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Self-Tuning Controllers Simulink Library

The document describes the Self-Tuning Controllers Simulink Library, which contains various discrete single-input single-output controllers that perform on-line identification of controlled processes using second or third order models. The library is available in standard and Real-Time Workshop versions and can be installed by unzipping the appropriate file to a folder and adding it to the MATLAB path. The document provides an overview of the individual controllers in the library, describing their algorithms, input parameters, and controller types.

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Tran Van Thuc
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© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
433 views

Self-Tuning Controllers Simulink Library

The document describes the Self-Tuning Controllers Simulink Library, which contains various discrete single-input single-output controllers that perform on-line identification of controlled processes using second or third order models. The library is available in standard and Real-Time Workshop versions and can be installed by unzipping the appropriate file to a folder and adding it to the MATLAB path. The document provides an overview of the individual controllers in the library, describing their algorithms, input parameters, and controller types.

Uploaded by

Tran Van Thuc
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Self-Tuning Controllers Simulink Library

Self-Tuning
Controllers Simulink Library

The Self-Tuning Controllers Simulink


Library contains various discrete single input single output (SISO)
controllers. All controllers
contain an on-line identification of a controlled
process using the second or the third order model and thus are also suitable
for a
control of time varying processes.

System requirements
The library is saved in Simulink 5.0 format
(i.e. Matlab 6.5, Release 13) and is compatible with all newer versions of
Simulink and
Matlab. For minimum and recommended system configuration see
Matlab installation guide. It is also possible to port the library to
lower
versions of Simulink and Matlab, but in this case some functional limitations
can occur. Dialog boxes used in library require
screen resolution at least
800x600 pixels.

Installation
The Self-Tuning Controllers Simulink
Library is available in two versions:

stcsl_std.zip the standard version using the MATLAB programming language


(m-files)

stcsl_rtw.zip the version to be used with Real Time Workshop, using C language
functions
To install the library simply unzip the
appropriate file to an empty folder (for example using Winzip) and than add
this folder to the
matlab path. There are several possible approaches of adding
a folder to the Matlab path (for example you can use path command),
but
the simplest way is to use the Set Path dialog, which can be accessed
through the File menu.

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Self-Tuning Controllers Simulink Library

Contact
prof. Ing.
Vladimir Bobal, CSc. (bobal@fai.utb.cz)
Ing. Petr Chalupa, Ph.D. (chalupa@fai.utb.cz)
Department of Control Theory
Faculty of Applied Informatics
Tomas Bata
University in Zlin
Mostni 5139
760 01 Zlin
Czech Republic

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Accessed
since 11.8.2014:
Last modified: 11.8.2014

Self-Tuning Controllers Simulink Library

Revision history
15.11.2001
26.8.2002

First version of Self-tuning Controllers


Simulink Library released.
Library source codes have been rewritten
to C language to be used with Real-Time Workshop. Two versions of the
Library
are available: Standard and RTW

16.3.2003

Three controllers added: general pole


placement controllers using 2nd and 3rd order model and
LQ controller using

20.7.2005
18.4.2006
18.3.2008
11.8.2014

2nd order model, several internal changes, new


concept of on-line help
Some minor changes to make library
compatible with MATLAB 7 and newer versions of Internet Explorer
Minor bugs concerning adaptive
directional forgetting repaired
Two 2DOF controllers added: for second
and for third order controlled system
Fixed a bug in pp3chp controller

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Self-Tuning Controllers Simulink Library

Survey of individual
controllers
Contr. No.
m-file

Controller algorithm

zn2fr.m
zn3fr.m

zn2tr.m
zn3tr.m

zn2br.m
zn3br.m

Input parameters
Controller type
KPu; Tu; T0

PID
controller using
forward rectangular
method
KPu; Tu; T0

PID
controller using
backward rectangular
method
KPu; Tu; T0

PID
controller using
trapezoidal
rectangular method
KPu; Tu; T0

PD
controller

zn2pd.m
;

KPu; Tu; T0

PI controller

zn2pi.m

zn2fd.m
zn3fd.m

KPu; Tu; T0; Tf

PID
controller using
filtration of Dcomponent, Tustin
approximation

zn2tak.m
zn3tak.m

KPu; Tu; T0

PID -
Takahashi's
controller

zn2ast.m
zn3ast.m

KPu; Tu;
T0

PID -
strm's
controller

zn2fpd.m
zn3fpd.m

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KPu; Tu; T0

PID
controller using
backward rectangular
method, replacing

Self-Tuning Controllers Simulink Library

10

ba2.m

derivation by a fourpoint difference


d - time delay

PID -
Bnysz Keviczky's controller

(g > 0);

(g = 0);

B - adjustment factor
T0

PID -
Dahlin's
controller

11

da2.m

;
;

12

pp2a_1.m

13

pp2a_2.m

;
;

wn - natural
frequency
x - damping factor

PID
A-1 pole
placement controller
a, w - real and
imaginary component
of the pole

PID
A-2 pole
placement controller

14

pp2b_1.m

15

pp2b_2.m

wa - natural frequency
x - damping factor

PID
B-1 pole
placement controller

a, w - real and
imaginary component
of the pole

PID
B-2 pole
placement controller

;
16
db2w
db3w
17
db2s
db3s

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Dead-beat
controller
(weak version)
Dead-beat
controller
(strong version)

Self-Tuning Controllers Simulink Library

q - penalisation factor

Minimum
variance
controller
D characteristic
polynomial,
Reference
signal type
T0

Generic
pole
placement controller
weight of
controller output
signal in LQ criterion
Reference
signal type
T0

Controller
based on
minimisation of LQ
criterion

18
mv2.m

19
pp2chp
pp3chp

20
pp2lq

wn - natural
frequency
x - damping factor

2DOF pole placement


controller
with
compensator

21

pp2c2dof
pp3c2dof

Notes:
m-file name: xx(x)a(yyyy).m: xx(x) -
controller type, n = 2 or 3 - process model order, (yyyy) -
controller further details
Controllers number 1, 2, 3, 4, 5, 6, 8 and 9:
;

Controllers number 12, 14 and 21:


for
for

,
,

Controllers number 13 and 15:

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