Advanced Automation†
2009.9.10 CACSD introduction†
- introduction of Matlab and Simulink
- review of clasical control theory
- transfer function
- state-space representation
- Bode diagram
- characteristics of 2nd-order system
- Nyquist stability criterion
- gain margin and phase margin
- characteristic polynomial
- poles and impulse response
2009.9.17 Intro. to Robust Control†
- robust stability
- performance improvement
- H infinity norm
2009.10.15 norm, vector space, normed linear space†
2009.10.22 eigenvalue, eigenvector, singular value decomposition†
2009.11.5 state space representation of connected system, state space representation of generalized plant for various control problem, mixed sensitivity problem†
2009.11.19†
... generalized plant is described by hand
... function sysic() is used to obtain generalized plant
simulink model
simulink model for noise problem
execution example for Matlab
rub2
size(Ap)
size(Ap,1)
size(Ap,2)
M = zeros(3,2)
size(M,1)
size(M,2)
gopt
simulink
simout
plot(t, y)
plot(t, y, 'r', t, r, 'b')
figure(3);
bodemag(S, 'r', gopt/WS, 'r--', T, 'b', gopt/WT, 'b--');
ctrlpref
bodemag(S, 'r', gopt/WS, 'r--', T, 'b', gopt/WT, 'b--');
grid on
ctrlpref
figure(6);
plot(t, y, 'r', t, r, 'b')
grid on
figure(7);
bodemag(P0, 'r', K, 'b')
grid on
rub2
grid on
gopt
plot(t, y, 'r', t, r, 'b')
grid on
simulink
plot(t, y, 'r', t, r, 'b')
plot(t, y, 'r', t, n, 'b')
plot(t, y*10, 'r', t, n, 'b')
plot(t, y, 'r', t, n, 'b')
bodemag(P0, 'r', K, 'b')
grid on
bode(P0, 'r', K, 'b')
grid on
bode(P0, 'r', K, 'b', P0*K, 'm')
grid on
bode(P0, 'r', K, 'b', -P0*K, 'm')
grid on
size(K.a)
size(WS.a)
size(WT.a)
size(P0.a)
2009.12.3†
2009.12.10 Speed control of two inertia system with servo motor (1/3)†
- Problem setup
- Modelling (frequency response experiment)
2009.12.17 Speed control of two inertia system with servo motor (2/3)†
- frequency response experiments are re-executed so that all data files have same frequency range. The format of data files are also changed. Use the following links instead those given in the previous lecture!:
- You can design controllers based on mixed sensitivity problem by executing the following m-files in the order:
2009.12.24 Speed control of two inertia system with servo motor (3/3)†
related links†