Difference between revisions of "Scilab/C4/Control-systems/English-timed"

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|-
 
|-
 
| 03:24
 
| 03:24
−
|Press ''' Enter.'''
+
|Press '''Enter.'''
  
 
|-
 
|-
 
|03:26
 
|03:26
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|The output will display the ''' step response of the given second order system.'''
+
|The output will display the '''step response''' of the given second order system.
  
 
|-
 
|-
 
|03:33
 
|03:33
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|Let us study the ''' Second Order system response for sine input.'''  
+
|Let us study the '''Second Order system response''' for '''sine input.'''  
  
 
|-
 
|-
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| 03:39
 
| 03:39
  
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|''' Sine inputs''' can easily be given as inputs to a  ''' second order system to a continuous time system.'''  
+
|'''Sine inputs''' can easily be given as inputs to a  '''second order system to a continuous time system.'''  
  
 
|-
 
|-
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|03:51
 
|03:51
  
−
|| Type ''' U two is equal to sine open parenthesis t close parenthesis semicolon'''  
+
|| Type '''U two is equal to sine open parenthesis t close parenthesis semicolon'''.
  
 
|-
 
|-
  
 
| 03:59
 
| 03:59
−
| Press ''' Enter. '''
+
| Press '''Enter.'''
  
 
|-
 
|-
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| 04:01
 
| 04:01
  
−
|Then type ''' y two is equal to c sim open parenthesis u two comma t comma sys capital G close the bracket semicolon '''
+
|Then type: '''y two is equal to c sim open parenthesis u two comma t comma sys capital G close the bracket semicolon'''.
  
 
|-
 
|-
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|04:17
 
|04:17
  
−
||Here we are using ''' sysG, the continuous time second order system''' we had defined earlier.  
+
||Here we are using ''' sysG, the continuous time second order system''', we had defined earlier.  
  
 
|-
 
|-
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|04:25
 
|04:25
  
−
|'Then type '''plot open parenthesis t comma open square bracket u two semicolon y two close square bracket close parenthesis '''
+
|Then type: '''plot open parenthesis t comma open square bracket u two semicolon y two close square bracket close parenthesis'''.
  
 
|-
 
|-
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| 04:52
 
| 04:52
  
−
| This plot shows the '''response of the system''' to a '''step input''' and '''sine input.''' It is called the '''response plot. '''
+
| This plot shows the '''response of the system''' to a '''step input''' and '''sine input. '''It is called the '''response plot. '''
  
 
|-
 
|-
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| 05:15
 
| 05:15
  
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|'''Amplitude''' is different for the input and the output, as it is being passed through a '''transfer''' function.  
+
|'''Amplitude''' is different for the input and the output as it is being passed through a '''transfer''' function.  
  
 
|-
 
|-
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|05:26
 
|05:26
  
−
|Let us plot ''' bode plot of 2 over 9 plus 2 s plus s square'''
+
|Let us plot ''' bode plot of 2 over 9 plus 2 s plus s square'''.
  
 
|-
 
|-
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| 05:32
 
| 05:32
  
−
|Please note command ''''f r e q'''' is a '''Scilab''' command for '''frequency response.'''
+
|Please note, command ''''f r e q'''' is a '''Scilab''' command for '''frequency response.'''
  
 
|-
 
|-
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|-
 
|-
 
| 06:00
 
| 06:00
−
| Press '''Enter. '''
+
| Press '''Enter.'''
  
 
|-
 
|-
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| 06:06
 
| 06:06
  
−
|Then type '''bode open parenthesis sys capital G comma fr close parenthesis '''
+
|Then type '''bode open parenthesis sys capital G comma fr close parenthesis'''.
  
 
|-
 
|-
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| 06:23
 
| 06:23
  
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|We have an ''' over-damped system p equal to s square plus nine s plus nine '''
+
|We have an ''' over-damped system p equal to s square plus nine s plus nine'''
  
 
|-
 
|-
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| 06:47
 
| 06:47
  
−
|and then press ''' Enter. '''
+
|and then press ''' Enter.'''
  
 
|-
 
|-
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| 06:49
 
| 06:49
  
−
|Then type this on your ''' console''':  
+
|Then type this on your '''console''':  
  
 
|-
 
|-
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| 06:51
 
| 06:51
  
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|''' sys two is equal to syslin open parenthesis open single quote c close single quote comma nine divided by p close parenthesis '''
+
|'''sys two is equal to syslin open parenthesis open single quote c close single quote comma nine divided by p close parenthesis'''
  
 
|-
 
|-
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| 07:07
 
| 07:07
  
−
|Then type '''t equal to zero colon zero point one colon ten semicolon '''
+
|Then type: '''t equal to zero colon zero point one colon ten semicolon '''
  
 
|-
 
|-
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| 07:14
 
| 07:14
  
−
|Press ''' Enter.'''  
+
|Press '''Enter.'''  
  
 
|-
 
|-
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| 07:17
 
| 07:17
  
−
|''' y is equal to c sim open parenthesis open single quote step close single quote comma t comma sys two close the parenthesis semicolon'''
+
|''' y is equal to c sim open parenthesis open single quote step close single quote comma t comma sys two close parenthesis semicolon'''.
  
 
|-
 
|-
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| 07:33
 
| 07:33
  
−
|Then type ''' plot open parenthesis t comma y close parenthesis'''
+
|Then type '''plot open parenthesis t comma y close parenthesis'''.
  
 
|-
 
|-
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| 07:39
 
| 07:39
  
−
|Press ''' Enter.'''
+
|Press '''Enter.'''
  
 
|-
 
|-
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| 07:41
 
| 07:41
  
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|The ''' response plot for over damped system is shown.'''  
+
|The '''response plot for over damped system is shown.'''  
  
 
|-
 
|-
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| 07:46
 
| 07:46
  
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|To find the ''' roots of p''' type this on your '''console - '''
+
|To find the '''roots of p''' type this on your '''console - '''
  
 
|-
 
|-
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| 07:49
 
| 07:49
  
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|''' Roots of p''' and press '''Enter.'''  
+
|'''roots of p''' and press '''Enter.'''  
  
 
|-
 
|-
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| 08:02
 
| 08:02
  
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|Please plot '''Step response''' for this system along similar lines, as for '''over damped system. '''
+
|Please plot '''Step response''' for this system along similar lines, as for '''over damped system.'''
  
 
|-
 
|-
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| 08:59
 
| 08:59
  
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|''' sys three is equal to syslin open parenthesis open single quote c close single quote comma s plus six comma s square plus six asterisk s plus nineteen close parenthesis'''
+
|''' sys three is equal to syslin open parenthesis open single quote c close single quote comma s plus six comma s square plus six asterisk s plus nineteen close parenthesis'''.
  
 
|-
 
|-
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| 09:21
 
| 09:21
  
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|Another way of defining a system, is to type:  
+
|Another way of defining a system is to type:  
  
 
|-
 
|-
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| 09:44
 
| 09:44
  
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|'''sys four is equal to syslin open parenthesis open single quote c close single quote comma g close parenthesis '''
+
|'''sys four is equal to syslin open parenthesis open single quote c close single quote comma g close parenthesis'''.
  
 
|-
 
|-
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| 10:01
 
| 10:01
  
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|'''six plus s over 19 plus six s plus s square '''
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|'''six plus s over 19 plus six s plus s square'''
  
 
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| 10:07
 
| 10:07
  
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|The variable '''’sys’ is of type ’rational’. '''
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|The variable '''’sys’ is of type ’rational’.'''
  
 
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| 10:16
 
| 10:16
  
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|'''Sys of two , numer of sys or numer of g''' gives the numerator.  
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|'''Sys of two, numer of sys or numer of g''' gives the numerator.  
  
 
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|-
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| 10:22
 
| 10:22
  
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|The denominator can be calculated using '''sys(3) or denom of sys functions. '''
+
|The denominator can be calculated using '''sys(3) or denom of sys functions.'''
  
 
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|-
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| 10:30
 
| 10:30
  
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|The poles and zeros of the system can be plotted using p l z r function.  
+
|The '''poles''' and '''zeros''' of the system can be plotted using '''p l z r''' function.  
  
 
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| 10:37
 
| 10:37
  
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|The syntax is p l z r of sys  
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|The syntax is '''p l z r of sys'''.
  
 
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| 10:41
 
| 10:41
  
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|The plot shows x for poles and circles for zeros.  
+
|The '''plot''' shows 'x for poles' and 'circles for zeros'.  
  
 
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| 10:50
 
| 10:50
  
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|sys three open parenthesis two close parenthesis  
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|'''sys three open parenthesis two close parenthesis'''.
  
 
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| 10:56
 
| 10:56
  
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|This gives the numerator of the rational function 'sys three' that is 6 + s  
+
|This gives the numerator of the rational function '''sys three''' that is '6 + s'.
  
 
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|-
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| 11:05
 
| 11:05
  
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|numer open parenthesis sys three close parenthesis.
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|'''numer open parenthesis sys three close parenthesis'''.
  
 
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| 11:13
 
| 11:13
  
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|The numerator of system three is shown.  
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|The numerator of '''system three''' is shown.  
  
 
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| 11:19
 
| 11:19
  
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|sys three open parenthesis three close parenthesis. Press Enter.  
+
|'''sys three open parenthesis three close parenthesis'''. Press Enter.  
  
 
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|-
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| 11:30
 
| 11:30
  
−
|You can also type denom open parenthesis sys three close parenthesis.
+
|You can also type '''denom open parenthesis sys three close parenthesis'''.
  
 
|-
 
|-
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| 11:38
 
| 11:38
  
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|Then type p l z r open parenthesis sys three close parenthesis.
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|Then type '''p l z r open parenthesis sys three close parenthesis'''.
  
 
|-
 
|-

Revision as of 21:47, 3 March 2015

Time Narration
00:01 Dear Friends,
00:02 Welcome to the spoken tutorial on Advanced Control of Continuous Time systems.
00:09 At the end of this tutorial, you will learn how to:
00:12 * Define a continuous time system: second and higher order
00:17 * Plot response to step and sine inputs
00:20 * Do a Bode plot
00:22 * Study numer and denom Scilab functions
00:26 * Plot poles and zeros of a system.
00:30 To record this tutorial, I am using
00:33 Ubuntu 12.04 as the operating system with
00:36 Scilab 5.3.3 version.
00:40 Before practicing this tutorial, a learner should have basic knowledge of Scilab and control systems.
00:48 For Scilab, please refer to the Scilab tutorials available on the Spoken Tutorial website.
00:55 In this tutorial, I will describe how to define second-order linear system.
01:02 So, first we have to define complex domain variable 's'.
01:08 Let us switch to the Scilab console window.
01:11 Here, type s equal to poly open parenthesis zero comma open single quote s close single quote close parenthesis, press Enter.
01:25 The output is 's'.
01:27 There is another way to define 's' as continuous time complex variable.
01:32 On the console window, type:
01:35 s equal to percentage s, press Enter.
01:41 Let us study the syslin Scilab command.
01:44 Use the Scilab function ’syslin’ to define the continuous time system.
01:51 G of s is equal to 2 over 9 plus 2 s plus s square.
01:58 Use csim with step option, to obtain the step response and then plot the step response.
02:06 Let us switch to the Scilab console window.
02:09 Here, type: sys capital G equal to syslin open parenthesis open single quote c close single quote comma two divide by open parenthesis s square plus two asterisk s plus nine close parenthesis close parenthesis
02:32 Here c is used, as we are defining a continuous time system.
02:38 Press Enter.
02:40 The output is linear second order system represented by
02:44 2 over 9 plus 2 s plus s square.
02:49 Then, type t equal to zero colon zero point one colon ten semicolon
02:57 Press Enter.
02:59 Then type y one is equal to c sim open parenthesis open single quote step close single quote comma t comma sys capital G close the parenthesis semicolon
03:15 Press Enter.
03:17 Then type plot open parenthesis t comma y one close parenthesis semicolon
03:24 Press Enter.
03:26 The output will display the step response of the given second order system.
03:33 Let us study the Second Order system response for sine input.
03:39 Sine inputs can easily be given as inputs to a second order system to a continuous time system.
03:47 Let us switch to the Scilab console window.
03:51 Type U two is equal to sine open parenthesis t close parenthesis semicolon.
03:59 Press Enter.
04:01 Then type: y two is equal to c sim open parenthesis u two comma t comma sys capital G close the bracket semicolon.
04:15 Press Enter.
04:17 Here we are using sysG, the continuous time second order system, we had defined earlier.
04:25 Then type: plot open parenthesis t comma open square bracket u two semicolon y two close square bracket close parenthesis.
04:39 Make sure that you place a semicolon between u2 and y2 because u2 and y2 are row vectors of the same size.
04:50 Press Enter.
04:52 This plot shows the response of the system to a step input and sine input. It is called the response plot.
05:01 Response Plot plots both the input and the output on the same graph.
05:06 As expected, the output is also a sine wave and
05:11 there is a phase lag between the input and output.
05:15 Amplitude is different for the input and the output as it is being passed through a transfer function.
05:23 This is a typical under-damped example.
05:26 Let us plot bode plot of 2 over 9 plus 2 s plus s square.
05:32 Please note, command 'f r e q' is a Scilab command for frequency response.
05:39 Do not use f r e q as a variable!!
05:44 Open the Scilab console and type:
05:47 f r is equal to open square bracket zero point zero one colon zero point one colon ten close square bracket semicolon.
06:00 Press Enter.
06:03 The frequency is in Hertz.
06:06 Then type bode open parenthesis sys capital G comma fr close parenthesis.
06:15 and press Enter.'
06:17 The bode plot is shown.
06:20 Let us define another system.
06:23 We have an over-damped system p equal to s square plus nine s plus nine
06:32 Let us plot step response for this system.
06:36 Switch to Scilab console.
06:38 Type this on your console:
06:40 p is equal to s square plus nine asterisk s plus nine
06:47 and then press Enter.
06:49 Then type this on your console:
06:51 sys two is equal to syslin open parenthesis open single quote c close single quote comma nine divided by p close parenthesis
07:04 and press Enter.
07:07 Then type: t equal to zero colon zero point one colon ten semicolon
07:14 Press Enter.
07:17 y is equal to c sim open parenthesis open single quote step close single quote comma t comma sys two close parenthesis semicolon.
07:31 Press Enter.
07:33 Then type plot open parenthesis t comma y close parenthesis.
07:39 Press Enter.
07:41 The response plot for over damped system is shown.
07:46 To find the roots of p type this on your console -
07:49 roots of p and press Enter.
07:54 These roots are the poles of the system sys two.
07:59 The roots or poles of the system are shown.
08:02 Please plot Step response for this system along similar lines, as for over damped system.
08:11 G of s is equal to 2 over 9 plus 6 s plus s square which is a critically damped system
08:20 Then G of s is equal to two over 9 plus s square which is an undamped system
08:28 G of s is equal to 2 over 9 minus 6 s plus s square which is an unstable system
08:36 Check response to sinusoidal inputs for all the cases and plot bode plot too.
08:45 Switch to Scilab console.
08:48 For a general transfer function, the numerator and denominator can be specified separately.
08:55 Let me show you how.
08:57 Type on console:
08:59 sys three is equal to syslin open parenthesis open single quote c close single quote comma s plus six comma s square plus six asterisk s plus nineteen close parenthesis.
09:19 Press Enter.
09:21 Another way of defining a system is to type:
09:24 g is equal to open parenthesis s plus six close parenthesis divided by open parenthesis s square plus six asterisk s plus nineteen close parenthesis
09:40 Press Enter.
09:42 Then type this on your console:
09:44 sys four is equal to syslin open parenthesis open single quote c close single quote comma g close parenthesis.
09:55 Press Enter.
09:58 Both ways, we get the same output;
10:01 six plus s over 19 plus six s plus s square
10:07 The variable ’sys’ is of type ’rational’.
10:10 Its numerator and denominator can be extracted by various ways.
10:16 Sys of two, numer of sys or numer of g gives the numerator.
10:22 The denominator can be calculated using sys(3) or denom of sys functions.
10:30 The poles and zeros of the system can be plotted using p l z r function.
10:37 The syntax is p l z r of sys.
10:41 The plot shows 'x for poles' and 'circles for zeros'.
10:46 Switch to Scilab console.
10:48 Type this on your Scilab console:
10:50 sys three open parenthesis two close parenthesis.
10:55 Press Enter.
10:56 This gives the numerator of the rational function sys three that is '6 + s'.
11:03 Otherwise, you can type:
11:05 numer open parenthesis sys three close parenthesis.
11:11 Press Enter.
11:13 The numerator of system three is shown.
11:17 To get the denominator, type:
11:19 sys three open parenthesis three close parenthesis. Press Enter.
11:26 The denominator of the function is shown.
11:30 You can also type denom open parenthesis sys three close parenthesis.
11:36 Press Enter.
11:38 Then type p l z r open parenthesis sys three close parenthesis.
11:44 Press Enter.
11:47 The output graph plots the poles and zeros.
11:50 It shows 'cross and circle' for 'poles and zeros' of the system respectively.
11:58 It is plotted on the complex plane.
12:01 In this tutorial, we have learnt how to:
12:03 * Define a system by its transfer function.
12:08 * Plot step and sinusoidal responses.
12:11 * Extract poles and zeros of a transfer function.
12:15 Watch the video available at the following link.
12:19 It summarizes the Spoken Tutorial project.
12:22 If you do not have good bandwidth, you can download and watch it.
12:27 The spoken tutorial project Team:
12:29 Conducts workshops using spoken tutorials.
12:32 Gives certificates to those who pass an online test.
12:36 For more details, please write to contact@spoken-tutorial.org.
12:43 Spoken Tutorial Project is a part of the Talk to a Teacher project.
12:47 It is supported by the National Mission on Eduction through ICT, MHRD, Government of India.
12:55 More information on this mission is available at spoken-tutorial.org/NMEICT-Intro.
13:06 This is Ashwini Patil, signing off.
13:08 Thank you for joining. Good Bye.

Contributors and Content Editors

Devraj, Gaurav, PoojaMoolya, Sandhya.np14

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