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

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| Welcome to the spoken tutorial on ''' Advanced Control of Continuous Time systems'''
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| Welcome to the spoken tutorial on ''' Advanced Control of Continuous Time systems'''.
  
 
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|00:12
 
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|Define a continuous time system: second and higher order  
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|* Define a continuous time system: second and higher order  
  
 
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|Plot response to '''step''' and sine inputs  
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|* Plot response to '''step''' and sine inputs  
  
 
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| 00:20
 
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|Do a '''Bode plot'''  
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|* Do a '''Bode plot'''  
  
 
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|00:22
 
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|Study '''numer''' and ''' denom Scilab functions'''  
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|* Study '''numer''' and ''' denom Scilab functions'''  
  
 
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|Plot ''' poles''' and '''zeros''' of a system  
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|* Plot ''' poles''' and '''zeros''' of a system.
  
 
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| To record this tutorial, I am using  
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|To record this tutorial, I am using  
  
 
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|'''Ubuntu 12.04''' as the operating system with
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|'''Ubuntu 12.04''' as the operating system with
  
 
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|00:36
 
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|'''Scilab 5.3.3''' version  
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|'''Scilab 5.3.3''' version.
  
 
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|Let us switch to the ''' Scilab console window. '''
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|Let us switch to the ''' Scilab console window.'''
  
 
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|Here type ''' s equal to poly open parenthesis zero comma open single quote s close single quote close parenthesis''' , press '''Enter.'''  
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|Here, type '''s equal to poly open parenthesis zero comma open single quote s close single quote close parenthesis''', press '''Enter.'''  
  
 
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|The output is ''' 's'.'''   
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|The output is''' 's'.'''   
  
 
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|There is another way to define ''' 's' ''' as '''continuous time complex variable. '''
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|There is another way to define''' 's' '''as '''continuous time complex variable.'''
  
 
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| ''' s equal to percentage s''', press '''Enter.'''  
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| '''s equal to percentage s''', press '''Enter.'''  
  
 
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|01:41
 
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|Let us study the ''' syslin Scilab command.'''  
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|Let us study the '''syslin Scilab command.'''  
 
   
 
   
 
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|Use the '''Scilab''' function ''' ’syslin’ ''' to define the continuous time system.  
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|Use the '''Scilab''' function''' ’syslin’ ''' to define the continuous time system.  
  
 
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||''' G of s is equal to 2 over 9 plus 2 s plus s square'''
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||''' G of s is equal to 2 over 9 plus 2 s plus s square'''.
  
 
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|Use ''' csim''' with '''step''' option, to obtain ''' the step response''' and then plot the step response.  
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|Use '''csim''' with '''step''' option, to obtain '''the step response''' and then plot the '''step response'''.  
  
 
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||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 '''
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||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'''
  
 
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| Here '''c''' is used as we are defining a continuous time system.  
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| Here '''c''' is used, as we are defining a continuous time system.  
  
 
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|'''2 over 9 plus 2 s plus s square'''  
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|'''2 over 9 plus 2 s plus s square'''.
  
 
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| Then type ''' t equal to zero colon zero point one colon ten semicolon'''  
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| Then, type '''t equal to zero colon zero point one colon ten semicolon'''  
  
 
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|Press '''Enter. '''
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|Press '''Enter.'''
  
 
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Revision as of 17:49, 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 the 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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