Specifications
vi Contents
CSTR Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Linearize Simulink Models . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Linearization Using MATLAB Code . . . . . . . . . . . . . . . . . . 2-21
Linearization Using Linear Analysis Tool in Simulink Control
Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24
Identify Plant from Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31
Design Controller for Identified Plant . . . . . . . . . . . . . . . . . 2-33
Design Controller Using Identified Model with Noise
Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-35
Working with Impulse-Response Models . . . . . . . . . . . . . . . 2-37
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
Designing Controllers Using the Design Tool GUI
3
Design Controller Using the Design Tool . . . . . . . . . . . . . . . . 3-2
Start the Design Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Load a Plant Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Navigate Using the Tree View . . . . . . . . . . . . . . . . . . . . . . . 3-6
Perform Linear Simulations . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Customize Response Plots . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Change Controller Settings . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
Define Soft Output Constraints . . . . . . . . . . . . . . . . . . . . . . 3-40
Save Your Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-44
Load Your Saved Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46
Test Controller Robustness . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
Plant Model Perturbation . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
Simulation Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
Design Controller for Plant with Delays . . . . . . . . . . . . . . . 3-51
Design Controller for Nonsquare Plant . . . . . . . . . . . . . . . . 3-58
More Outputs Than Manipulated Variables . . . . . . . . . . . . 3-58