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Scilab in Systems and Control

This document discusses using Scilab for system and control applications. It provides examples of creating transfer functions and modeling dynamic systems using transfer functions and state space representations. It also demonstrates using Scilab to analyze systems through impulse responses, root loci, Bode plots, and converting between transfer function and state space models.

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Pako Statham
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Download as PDF, TXT or read online on Scribd
128 views

Scilab in Systems and Control

This document discusses using Scilab for system and control applications. It provides examples of creating transfer functions and modeling dynamic systems using transfer functions and state space representations. It also demonstrates using Scilab to analyze systems through impulse responses, root loci, Bode plots, and converting between transfer function and state space models.

Uploaded by

Pako Statham
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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Scilab in System and Control

Dr. Balasaheb M. Patre, Professor and Head, Department of Instrumentation Engineering, SGGS Institute of Engineering and Technology, Vishnupuri, Nanded-431606. E-mail: [email protected]

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Introduction
A powerful tool to the numerical study of:
Input-Output dynamic systems Input-State-Output dynamic system Feedback analysis Feedback control design
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Transfer Function
-->s=%s; // first create a variable -->num=36;den=36+3*s+s^2;
-->//create a scilab continuous system LTI object

-->TF=syslin(c,num,den) TF =
36 -------------36 + 3s + s2

-->typeof(TF) ans = rational


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Impulse, Step, and Ramp Response


-->t=linspace(0,5,500); -->imp_res=csim('imp',t,TF); -->plot(t,imp_res),xgrid(),xtitle('Impulse response','time','response'); -->step_res=csim('step',t,TF); -->plot(t,step_res),xgrid(),xtitle('Step response','time','response'); -->ramp_res=csim(t,t,TF); -->plot(t,ramp_res),xgrid(),xtitle('Ramp response','time','response');
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Impulse Response

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Step Response

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Ramp Response

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TF to SS Conversion
-->SS1=tf2ss(TF) SS1 = SS1(1) (state-space system:) !lss A B C D X0 dt ! SS1(2) = A matrix = 0. 8. - 4.5 - 3. SS1(3) = B matrix = 0. 6. SS1(4) = C matrix = 0.75 0. SS1(5) = D matrix = 0. SS1(6) = X0 (initial state) = 0. 0. SS1(7) = Time domain = c
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SS to TF Conversion
-->TF1=ss2tf(SS1) TF1 = 36 ---------- ------2 36 + 3s + s -->roots(den) ans = - 1.5 + 5.809475i - 1.5 - 5.809475i -->c=companion(den) c = - 3. - 36. 1. 0.
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Transfer Function
-->s=%s; // first create a variable -->num=36;den=36+3*s+s^2;
-->//create a scilab continuous system LTI object

-->TF=syslin(c,num,den) TF =
36 -------------36 + 3s + s2

-->typeof(TF) ans = rational


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Transfer Function
-->z=%z; -->Pd=syslin(d,1,z-0.5) Pd = 1 ------- 0.5 + z -->typeof(Pd) ans = rational
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State Space Representation


-->A = [-5 -1 --> 6 0]; -->B = [-1; 1]; -->C = [-1 0]; -->D =0; -->Sss = syslin(c,A,B,C,D)
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State Space Representation


Sss = Sss(1) (state-space system:) ! lss A B C D X0 dt ! Sss(2) = A matrix = - 5. - 1. 6. 0. Sss(3) = B matrix = - 1. 1.
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State Space Representation


Sss(4) = C matrix = - 1. 0. Sss(5) = D matrix = 0. Sss(6) = X0 (initial state) = 0. 0.

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State Space Representation


Sss(7) = Time domain = c -->typeof(Sss) ans = state-space

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Conversion ss<->tf
Conversions are always possible tf2ss Ss2tf Conversions are subtles, refer to dynamic systems textbooks Affected by round-off errors See minss, minreal
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Extract information from tf


The tf is a rational and all the corresponding functions can be applied: -->roots(TF.den) ans = - 1.5 + 5.809475i - 1.5 - 5.809475i

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Extract information from ss


Extract, e.g., the dynamic matrix
Sss.A Extract all matrices [A,B,C,D]=abcd(Sss);

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Smart View of ss Systems


-->ssprint(Sss) . x= y= |-5 -1 | |-1 |

| 6 0 |x + | 1 |u |-1 0 |x

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Pole-zero map - continuous time


plzr(P);sgrid

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Pole-zero map-discrete time


plzr(P);zgrid

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Root Locus
-->n=2+s; -->d=7+5*s+3*s^2; -->TF2=syslin('c',n,d) TF2 = 2+s --------------2 7 + 5s + 3s -->evans(TF2,20) -->xgrid
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Root Locus
Default points useless! use evans(TF2,20)

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Root Locus
The basic operation needed to design with the root locus tool is to calculate the value of k that corresponds to a certain point in the locus: -->k=-1/real(horner(Stf,[1,%i]*locate(1))) locate returns the coordinates of a point in the graphic selected with the mouse horner computes a rational or polynomial in a given point
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Nichols
black(); chart()

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Nichols
The curve is parametrized according to a constant range(!) Continuous time: [103, 103]Hz Discrete time: [103, 0.5] Better to use the whole syntax assigning frequency range: black(sl, [fmin,fmax] [,step] [,comments])
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Bode
bode(); gainplot() Same considerations done for the Nichols diagram Better to use: bode(sl, [fmin,fmax] [,step] [,comments])

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Nyquist
nyquist(); m_circle()

Same considerations done for the Nichols diagram Better to use:


nyquist(sl, [fmin,fmax] [,step] [,comments])

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Horner & Phasemag


horner() evaluates a polynomial/rational in a point Evaluate F(j) (in dB and deg) with = 5 -->F=syslin(c,1,%s+2); -->out=horner(F,5*%i) out = 0.0689655 - 0.1724138i -->[phi,db]=phasemag(out) db = - 14.62398 phi = - 68.198591
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A Final Birds-Eye View


Stability margins (g margin, p margin) Continuous-discrete time conversion (cls2dls) Simple numerical simulation of dynamics systems Numerical resolution of differential equations (ode) Observability, controllability, Kalman filter Controller design commands
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Thank You !!!

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