University of Sana’a Analog Control System

MT311
Faculty of Engineering

Mechatronics Department

Lab1:
Introduction to Analog Control Laboratory
Eng Mohamed Doba

09 – 04 - 2018
Topics Covered In This Course:
 Introduction:
- Course Plan.
- Overview of Matlab/Simulink.
 System modeling in Matlab/Simulink.
 System analysis in Matlab/Simulink.
 Matlab/Simulink Control design using Root Locus method.
 Matlab/Simulink Control design using Frequency response method.
 Matlab/Simulink Control design using PID.
 Real time hardware interface/control using Matlab/Simulink.
 Matlab/Simulink Control design using auto-tuning and system identification (for systems not
having mathematical models).
Some of the Systems used in this course:

 Dc motor. (Main system)

 Spring – damper system.
 Electric circuits.
 Analogue Electronics.
 Vehicle (cruise control).
 Car Suspension.
 Inverted pendulum.
 Aircraft Pitch.
 Ball and Beam.
 Quad-copter.
The systems that is not covered in the course are going to be the final projects for the students.
 Course Requirement:

Term Project:
Pick a system of your choice, and do the following:
 System Modeling (mathematical or experimental) using Matlab.
 System analysis using Matlab.
 Control system designing (by using any method covered in the course).

The project can be delivered as hardware or simulation.

Quizzes
Overview of Matlab and Simulink.
First: Overview of Matlab
 Overview of Matlab
 Variable Assignment.  Polynomials.

 Matrix manipulation.  Differential equations.

 Element-wise operator.
 Others.
 Help.
 Right and left division.
 Matlab Cheat sheet.
 Scalar, vector and matrix functions.
 Complex numbers.
 M-Files
 Scripts.
 Functions.
 Plotting
 Conditionals and loops.
 Timing.
 Animation.
 Polynomials.
 Overview of Matlab - Assignment
 Single Variable assignment.
 A row vector – values are separated by spaces or comma (,).
 A column vector – values are separated by semi–colon (;).
 Matrices: Combination of row and column are created using the combination of the
previous rules, for each new row item put(spaces or comma (,)) and for each now column
put (semi–colon (;)).

>> v=3 >> A = [1 2 3 4 5] >> B = [10;12;14;16] >> C = [1 2 3 ; 4 5 6 ; 7 8 9]

v= A =
B =
1 2 3 4 5
3 10 C =
>>> A = [1,2,3,4,5] 12
A =
1 2 3 4 5 14 1 2 3
16 4 5 6
7 8 9
 Overview of Matlab - Assignment
 Linspace: If we want to construct a vector of, say, 100 elements between 0 and 2*pi.

a = linspace(0,(2*pi),100);
 colon notation: If we want to construct a vector of, elements between 0 and 2 with a step
size of 0.1

b = 0:0.1:2;
 Overview of Matlab – Matrix manipulation

 Arithmetic operations – Add and subtract.

>> A+3 >> A-2

ans =
 1 2 3
ans =
-1 0 1 A=  4 5 6
4 5 6
7 8 9 2 3 4
 
10 11 12 5 6 7
7 8 9

 Arithmetic operations – Multiply and divide.

>> A*2 >> A/3

ans =
 1 2 3
ans =
0.3333 0.6667 1.0000 A=  4 5 6
2 4 6
8 10 12 1.3333 1.6667 2.0000
 
14 16 18 2.3333 2.6667 3.0000
7 8 9
 Overview of Matlab – Matrix manipulation

 Access elements in a matrix or a vector.

>> A(2,3) >> A(:,3)

ans = ans =
6 3 1 2 3
6 A=  4 5 6
9  
>> A(1,:) 7 8 9
ans = >> A(2,:)= [6 5 4]
1 2 3 A =

1 2 3
6 5 4
7 8 9
 Overview of Matlab - Matrix manipulation
element–wise operator (.)
 element–wise operator:
Performing operations to every entry in a matrix.

1 2 3  1 1 1  14 14 14 
 4 5 6   2 2 2 = 32 32 32 
     
A*B 7 8 9 3 3 3 50 50 50 

 1x1 2x1 3x1  1 2 3

 4 x 2 5 x 2 6 x 2  8 10 12 
A.*B  
=  
 7 x3 8x3 9 x3 21 24 27 
 Overview of Matlab - Matrix manipulation
element–wise operator (.)
element–wise operator and other operators : >> A=[1 2 3;4 5 6;7 8 9]
A=
1 2 3
4 5 6
7 8 9

>> c=[1 2]; >> A.^2

>> d=[3 4]; ans =
>> c*d 1 4 9
16 25 36
??? Error using _*_
49 64 81
times
Matrix dimensions must >> A^2
agree. ans =
30 36 42
A^2 = A * A 66 81 96
102 126 150
 Overview of Matlab - Matrix manipulation
Matrices (Divide and element-wise operator)
>> 8/2
 The right division: the conventional division we all day use. ans =
4
 The left division: Contrary to the right division, the left division reverse the division.
>> 8\2
ans =
Using element by element division 0.2500

>> A./B >> A.\B

ans = ans =

0.3333 1.0000 3.0000 1.0000

Using the left division 2.0000 2.0000 0.5000 0.5000
 Overview of Matlab – Scalar, vector and matrix functions:
 Scalar functions – used for scalars and operate element-wise
when applied to a matrix or vector:
e.g. sin - cos – tan - atan – asin
abs - angle –sqrt
 Vector functions – operate on vectors returning scalar value:
e.g. max – min – mean – prod – sum – length
 Matrix functions – perform operations on matrices:
e.g. Size – inv – det

A= B= B= A=
1 2 3 2 3 2 1 2 3
2 2 1 1 1 1 4 5 6
7 8 9
>> sin(A) >> max(B) >> max(B, [],2)
ans = ans = ans = >> size(A)
0.8415 0.9093 3 ans =
0.9093 0.9093 3 2 1 3 3
 Overview of Matlab – Complex numbers
 [i] is one of the special variables used to represent complex >> c = 1+i

Number. c =
1.0000 + 1.0000i
 To find the value of complex number use [abs].
 To find the value of complex number use [angle].
>> abs(c)
ans =
1.4142

>> angle(c)*(180/pi)
ans =
45
 Overview of Matlab - Matrix manipulation

-j5
Example-1:
 Solve for V1 and V2 ?
V1 V2
>> solution j10
2-90o 10 1.50o
solution =
14.0000+ 8.0000i
28.0000+ 1.0000i
(0.1 + j0.2)V1 – j0.2V2 = -j2
- j0.2V1 + j0.1V2 = 1.5

0.1  j 0.2  j 0.2  V1   j2

  j 0.2 j 0.1  V2  =  1.5 

A x = y
 Overview of Matlab – M-Files
 Script and function files.

M-files

Script Function
Collections of commands User defined commands

Executed in sequence when called Normally has input & output

Saved with extension “.m”

Saved with extension “.m”
 Overview of Matlab - Plotting:
t = 0:0.25:7;
y = sin(t); [X,Y] = meshgrid(-2:.2:2);
plot(t,y)
title('Sine Wave as a Function of Time') Z = X .* exp(-X.^2 - Y.^2);
xlabel('Time (secs)') surf(X,Y,Z)
ylabel('Amplitude')
 Overview of Matlab – M-Files & plotting
Example-2:
 RLC circuit
Write an m–file to plot Z, Xc and XL versus frequency for R =10, C = 100 uF, L = 0.01 H.

R = 10 C
Solution:
120
Z
+
Xc
100 Xl
V
L
80 –

60

40

20
 1 
Z  R  j L  
0
0 200 400 600 800 1000 1200 1400 1600 1800 2000
  C 
 Overview of Matlab – Conditionals and loops:

 You can loop over sections of code and conditionally execute sections using the keywords:
[for, while, if, switch].

for v = 1.0:-0.2:0.0 n = 10;

f = n;
disp(v) while n > 1
end n = n-1;
f = f*n;
end n = input('Enter a number: ');
disp(['n! = ' num2str(f)])
switch n
case -1
disp('negative one')
if overallMean < .49 case 0
disp('Mean is less than expected') disp('zero')
elseif overallMean > .51 case 1
disp('Mean is greater than expected') disp('positive one')
else otherwise
disp('Mean is within the expected range') disp('other value')
end end
Overview of Matlab - Animation:
 Overview of Matlab - Animation:
 Animation plot of sine function as t change from 0 to 7s:

for n = 0:0.25:7
t = 0:0.25:n;
y = sin(t);
plot(t,y)
title('Sine Wave as a Function of Time')
xlabel('Time (secs)')
ylabel('Amplitude')
axis([0 7 -1 1])
pause(0.1)
end
Overview of Matlab - Animation:
Example-3:
 Animation of sine function ?
 Overview of Matlab - Polynomials:
 Polynomials as Vectors
 p = [1 3 -15 -2 9];

 To find the value of the above polynomial at s = 2.

poly_val = polyval( p ,2)

 Finding the roots would be as easy as entering the following command:

s = roots( p )

 Multiply two polynomials together:

x = [1 2];
y = [1 4 8];
z = conv(x,y)
 Overview of Matlab – M-files Functions

 Function is a ‘black box’ that communicates with workspace through input and output
variables.
 Every function must begin with a header:
function output = function_name (inputs)

Output variable Must match the file name

input variable

function f = fact(n) >> fact(5)

f = prod(1:n); ans =
end 120
 Overview of Matlab – Differential equations:
 Create function that represent the differential
Equation of the system and save it as m file

function dx = mydiff(t, x)
T = 5;
dx = - 1 / T * x;
end

 To find the solution of the differential equation and plot the solution (i(t)):

span_t = [0 25];
x0 = 1;
[t, x ] = ode23(@mydiff, span_t , x0);
plot(t, x)
 Overview of Matlab - Others
 Some special variables[inf, nan, pi]. >> 1/0
 Utility functions to deal with inf: ans =
ex. [isinf, finite] Inf
>> x = log(0);
>> isinf(x)
>> x = 0/0
ans =
x =
1
NaN

 Utility functions to deal with NaN: >> pi

ex. [isnan]
>> isnan(0/0) ans =

ans = 3.1416

1
Overview of Matlab - Help

>> doc sin

 Use word [doc]:

 Use word [help]: >> help sin

 Tutorials in the Matlab documentation:

Getting started with Matlab.
Language fundamentals.
Matlab Cheat sheet
Second: Overview of Simulink
Overview of Simulink :
 Basic Elements.
 Simple Example.
 Animation in Simulink.
 Help in Simulink.
 Overview of Simulink - Basic Elements:
 There are two major classes of items in Simulink:
blocks and lines.
 Blocks are used to generate, modify, combine, output, and display signals.
 Lines are used to transfer signals from one block to another.
Overview of Simulink - Basic Elements - blocks:

There are several general classes of blocks within the Simulink library:
 Sources: used to generate various signals.
 Sinks: used to output or display signals.
 Continuous: continuous-time system elements (transfer functions, state-space
models, PID controllers, etc.)
 Math Operations: contains many common math operations (gain, sum, product,
absolute value, etc.)
 Overview of Simulink – Simple example:
 Only two blocks: source and sink.
Overview of Simulink – Animation in Simulink:

 Pendulum differential equation.

 ¨ 𝑔
𝜃=− ∗ sin ⁡(𝜃)
𝑙

 Simscape Toolbox:
can simulated the dynamic of the system
and give animation without equation.
 Overview of Simulink - Help:

 For  on-line help, type:

help commandname
doc scope

 Getting Started with Simulink :

 Next lab:

Requirement from the students:

 Quiz to test your understanding for this lab

Subjects in the next lab:

 Dc motor – modeling and analysis in Matlab/Simulink
 Files Associated with Lab1:

 Control Tutorials for MATLAB and Simulink - MATLAB Basics Tutorial.pdf

 Control Tutorials for MATLAB and Simulink - Simulink Basics Tutorial.pdf
 Matlab/Simulink files.
 Other resources:
- Matlab documentation.
- Simulink documentation.
- Matlab Cheat sheet.

References:
 https://www.mathworks.com/help/index.html
 http://ctms.engin.umich.edu/CTMS/index.php
Any Questions ?!

By: Mohamed Doba

fb.com/mnb.doba