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

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(Created page with ''''Title of script''': Advanced Control Systems '''Author: Manas, Shamika''' '''Keywords: control, continuous time, response''' {| style="border-spacing:0;" ! <center>Visua…')
 
 
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{| style="border-spacing:0;"
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{|border=1
 
! <center>Visual Cue</center>
 
! <center>Visual Cue</center>
 
! <center>Narration</center>
 
! <center>Narration</center>
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|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 1'''
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 1'''
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| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Dear Friends,
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Dear friends, welcome to the spoken tutorial on “'''Advanced Control of Continuous Time systems'''”
−
 
+
−
Welcome to the spoken tutorial on “Advanced '''Control of Continuous Time systems'''”
+
  
 
|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 2,3-Learning Objective Slide'''
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 2,3-Learning Objective Slide'''
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| At the end of this tutorial, you will learn how to:  
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| At the end of this tutorial, you will learn how to:  
−
 
+
#Define a continuous time system: second and higher order  
−
1.Define a continuous time system: second and higher order  
+
#Plot response to '''step''' and '''sine''' inputs  
−
 
+
#Do a '''Bode plot'''
−
2.Plot response to step and sine inputs  
+
#Study '''numer''' and '''denom Scilab functions'''
−
 
+
#Plot '''poles''' and '''zeros''' of a system
−
3.Do a Bode plot
+
−
 
+
−
4.Study numer and denom Scilab functions
+
−
 
+
−
5. Plot poles and zeros of a system
+
−
 
+
−
 
+
−
 
+
  
 
|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 4-System Requirement slide'''
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 4-System Requirement slide'''
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| To record this tutorial, I am using '''Ubuntu 12.04''' as the operating system with '''Scilab 5.3.3''' version  
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| To record this tutorial, I am using  
 +
*'''Ubuntu 12.04''' as the operating system and
 +
* '''Scilab 5.3.3''' version  
  
 
|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| Slide 5- Prerequisite slide
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| Slide 5- Prerequisite slide
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Before practising this tutorial, a learner should have basic knowledge of '''Scilab and control systems. '''
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Before practising this tutorial, a learner should have basic knowledge of '''Scilab''' and '''control systems. '''
  
  
−
For scilab, please refer to the Scilab tutorials available on the '''Spoken Tutorial '''website.  
+
For '''Scilab''', please refer to the '''Scilab''' tutorials available on the '''Spoken Tutorial '''website.  
  
 
|-
 
|-
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−
So, first we have to define '''complex domain variable s'''.
+
So, first we have to define '''complex domain variable 's''''.
  
 
|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| Switch to the Scilab Console Window and type:
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| Switch to the Scilab Console Window and type:
  
−
'''s <nowiki>=</nowiki> poly(0, ’s’)'''
+
'''s = poly(0, ’s’)'''
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us switch to the '''Scilab Console''' Window.
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us switch to the '''Scilab console''' window.
  
 
Here type:  
 
Here type:  
Line 68: Line 60:
 
|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| Display the output polynomial  
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| Display the output polynomial  
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| The output is '''s'''.
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| The output is ''''s''''.
−
 
+
−
 
+
−
 
+
  
 
|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| On the console window type:
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| On the console window type:
  
−
s <nowiki>=</nowiki> %s  
+
s = %s  
  
 
and press '''Enter'''.
 
and press '''Enter'''.
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| There is another way to define ''''s'''' as '''continuous time complex variable'''
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| There is another way to define ''''s'''' as '''continuous time complex variable'''.
  
−
On the '''Console '''window type:  
+
On the '''console '''window, type:  
  
 
'''s equal to percentage s'''
 
'''s equal to percentage s'''
Line 89: Line 78:
 
|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 7'''
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 7'''
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us study the''' syslin Scilab command'''
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us study the''' syslin Scilab command'''.
  
−
Use the '''Scilab''' function ’'''syslin'''’ to define the continuous time system  
+
Use the '''Scilab''' function ’'''syslin'''’ to define the continuous time system.
  
  
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−
Use '''csim''' with '''step''' option to obtain the '''step response''' and then '''plot the step response. '''
+
Use '''csim''' with '''step''' option, to obtain the '''step response''' and then plot the '''step response. '''
  
 
|-
 
|-
Line 103: Line 92:
  
 
sysG <nowiki>=</nowiki> syslin(’c’,2/(sˆ2+2*s+9))
 
sysG <nowiki>=</nowiki> syslin(’c’,2/(sˆ2+2*s+9))
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us switch to the '''Scilab Console''' Window.
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us switch to the '''Scilab console''' window.
  
 
Here type:  
 
Here type:  
Line 111: Line 100:
  
  
−
'''Here c is used as we are defining a continuous time system'''
+
Here '''c''' is used, (because) as we are defining a continuous time system.
  
  
−
'''Press Enter'''
+
Press '''Enter'''.
  
 
|-
 
|-
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| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Then type
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Then type
  
−
'''t equal to zero colon zero point one colon ten semi colon'''
+
'''t equal to zero colon zero point one colon ten semicolon'''
  
 
Press '''Enter'''.
 
Press '''Enter'''.
Line 137: Line 126:
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| Then type
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| Then type
  
−
y1 <nowiki>=</nowiki> csim(’step’, t, sysG);
+
y1 = csim(’step’, t, sysG);
  
 
Press Enter.
 
Press Enter.
Line 163: Line 152:
 
|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| Display the output generated
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| Display the output generated
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| The output will display the '''step response''' of the given second order system.
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| The output will display the '''step response''' of the given '''second order system.'''
  
 
|-
 
|-
Line 169: Line 158:
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us study the '''Second Order system response for sine input'''.  
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us study the '''Second Order system response for sine input'''.  
  
−
'''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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Press Enter.
 
Press Enter.
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us switch to the '''Scilab Console''' Window.
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us switch to the '''Scilab console''' window.
  
  
 
Type
 
Type
  
−
'''U two is equal to sine open paranthesis t close paranthesis semi colon'''
+
'''U two is equal to sine open paranthesis t close paranthesis semicolon'''
  
  
Line 195: Line 184:
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| '''Then type'''
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| '''Then type'''
  
−
'''y two is equal to csim open paranthesis u two comma t comma sys capital G close the bracket semicolon'''
+
'''y two is equal to c sim open paranthesis u two comma t comma sys capital G close the bracket semicolon'''
  
  
−
'''Press Enter.'''
+
Press '''Enter.'''
  
  
Line 212: Line 201:
  
  
−
Make sure that you place a '''Semicolon between u2 and y2 because u2 and y2 are row vectors of the same size'''
+
Make sure that you place a '''semicolon''' between '''u2''' and '''y2''' because '''u2''' and '''y2''' are row vectors of the same size.
  
  
Line 218: Line 207:
  
  
−
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'''.  
  
 
|-
 
|-
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 9, 10'''
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 9'''
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| '''Response Plot''' plots both the input and the output on the same graph.
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| '''Response Plot''' plots both the input and the output on the same graph.
  
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* the output is also a '''sine wave''', and
 
* the output is also a '''sine wave''', and
−
* there is a '''phase lag between the input and output'''
+
* there is a '''phase lag''' between the input and output
−
* '''amplitude''' is different for the input and the output as it is being passed through a transfer function.
+
−
* This is a typical '''under-damped''' example
+
−
 
+
  
 +
|-
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 10'''
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"|
 +
* '''Amplitude''' is different for the input and the output, as it is being passed through a '''transfer''' function.
 +
* This is a typical '''under-damped''' example.
  
 
|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 11'''
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 11'''
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us plot '''bode plot''' of 2 over 9 plus 2 s plus s square
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us plot '''bode plot''' of '''2 over 9 plus 2 s plus s square'''
  
  
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Do not use '''f r e q''' as a '''variable''' !!
 
Do not use '''f r e q''' as a '''variable''' !!
−
 
−
 
−
 
  
 
|-
 
|-
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Press Enter.
 
Press Enter.
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Open the '''Scilab''' '''Console''' and type
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Open the '''Scilab console''' and type
  
  
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|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 12'''
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 12'''
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us define another system
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Let us define another system.
  
 
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'''
  
−
Let us plot '''step response''' for this system
+
Let us plot '''step response''' for this system.
  
 
|-
 
|-
Line 286: Line 274:
  
 
Press Enter.
 
Press Enter.
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Switch to Scilab console
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Switch to '''Scilab console'''.
  
−
Type this on your '''Scilab Console'''
+
Type this on your '''Scilab console'''.
  
  
Line 300: Line 288:
  
 
Press Enter.
 
Press Enter.
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Then type this on your '''Scilab Console'''
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Then type this on your '''console'''.
  
 
'''sys two is equal to syslin open paranthesis open single quote c close single quote comma nine divided by p close paranthesis'''
 
'''sys two is equal to syslin open paranthesis open single quote c close single quote comma nine divided by p close paranthesis'''
Line 310: Line 298:
 
Then type
 
Then type
  
−
'''t equal to zero colon zero point one colon ten semi colon'''
+
'''t equal to zero colon zero point one colon ten semicolon'''
  
−
'''Press Enter.'''
+
Press '''Enter.'''
  
  
Line 318: Line 306:
  
  
−
'''Press enter'''
+
Press '''Enter.'''
  
  
−
Then type''' plot open paranthesis t comma y close paranthesis. '''
+
Then type''' plot open paranthesis t comma y close paranthesis'''
  
  
−
'''Press enter'''
+
Press '''Enter.'''
  
−
The '''response plot for over damped system''' is shown.
+
 
 +
 
 +
The '''response plot''' for '''over damped system''' is shown.
  
 
|-
 
|-
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and press Enter.
 
and press Enter.
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| To find the '''roots of p '''type this on your on '''Scilab''' '''console'''.
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| To find the '''roots of p '''type this on your on '''Scilab console''' -
  
 
'''Roots of p'''
 
'''Roots of p'''
Line 339: Line 329:
  
  
−
These '''roots are the poles''' of the system '''sys two'''
+
These '''roots''' are the '''poles''' of the system '''sys two'''
  
 
|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Display the output'''
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Display the output'''
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| The '''roots or poles''' of the system are shown
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| The '''roots or poles''' of the system are shown.
  
 
|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 13, 14'''
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 13, 14'''
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Please plot '''Step response''' for this system  
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Please plot '''Step response''' for this system along similar lines, as for '''over damped system'''.
−
 
+
−
 
+
−
along similar lines as for '''over damped system'''.
+
  
  
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|-
 
|-
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Switch to the Scilab Console Window and type''' this on your '''Scilab Console'''
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"|  
 +
 
 +
 
 +
 
 +
 
 +
 
 +
 
 +
 
 +
 
 +
 
 +
 
 +
 
 +
'''Switch to the Scilab Console Window and type''' this on your '''Scilab Console'''
  
  
 
--> '''sys3 <nowiki>=</nowiki> syslin(’c’,s+6,sˆ2+6*s+19)''' and press '''Enter'''
 
--> '''sys3 <nowiki>=</nowiki> syslin(’c’,s+6,sˆ2+6*s+19)''' and press '''Enter'''
 +
 +
 +
  
  
Line 376: Line 378:
  
  
−
--> '''g <nowiki>=</nowiki> (s+6)/(sˆ2+6*s+19)''' and press '''Enter'''
+
--> '''g = (s+6)/(sˆ2+6*s+19)''' and press '''Enter'''
  
−
Then type this on your '''Scilab Console'''
 
  
  
−
--> '''sys4 <nowiki>=</nowiki> syslin(’c’,g)''' and press '''Enter'''
 
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Switch to Scilab console.
 
  
  
−
For a general '''transfer function, the numerator and denominator '''can be specified separately. Let me show you how.
 
  
  
−
Type this on your '''Scilab Console'''
+
Then type this on your '''Scilab Console'''
  
  
−
'''sys three is equal to syslin open paranthesis open single quote c close single quote comma s plus six comma s square plus six asterik s plus nineteen close paranthesis'''
 
  
−
Press '''Enter'''
+
--> '''sys4 <nowiki>=</nowiki> syslin(’c’,g)''' and press '''Enter'''
  
  
−
Another way of defining a system is to type
 
  
  
−
'''g is equal to open paranthesis s plus six close paranthesis divided by open paranthesis s square plus six asterik s plus nineteen close paranthesis'''
 
  
  
−
'''Press enter'''
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Switch to '''Scilab console'''.
  
  
−
Then type this on your '''Scilab Console'''
+
For a general '''transfer function''', the numerator and denominator can be specified separately. Let me show you how.
  
  
−
'''sys four is equal to syslin open paranthesis open single quote c close single quote comma g close paranthesis'''
+
Type on your '''console'''
  
  
−
Press '''enter'''
+
'''sys three is equal to syslin open paranthesis open single quote c close single quote comma s plus six comma s square plus six asterik s plus nineteen close paranthesis'''
  
 +
Press '''Enter'''
  
−
Both ways, we get the same output
 
  
−
'''six plus s over 19 plus six s plus s square'''
+
Another way of defining a system, is to type
  
  
 +
'''g is equal to open paranthesis s plus six close paranthesis divided by open paranthesis s square plus six asterik s plus nineteen close paranthesis'''
  
  
−
|-
+
Press '''Enter.'''
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 15,16'''
+
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| The variable ’'''sys'''’ is of type ’'''rational'''’.
+
  
  
−
Its '''numerator and denominator''' can be extracted by various ways.
+
Then type this on your '''console'''
  
  
−
'''Sys of two , numer of sys '''or '''numer of g '''gives the '''numerator'''
+
'''sys four is equal to syslin open paranthesis open single quote c close single quote comma g close paranthesis'''
  
  
−
The '''denominator '''can be calculated using '''sys(3) or denom of sys functions'''.
+
Press '''Enter.'''
  
 +
|-
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"|
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Both ways, we get the same output;
  
 +
'''six plus s over 19 plus six s plus s square'''
 +
 +
|-
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 15'''
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| The variable ’'''sys'''’ is of type ’'''rational'''’.
 +
 +
Its numerator and denominator can be extracted by various ways.
 +
 +
|-
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 16'''
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"|
 +
 +
'''Sys of two , numer of sys '''or '''numer of g '''gives the numerator.
  
 +
The denominator can be calculated using '''sys(3)''' or '''denom of sys functions'''.
  
 
|-
 
|-
Line 446: Line 457:
  
 
|-
 
|-
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Switch to Scilab and '''type this on your '''Scilab Console'''
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| Switch to '''Scilab''' and type
−
 
+
  
 
--> '''sys3(2)''' and press '''Enter'''
 
--> '''sys3(2)''' and press '''Enter'''
  
−
'''Type'''
 
  
−
'''numer(sys3)'''
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Switch to '''Scilab console.'''
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Switch to '''Scilab '''console.
+
  
  
−
Type this on your '''Scilab Console'''
+
Type this on your '''Scilab console'''.
  
 
'''sys three open paranthesis two close paranthesis'''
 
'''sys three open paranthesis two close paranthesis'''
  
  
−
Press enter
+
Press '''Enter.'''
 +
 
 +
This gives the numerator of the '''rational function 'sys three'''' that is '''6 + s'''
 +
 
 +
|-
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"|  Type '''numer(sys3)'''  >> Press '''Enter'''
 +
 
  
−
This gives the '''numerator''' of the rational function ’'''sys three'''’ that is '''6 + s'''
 
  
  
−
Otherwise you can type
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| Otherwise, you can type
  
 
'''numer open paranthesis sys three close paranthesis'''
 
'''numer open paranthesis sys three close paranthesis'''
  
−
The '''numerator''' of '''sys three''' is shown
+
The numerator of '''sys three''' is shown.
  
 +
|-
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| Type''' sys3(3)'''  >> Press '''Enter'''
  
−
To get the '''denominator '''type
 
  
−
'''sys three open paranthesis three close paranthesis. Press enter'''
 
  
  
−
The '''denominator '''of the function is shown.
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| To get the denominator, type
  
−
You can also type '''denom open paranthesis sys three close paranthesis. Press enter'''
+
'''sys three open paranthesis three close paranthesis. Press '''Enter.'''
  
  
−
Then type '''p l z r open paranthesis sys three close paranthesis. Press enter'''
+
The denominator of the function is shown.
 +
 
 +
|-
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"|Type
 +
 
 +
'''denom(sys3)  ''' >> Press '''Enter'''.
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"|You can also type '''denom open paranthesis sys three close paranthesis.'''
 +
 
 +
Press '''Enter.'''
 +
 
 +
|-
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"|Type
 +
 
 +
'''plzr(sys3)'''    >> Press '''Enter'''.
 +
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"|Then type '''p l z r open paranthesis sys three close paranthesis.'''
 +
 
 +
Press '''Enter.'''
  
 
|-
 
|-
Line 490: Line 519:
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| The '''output graph''' plots the '''poles and zeros'''.
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| The '''output graph''' plots the '''poles and zeros'''.
  
−
It shows '''cross and circle for poles and zeros''' of the system respectively
+
It shows '''cross''' and '''circle'''' for '''poles''' and '''zeros''' of the system respectively.
  
 
It is plotted on the '''complex plane'''.
 
It is plotted on the '''complex plane'''.
Line 496: Line 525:
 
|-
 
|-
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 18'''
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:none;padding:0.097cm;"| '''Slide 18'''
−
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| In this tutorial we have learnt how to:
+
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| In this tutorial, we have learnt how to:
  
 
* Define a system by its '''transfer''' function.
 
* Define a system by its '''transfer''' function.
 
* Plot '''step and sinusoidal responses'''.
 
* Plot '''step and sinusoidal responses'''.
 
* Extract '''poles and zeros''' of a '''transfer''' function.
 
* Extract '''poles and zeros''' of a '''transfer''' function.
−
 
−
 
  
 
|-
 
|-
Line 518: Line 545:
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| * Watch the video available at the following link  
 
| style="border-top:none;border-bottom:1pt solid #000000;border-left:1pt solid #000000;border-right:1pt solid #000000;padding:0.097cm;"| * Watch the video available at the following link  
 
* It summarises the Spoken Tutorial project  
 
* It summarises the Spoken Tutorial project  
−
* If you do not have good bandwidth, you can download and watch it <br/>
+
* If you do not have good bandwidth, you can download and watch it
−
 
+
−
 
+
  
  

Latest revision as of 14:50, 3 February 2014

Title of script: Advanced Control Systems

Author: Manas, Shamika

Keywords: control, continuous time, response


Visual Cue
Narration
Slide 1 Dear friends, welcome to the spoken tutorial on “Advanced Control of Continuous Time systems”
Slide 2,3-Learning Objective Slide At the end of this tutorial, you will learn how to:
  1. Define a continuous time system: second and higher order
  2. Plot response to step and sine inputs
  3. Do a Bode plot
  4. Study numer and denom Scilab functions
  5. Plot poles and zeros of a system
Slide 4-System Requirement slide To record this tutorial, I am using
  • Ubuntu 12.04 as the operating system and
  • Scilab 5.3.3 version
Slide 5- Prerequisite slide Before practising this tutorial, a learner should have basic knowledge of Scilab and control systems.


For Scilab, please refer to the Scilab tutorials available on the Spoken Tutorial website.

Slide 6 In this tutorial, I will describe how to define second-order linear system.


So, first we have to define complex domain variable 's'.

Switch to the Scilab Console Window and type:

s = poly(0, ’s’)

Let us switch to the Scilab console window.

Here type:


s equal to poly open paranthesis zero comma open single quote s close single quote close paranthesis


and press Enter.

Display the output polynomial The output is 's'.
On the console window type:

s = %s

and press Enter.

There is another way to define 's' as continuous time complex variable.

On the console window, type:

s equal to percentage s

and press Enter.

Slide 7 Let us study the syslin Scilab command.

Use the Scilab function ’syslin’ to define the continuous time system.


G of s is equal to 2 over 9 plus 2 s plus s square


Use csim with step option, to obtain the step response and then plot the step response.

Switch to the Scilab Console Window and type:

sysG = syslin(’c’,2/(sˆ2+2*s+9))

Let us switch to the Scilab console window.

Here type:


sys capital G equal to syslin open paranthesis open single quote c close single quote comma two divided by open paranthesis s square plus two asterik s plus nine close paranthesis close paranthesis


Here c is used, (because) as we are defining a continuous time system.


Press Enter.

Display the output generated The output is linear second order system represented by

2 over 9 plus 2 s plus s square

Type:

t=0:0.1:10;

Press Enter.

Then type

t equal to zero colon zero point one colon ten semicolon

Press Enter.

Then type

y1 = csim(’step’, t, sysG);

Press Enter.

Then type


y one is equal to c sim open paranthesis open single quote step close single quote comma t comma sys capital G close the paranthesis semicolon


Press Enter.

Then type

plot(t, y1);

Press Enter.

Then type

plot open paranthesis t comma y one close paranthesis semicolon


Press Enter.

Display the output generated The output will display the step response of the given second order system.
Slide 8 Let us study the Second Order system response for sine input.

Sine inputs can easily be given as inputs to a second order system to a continuous time system.

Switch to the Scilab Console Window and type this on your Scilab Console


u2=sin(t);

Press Enter.

Let us switch to the Scilab console window.


Type

U two is equal to sine open paranthesis t close paranthesis semicolon


Press Enter.

Type y2 = csim(u2, t, sysG);


Press Enter.

Then type

y two is equal to c sim open paranthesis u two comma t comma sys capital G close the bracket semicolon


Press Enter.


Here we are using sysG, the continuous time second order system we had defined earlier.

Type plot(t, [u2; y2])

Press Enter.

Then type

plot open paranthesis t comma open square bracket u two semicolon y two close square bracket close paranthesis


Make sure that you place a semicolon between u2 and y2 because u2 and y2 are row vectors of the same size.


Press Enter.


This plot shows the response of the system to a step input and sine input. It is called the response plot.

Slide 9 Response Plot plots both the input and the output on the same graph.

As expected,

  • the output is also a sine wave, and
  • there is a phase lag between the input and output
Slide 10
  • Amplitude is different for the input and the output, as it is being passed through a transfer function.
  • This is a typical under-damped example.
Slide 11 Let us plot bode plot of 2 over 9 plus 2 s plus s square


Please note command 'f r e q' is a Scilab command for frequency response.

Do not use f r e q as a variable !!

Switch to the Scilab console and type

fr = [0.01:0.1:10]; // Hertz

Press Enter.

Open the Scilab console and type


f r is equal to open square bracket zero point zero one colon zero point one colon ten close square bracket semicolon.

Press Enter.


The frequency is in Hertz.

Type bode(sysG, fr) and press Enter. Then type

bode open paranthesis sys capital G comma fr close paranthesis

and press Enter.


The bode plot is shown

Slide 12 Let us define another system.

We have an over-damped system p equal to s square plus nine s plus nine

Let us plot step response for this system.

Switch to the Scilab console and type

p=s^2 +9*s+9

Press Enter.

Switch to Scilab console.

Type this on your Scilab console.


p is equal to s square plus nine asterik s plus nine


and then press Enter.

Type sys2 = syslin('c', 9/p)

Press Enter.

Then type this on your console.

sys two is equal to syslin open paranthesis open single quote c close single quote comma nine divided by p close paranthesis


and press Enter.


Then type

t equal to zero colon zero point one colon ten semicolon

Press Enter.


y is equal to c sim open paranthesis open single quote step close single quote comma t comma sys two close the paranthesis semicolon


Press Enter.


Then type plot open paranthesis t comma y close paranthesis


Press Enter.


The response plot for over damped system is shown.

roots(p)

and press Enter.

To find the roots of p type this on your on Scilab console -

Roots of p

and press Enter.


These roots are the poles of the system sys two

Display the output The roots or poles of the system are shown.
Slide 13, 14 Please plot Step response for this system along similar lines, as for over damped system.


G of s is equal to 2 over 9 plus 6 s plus s square which is a critically damped system


Then G of s is equal to two over 9 plus s square which is an undamped system


G of s is equal to 2 over 9 minus 6 s plus s square which is an unstable system


Check response to sinusoidal inputs for all the cases and plot bode plot too.






Switch to the Scilab Console Window and type this on your Scilab Console


--> sys3 = syslin(’c’,s+6,sˆ2+6*s+19) and press Enter



Alternatively:

Type this on your Console


--> g = (s+6)/(sˆ2+6*s+19) and press Enter




Then type this on your Scilab Console


--> sys4 = syslin(’c’,g) and press Enter




Switch to Scilab console.


For a general transfer function, the numerator and denominator can be specified separately. Let me show you how.


Type on your console


sys three is equal to syslin open paranthesis open single quote c close single quote comma s plus six comma s square plus six asterik s plus nineteen close paranthesis

Press Enter


Another way of defining a system, is to type


g is equal to open paranthesis s plus six close paranthesis divided by open paranthesis s square plus six asterik s plus nineteen close paranthesis


Press Enter.


Then type this on your console


sys four is equal to syslin open paranthesis open single quote c close single quote comma g close paranthesis


Press Enter.

Both ways, we get the same output;

six plus s over 19 plus six s plus s square

Slide 15 The variable ’sys’ is of type ’rational’.

Its numerator and denominator can be extracted by various ways.

Slide 16

Sys of two , numer of sys or numer of g gives the numerator.

The denominator can be calculated using sys(3) or denom of sys functions.

Slide 17 The poles and zeros of the system can be plotted using p l z r function.

The syntax is p l z r of sys

The plot shows x for poles and circles for zeros.

Switch to Scilab and type

--> sys3(2) and press Enter


Switch to Scilab console.


Type this on your Scilab console.

sys three open paranthesis two close paranthesis


Press Enter.

This gives the numerator of the rational function 'sys three' that is 6 + s

Type numer(sys3) >> Press Enter



Otherwise, you can type

numer open paranthesis sys three close paranthesis

The numerator of sys three is shown.

Type sys3(3) >> Press Enter



To get the denominator, type

sys three open paranthesis three close paranthesis. Press Enter.


The denominator of the function is shown.

Type

denom(sys3) >> Press Enter.

You can also type denom open paranthesis sys three close paranthesis.

Press Enter.

Type

plzr(sys3) >> Press Enter.

Then type p l z r open paranthesis sys three close paranthesis.

Press Enter.

Display output The output graph plots the poles and zeros.

It shows cross and circle' for poles and zeros of the system respectively.

It is plotted on the complex plane.

Slide 18 In this tutorial, we have learnt how to:
  • Define a system by its transfer function.
  • Plot step and sinusoidal responses.
  • Extract poles and zeros of a transfer function.
Show Slide 19

Title: About the Spoken Tutorial Project

  • It summarises the Spoken Tutorial project
  • If you do not have good bandwidth, you can download and watch it


* Watch the video available at the following link
  • It summarises the Spoken Tutorial project
  • If you do not have good bandwidth, you can download and watch it


Show Slide 20

Title: Spoken Tutorial Workshops

The Spoken Tutorial Project Team

  • Conducts workshops using spoken tutorials
  • Gives certificates for those who pass an online test
  • For more details, please write to contact@spoken-tutorial.org


The Spoken Tutorial Project Team
  • Conducts workshops using spoken tutorials
  • Gives certificates for those who pass an online test
  • For more details, please write to contact at spoken hyphen tutorial dot org


Show Slide

Title: Acknowledgement 21

  • Spoken Tutorial Project is a part of the Talk to a Teacher project
  • It is supported by the National Mission on Education through ICT, MHRD, Government of India
  • More information on this Mission is available at


* Spoken Tutorial Project is a part of the Talk to a Teacher project
  • It is supported by the National Mission on Education through ICT, MHRD, Government of India
  • More information on this Mission is available at
  • spoken hyphen tutorial dot org slash NMEICT hyphen Intro


On previous slide This is Ashwini Patil signing off. Thank you for joining.

Contributors and Content Editors

Lavitha Pereira, Nancyvarkey

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