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

Latest revision as of 11:04, 10 March 2017

Time	Narration
00:01	Dear Friends, 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.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

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

Latest revision as of 11:04, 10 March 2017

Contributors and Content Editors

Navigation menu

Personal tools

Namespaces

Variants

Views

Actions

Search

Navigation

Tools

@@ Line 7: / Line 7: @@
 |-
 | 00:01
-|Dear Friends,
+|Dear Friends, Welcome to the spoken tutorial on ''' Advanced Control of Continuous Time systems'''.
-|-
-| 00:02
-| Welcome to the spoken tutorial on ''' Advanced Control of Continuous Time systems'''.
 |-
@@ Line 19: / Line 15: @@
 |-
 |00:12
-|* Define a continuous time system: second and higher order
+| Define a continuous time system: second and higher order
 |-
 |00:17
-|* Plot response to '''step''' and sine inputs
+| Plot response to '''step''' and sine inputs
 |-
 | 00:20
-|* Do a '''Bode plot'''
+| Do a '''Bode plot'''
 |-
 |00:22
-|* Study '''numer''' and ''' denom Scilab functions'''
+| Study '''numer''' and ''' denom Scilab functions'''
 |-
 | 00:26
-|* Plot ''' poles''' and '''zeros''' of a system.
+| Plot ''' poles''' and '''zeros''' of a system.
 |-
@@ Line 66: / Line 62: @@
 |-
 |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.'''
@@ Line 104: / Line 90: @@
 |-
 |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'''.
@@ Line 120: / Line 102: @@
 |-
 | 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
@@ Line 174: / Line 147: @@
 |-
 | 03:24
-|Press ''' Enter.'''
+|Press '''Enter.'''
 |-
 |03:26
-|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
-|Let us study the ''' Second Order system response for sine input.'''
+|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.'''
-|''' 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'''.
-|| Type ''' U two is equal to sine open parenthesis t close parenthesis semicolon'''
 |-
 | 03:59
-| Press ''' Enter. '''
+| 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'''.
-|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.
-||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'''.
-|'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. '''
-| 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.
-|'''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'''.
-|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.'''
-|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:
-|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. '''
+| Press '''Enter.'''
 |-
@@ Line 316: / Line 250: @@
 |-
 | 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 '''
 |-
 | 06:15
+| and press '''Enter.'''
-| 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'''
-|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.'''
-|and then press ''' Enter. '''
 |-
 | 06:49
+|Then type this on your '''console''':
-|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'''
-|''' 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 '''
-|Then type '''t equal to zero colon zero point one colon ten semicolon '''
 |-
 | 07:14
+|Press '''Enter.'''
-|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'''.
-|''' y is equal to c sim open parenthesis open single quote step close single quote comma t comma sys two close the parenthesis semicolon'''
 |-
 | 07:31
 |Press '''Enter'''.
 |-
 | 07:33
+|Then type '''plot open parenthesis t comma y close parenthesis'''.
-|Then type ''' plot open parenthesis t comma y close parenthesis'''
 |-
 | 07:39
+|Press '''Enter.'''
-|Press ''' Enter.'''
 |-
 | 07:41
+|The '''response plot for over damped system is shown.'''
-|The ''' response plot for over damped system is shown.'''
 |-
 | 07:46
+|To find the '''roots of p''' type this on your '''console - '''
-|To find the ''' roots of p'''  type this on your '''console - '''
 |-
 | 07:49
+|'''roots of p''' and press '''Enter.'''
-|''' 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.'''
-|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'''.
-|''' 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:
-|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'''.
-|'''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'''.
-|'''six plus s over 19 plus six s plus s square '''
 |-
 | 10:07
+|The variable '''’sys’ is of type ’rational’.'''
-|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.
-|'''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.'''
-|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.
-|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'''.
-|The syntax is p l z r of sys
 |-
 | 10:41
+|The '''plot''' shows 'x for poles' and 'circles for zeros'.
-|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'''.
-|sys three open parenthesis two close parenthesis
 |-
 | 10:55
+|Press Enter.This gives the numerator of the rational function '''sys three''' that is '6 + s'.
-|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'''.
-|numer open parenthesis sys three close parenthesis.
 |-
 | 11:11
 |Press Enter.
 |-
 | 11:13
+|The numerator of '''system three''' is shown.
-|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.
-|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'''.
-|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'''.
-|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.
-|* Define a system by its transfer function.
 |-
 | 12:08
+| Plot step and sinusoidal responses.
-|* Plot step and sinusoidal responses.
 |-
 | 12:11
+| Extract poles and zeros of a transfer function.
-|* Extract poles and zeros of a transfer function.
 |-
@@ Line 758: / Line 542: @@
 |-
 | 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.