(2) = A matrix = 0. 8. - 4.5 - 3. SS1(3) = B matrix = 0. 6. SS1(4) = C matrix = 0.75 0. SS1(5) = D matrix = 0. SS1(6) = X0 (initial state) = 0. 0. SS1(7) = Time domain = c
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SS to TF Conversion
-->TF1=ss2tf(SS1) TF1 = 36 ---------- ------2 36 + 3s + s -->roots(den) ans = - 1.5 + 5.809475i - 1.5 - 5.809475i -->c=companion(den) c = - 3. - 36. 1. 0.
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Transfer Function
-->s=%s; // first create a variable -->num=36;den=36+3*s+s^2;
-->//create a scilab continuous system LTI object
-->TF=syslin(c,num,den) TF =
36 -------------36 + 3s + s2
-->typeof(TF) ans = rational
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Transfer Function
-->z=%z; -->Pd=syslin(d,1,z-0.5) Pd = 1 ------- 0.5 + z -->typeof(Pd) ans = rational
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State Space Representation
-->A = [-5 -1 --> 6 0]; -->B = [-1; 1]; -->C = [-1 0]; -->D =0; -->Sss = syslin(c,A,B,C,D)
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State Space Representation
Sss = Sss(1) (state-space system:) ! lss A B C D X0 dt ! Sss(2) = A matrix = - 5. - 1. 6. 0. Sss(3) = B matrix = - 1. 1.
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State Space Representation
Sss(4) = C matrix = - 1. 0. Sss(5) = D matrix = 0. Sss(6) = X0 (initial state) = 0. 0.
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State Space Representation
Sss(7) = Time domain = c -->typeof(Sss) ans = state-space
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Conversion ss<->tf
Conversions are always possible tf2ss Ss2tf Conversions are subtles, refer to dynamic systems textbooks Affected by round-off errors See minss, minreal
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Extract information from tf
The tf is a rational and all the corresponding functions can be applied: -->roots(TF.den) ans = - 1.5 + 5.809475i - 1.5 - 5.809475i
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Extract information from ss
Extract, e.g., the dynamic matrix
Sss.A Extract all matrices [A,B,C,D]=abcd(Sss);
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Smart View of ss Systems
-->ssprint(Sss) . x= y= |-5 -1 | |-1 |
| 6 0 |x + | 1 |u |-1 0 |x
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Pole-zero map - continuous time
plzr(P);sgrid
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Pole-zero map-discrete time
plzr(P);zgrid
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Root Locus
-->n=2+s; -->d=7+5*s+3*s^2; -->TF2=syslin('c',n,d) TF2 = 2+s --------------2 7 + 5s + 3s -->evans(TF2,20) -->xgrid
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Root Locus
Default points useless! use evans(TF2,20)
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Root Locus
The basic operation needed to design with the root locus tool is to calculate the value of k that corresponds to a certain point in the locus: -->k=-1/real(horner(Stf,[1,%i]*locate(1))) locate returns the coordinates of a point in the graphic selected with the mouse horner computes a rational or polynomial in a given point
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Nichols
black(); chart()
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Nichols
The curve is parametrized according to a constant range(!) Continuous time: [103, 103]Hz Discrete time: [103, 0.5] Better to use the whole syntax assigning frequency range: black(sl, [fmin,fmax] [,step] [,comments])
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Bode
bode(); gainplot() Same considerations done for the Nichols diagram Better to use: bode(sl, [fmin,fmax] [,step] [,comments])
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Nyquist
nyquist(); m_circle()
Same considerations done for the Nichols diagram Better to use:
nyquist(sl, [fmin,fmax] [,step] [,comments])
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Horner & Phasemag
horner() evaluates a polynomial/rational in a point Evaluate F(j) (in dB and deg) with = 5 -->F=syslin(c,1,%s+2); -->out=horner(F,5*%i) out = 0.0689655 - 0.1724138i -->[phi,db]=phasemag(out) db = - 14.62398 phi = - 68.198591
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A Final Birds-Eye View
Stability margins (g margin, p margin) Continuous-discrete time conversion (cls2dls) Simple numerical simulation of dynamics systems Numerical resolution of differential equations (ode) Observability, controllability, Kalman filter Controller design commands
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Thank You !!!
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