Introducing...

Control Design and Simulation Tools

By Robert A. Paz and Ray Ye

Highlights

The CTOOLS package is a toolbox of functions to be used in conjunction with MATLAB.
CTOOLS is centered around a Graphical User Interface (GUI) that facilitates the design, simulation testing, and implementation of (hybrid) computer controls.
CTOOLS is intended to accompany the text Computer Controlled Systems, by Robert Paz, but can be used as a stand-alone toolbox.
CTOOLS is compatible with MATLAB version 4 or greater, and the Student Edition of MATLAB v.4 or greater, (published by Prentice-Hall).

Technical Description

Consider the single-input/single output hybrid control system shown:

Given the plant, P(s), we wish to develop a control algorithm that will be internally stabilizing, and provide a desirable transient response when applied in the closed-loop hybrid setting. The system is to track the reference input r(kT) by applying a control manipulation u(kT) to the D/A convertors, which in turn, enters the plant. The output of the plant, y(t), is measured and sampled with an A/D convertor. This signal is then used by the control algorithm.

To use CTOOLS, the system model must be entered in the MATLAB environment. This may be done either as numerator and denominator polynomials, or else as a set of matrices for a state-space model. After this the command ctools is entered from the command window. From this, a set of GUI windows appear:

(Click to See this Expanded)

Four windows appear. The upper left window displays the time response for the given plant with the chosen controller. (This will not be displayed until a simulation has been requested.) The controller designs available (selectable from the upper right window) are:

Robust Servomechanism
Observer Feedback
Ripple-Free Finite Settling Time
Ripple-Free Deadbeat
Naive Deadbeat
Continuous Design with Discrete Approximation

Associated with each control design are parameters that may be adjusted. These adjustments are made in the lower right window. In the lower left window, various adjustments may be made for the simulations. These include:

Sampling Period
Final Simulation Time
Simulation Accuracy
Reference (Tracking) Signal
Initial Conditions
Process and Measurement Noises

The simulation may be initiated from within this window. The state-space matrices from the controller may be saved to disk. These matrices may be loaded into a real-time control program for hardware testing and implementation.

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Last updated Ausust 29, 1995