Control Systems with Scilab

Aditya Sengupta
Indian Institute of Technology Bombay apsengupta@iitb.ac.in

December 1, 2010, Mumbai

A simple rst order system

// D e f i n i n g a f i r s t o r d e r s y s t e m : s = %s // The q u i c k e r a l t e r n a t i v e t o u s i n g s = poly (0 , s ) K = 1, T = 1 // G a i n and t i m e c o n s t a n t SimpleSys = s y s l i n ( c , K /(1+ T * s ) )

Aditya Sengupta, EE, IITB

CACSD with Scilab

Simulating the system- Step test

t =0:0.01:15; y1 = c s i m ( s t e p , t , SimpleSys ) ; // s t e p r e s p o n s e p l o t ( t , y1 )

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CACSD with Scilab

Simulating the system- Sine test

u2=s i n ( t ) ; y2 = c s i m ( u2 , t , SimpleSys ) ; p l o t ( t , [ u2 ; y2 ] ) // s i n e r e s p o n s e

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CACSD with Scilab

Simulating the system- Sine test

u3=s i n ( 5 * t ) ; y3 = c s i m ( u3 , t , SimpleSys ) ; frequency p l o t ( t , [ u3 ; y3 ] ) // s i n e r e s p o n s e a t d i f f e r e n t

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CACSD with Scilab

Root Locus
e v a n s ( SimpleSys )

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CACSD with Scilab

Bode Plot
fMin = 0 . 0 1 , fMax =10 bode ( SimpleSys , fMin , fMax )

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CACSD with Scilab

Second Order Systems- Overdamped

p=s 2+9 * s+9 O v e rd a mp e d S y s t e m= s y s l i n ( c , 9/ p ) roots (p)

Aditya Sengupta, EE, IITB

CACSD with Scilab

Second Order Systems- Overdamped

p=s 2+9 * s+9 O v e rd a mp e d S y s t e m= s y s l i n ( c , 9/ p ) roots (p)

Aditya Sengupta, EE, IITB

CACSD with Scilab

Second Order Systems- Overdamped

y4 = c s i m ( s t e p , t , Ov e rd a mp ed S ys t em ) ; p l o t ( t , y4 )

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CACSD with Scilab

Second Order Systems- Overdamped

bode ( OverdampedSystem , fMin , fMax )

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CACSD with Scilab

Second Order Systems- Underdamped

q=s 2+2 * s+9 U n d er d am p e d S y s t e m = s y s l i n ( c , 9/ q ) roots (q)

Aditya Sengupta, EE, IITB

CACSD with Scilab

Second Order Systems- Underdamped

y5 = c s i m ( s t e p , t , U nd e r d am p e d Sy s t e m ) ; p l o t ( t , y5 )

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CACSD with Scilab

Second Order Systems- Undamped

r = s 2+9 Unda mpedS ys te m = s y s l i n ( c , 9/ r ) roots (r)

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CACSD with Scilab

Second Order Systems- Undamped

y6 = c s i m ( s t e p , t , Un damp edSys tem ) ; p l o t ( t , y6 )

Aditya Sengupta, EE, IITB

CACSD with Scilab

Second Order Systems- Critically damped

m = s 2+6 * s+9 C r i t i c a l l y D a m p e d S y s t e m = s y s l i n ( c , 9/ m ) roots (m)

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CACSD with Scilab

Second Order Systems- Critically damped

y7 = c s i m ( s t e p , t , C r i t i c a l l y D a m p e d S y s t e m ) ; p l o t ( t , y7 )

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CACSD with Scilab

Discrete time systems

z = %z a = 0.1 DTSystem = s y s l i n ( d , a * z / ( z (1 a ) ) )

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CACSD with Scilab

Discrete time systems

u = ones (1 , 50) ; y = f l t s ( u , DTSystem ) ; p l o t ( y ) // C l o s e t h i s when done

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CACSD with Scilab

Discrete time systems

bode ( DTSystem , 0 . 0 0 1 , 1 )

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CACSD with Scilab

Discrete time systems

e v a n s ( DTSystem )

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CACSD with Scilab

State space- representation

A B C D

= = = =

[ 0 , 1 ; 1, 0. 5] [ 0 ; 1] [1 , 0] [0] state

x0 = [ 1 ; 0 ] // The i n i t i a l

SSsys = s y s l i n ( c , A , B , C , D , x0 )

Aditya Sengupta, EE, IITB

CACSD with Scilab

State space- simulation

t = [0: 0.1: 50]; u = 0.5* ones (1 , l e n g t h ( t ) ) ; [ y , x ] = c s i m ( u , t , SSsys ) ;

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CACSD with Scilab

State space- simulation

scf ( 1 ) ; p l o t ( t , y )

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CACSD with Scilab

State space- simulation

scf ( 2 ) ; p l o t ( t , x )

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CACSD with Scilab

State space

e v a n s ( SSsys ) // zoom i n // C o n v e r s i o n from s t a t e s p a c e t o t r a n s f e r f u n c t i o n : s s 2 t f ( SSsys ) r o o t s ( denom ( a n s ) ) spec (A)

Try this: obtain the step response of the converted transfer function. Then compare this with the step response of the state space representation (remember to set the initial state (x0) and step size (u) correctly.

Aditya Sengupta, EE, IITB

CACSD with Scilab

State space

e v a n s ( SSsys ) // zoom i n // C o n v e r s i o n from s t a t e s p a c e t o t r a n s f e r f u n c t i o n : s s 2 t f ( SSsys ) r o o t s ( denom ( a n s ) ) spec (A)

Try this: obtain the step response of the converted transfer function. Then compare this with the step response of the state space representation (remember to set the initial state (x0) and step size (u) correctly.

Aditya Sengupta, EE, IITB

CACSD with Scilab

Discretizing continuous time systems

Simp leSys Di sc r = s s 2 t f ( d s c r ( SimpleSys , 0 . 1 ) ) // S i n c e d s c r ( ) r e t u r n s a s t a t e s p a c e model

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CACSD with Scilab

Discretizing continuous time systems

t = [0: 0.1: 10]; u = ones ( t ) ; y = f l t s ( u , Si mp le SysDi scr ) ; plot (t , y)

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CACSD with Scilab

Multiple subsystems

SubSys1 = s y s l i n ( c , 1/ s ) SubSys2 = 2 // System w i t h g a i n 2 Series = SubSys1 * SubSys2 Parallel = SubSys1+SubSys2 Feedback = SubSys1 / . SubSys2 // Note s l a s h dot , n o t dot s l a s h // A l s o t r y t h e a b o v e s t e p u s i n g 2 i n s t e a d o f S u b s y s 2

Hint: put a space after the dot and then try.

Aditya Sengupta, EE, IITB

CACSD with Scilab

Multiple subsystems

SubSys1 = s y s l i n ( c , 1/ s ) SubSys2 = 2 // System w i t h g a i n 2 Series = SubSys1 * SubSys2 Parallel = SubSys1+SubSys2 Feedback = SubSys1 / . SubSys2 // Note s l a s h dot , n o t dot s l a s h // A l s o t r y t h e a b o v e s t e p u s i n g 2 i n s t e a d o f S u b s y s 2

Hint: put a space after the dot and then try.

Aditya Sengupta, EE, IITB

CACSD with Scilab

Nyquist Plot
G = s y s l i n ( c , ( s 2) / ( s +1) ) ; H = 1 n y q u i s t ( G*H )

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CACSD with Scilab

An Example

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CACSD with Scilab

Modelling the system

mx (t ) + b x (t ) + kx (t ) = F (t ) Taking the Laplace transform: ms 2 X (x ) + bsX (s ) + kX (s ) = F (s ) X (s ) 1 = F (s ) ms 2 + bs + k We will use a scaling factor of k and represent the system as: G (s ) = ms 2 k + bs + k

Aditya Sengupta, EE, IITB

CACSD with Scilab

Modelling the system in Scilab

m b k s

= = = =

1 // Mass : 10 // Damper : 20 // S p r i n g : %s

kg Ns/m N/m

// System : System = k / ( m * s 2 + b * s + k ) // We u s e k a s o u r s c a l i n g f a c t o r .

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CACSD with Scilab

A second order model

Comparing the system: ms 2 k + bs + k

with the standard representation of a second order model:

2 n 2 s 2 + 2n s + n

We have n = and =
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k m b /m 2n
CACSD with Scilab

Understanding the system

wn = s q r t ( k / m ) zeta = ( b / m ) / ( 2 * wn )

We note that this is an overdamped system since > 1

Aditya Sengupta, EE, IITB

CACSD with Scilab

// S t e p r e s p o n s e ( open l o o p t r a n s f e r f u n c t i o n ) : t = 0:0.01:3; y = c s i m ( s t e p , t , System ) ; plot (t , y)

Aditya Sengupta, EE, IITB

CACSD with Scilab

// S t e p r e s p o n s e o f t h e s y s t e m w i t h u n i t y f e e d b a c k : t = 0:0.01:3; yFeedback = c s i m ( s t e p , t , System / . 1 ) ; p l o t ( t , yFeedback )

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CACSD with Scilab

// Comparing t h e open l o o p t r a n s f e r f u n c t i o n and c l o s e d l o o p transfer function : p l o t ( t , [ y ; yFeedback ] )

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CACSD with Scilab

Steady State error

From the nal value theorem:
t Rs = 1/ s Gs = System // The s t e a d y s t a t e v a l u e o f t h e s y s t e m i s : css = h o r n e r ( s * System * Rs , 0 )

lim f (t ) = lim sF (s )
s 0

After adding the feedback loop:

css = h o r n e r ( s * ( System / . 1 ) * Rs , 0 )

Aditya Sengupta, EE, IITB

CACSD with Scilab

Steady State error

From the nal value theorem:
t Rs = 1/ s Gs = System // The s t e a d y s t a t e v a l u e o f t h e s y s t e m i s : css = h o r n e r ( s * System * Rs , 0 )

lim f (t ) = lim sF (s )
s 0

After adding the feedback loop:

css = h o r n e r ( s * ( System / . 1 ) * Rs , 0 )

Aditya Sengupta, EE, IITB

CACSD with Scilab

Lets take a look at the root locus

e v a n s ( System )

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CACSD with Scilab

Finding the gain at a point on the root locus

Say we have the root locus in front of us. Now we wish to calculate some system parameters at some particular point along the root locus. How do we nd the position of this point?

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CACSD with Scilab

Finding the gain at a point on the root locus

The root locus is the plot of the location of the poles of: KG (s ) 1 + KG (s ) as k varies. That is to say, we need to nd the solution of the denominator going to zero: 1 + KG (s ) = 0 or K= 1 G (s )

Aditya Sengupta, EE, IITB

CACSD with Scilab

Finding the gain at a point on the root locus

We can nd the location of a given point on the root locus using the locate() command. We then need to multiply the [x; y] coordinates returned by this command with [ 1, % i ] so that we obtain the position in the complex plane as x + iy We then simply evaluate -1/G(s) at the given position using horner()

Aditya Sengupta, EE, IITB

CACSD with Scilab

Try this now:

e v a n s ( System ) Kp = 1/ r e a l ( h o r n e r ( System , [ 1 %i ] * l o c a t e ( 1 ) ) ) // C l i c k on a p o i n t on t h e r o o t l o c u s css = h o r n e r ( s * ( Kp * System / . 1 ) * Rs , 0 ) // T h i s i s t h e s t e a d y s t a t e v a l u e o f t h e c l o s e d l o o p s y s t e m // w i t h g a i n Kp .

(Choose any point on the root locus right now, we will shortly see how to decide which point to choose)

Aditya Sengupta, EE, IITB

CACSD with Scilab

Achieving specic parameters- a proportional controller

Lets say we wish to achieve the following parameters:
OS = 0 . 3 0 tr = 0 . 0 8 // O v e r s h o o t // R i s e t i m e

We know from theory, for a second order system, = 1 tr 1 2 ln OS 2 + (ln OS )2 1 2

n = In Scilab:

tan1

zeta = l o g ( OS ) / s q r t ( %pi 2 + l o g ( OS ) 2 ) wn = ( 1 / ( tr * s q r t ( 1 zeta 2 ) ) ) * ( %pi a t a n ( s q r t ( 1 zeta 2 ) ) / zeta )

We use these values of and n to decide which point to choose on the root locus.
Aditya Sengupta, EE, IITB CACSD with Scilab

Achieving specic parameters- a proportional controller

Lets say we wish to achieve the following parameters:
OS = 0 . 3 0 tr = 0 . 0 8 // O v e r s h o o t // R i s e t i m e

We know from theory, for a second order system, = 1 tr 1 2 ln OS 2 + (ln OS )2 1 2

n = In Scilab:

tan1

zeta = l o g ( OS ) / s q r t ( %pi 2 + l o g ( OS ) 2 ) wn = ( 1 / ( tr * s q r t ( 1 zeta 2 ) ) ) * ( %pi a t a n ( s q r t ( 1 zeta 2 ) ) / zeta )

We use these values of and n to decide which point to choose on the root locus.
Aditya Sengupta, EE, IITB CACSD with Scilab

Achieving specic parameters- a proportional controller

Lets say we wish to achieve the following parameters:
OS = 0 . 3 0 tr = 0 . 0 8 // O v e r s h o o t // R i s e t i m e

We know from theory, for a second order system, = 1 tr 1 2 ln OS 2 + (ln OS )2 1 2

n = In Scilab:

tan1

zeta = l o g ( OS ) / s q r t ( %pi 2 + l o g ( OS ) 2 ) wn = ( 1 / ( tr * s q r t ( 1 zeta 2 ) ) ) * ( %pi a t a n ( s q r t ( 1 zeta 2 ) ) / zeta )

We use these values of and n to decide which point to choose on the root locus.
Aditya Sengupta, EE, IITB CACSD with Scilab

Achieving specic parameters- a proportional controller

Lets say we wish to achieve the following parameters:
OS = 0 . 3 0 tr = 0 . 0 8 // O v e r s h o o t // R i s e t i m e

We know from theory, for a second order system, = 1 tr 1 2 ln OS 2 + (ln OS )2 1 2

n = In Scilab:

tan1

zeta = l o g ( OS ) / s q r t ( %pi 2 + l o g ( OS ) 2 ) wn = ( 1 / ( tr * s q r t ( 1 zeta 2 ) ) ) * ( %pi a t a n ( s q r t ( 1 zeta 2 ) ) / zeta )

We use these values of and n to decide which point to choose on the root locus.
Aditya Sengupta, EE, IITB CACSD with Scilab

Achieving specic parameters- a proportional controller

e v a n s ( System ) s g r i d ( zeta , wn )

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CACSD with Scilab

Achieving specic parameters- a proportional controller

Find the value of proportional gain at some point on the root locus:
Kp = 1/ r e a l ( h o r n e r ( System , [ 1 %i ] * l o c a t e ( 1 ) ) ) // C l i c k n e a r t h e i n t e r s e c t i o n

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CACSD with Scilab

Achieving specic parameters- a proportional controller

PropSystem = Kp * System / . 1 yProp = c s i m ( s t e p , t , PropSystem ) ; p l o t ( t , yProp ) p l o t ( t , o n e s ( t ) , r ) , // Compare w i t h s t e p

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CACSD with Scilab

A PI controller

Note the steady state error and overshoot. In order to eliminate the steady state error, we need to add an integrator- that is to say, we add a pole at origin. In order to have the root locus pass through the same point as before (and thus achieve a similar transient performance), we add a zero near the origin
Aditya Sengupta, EE, IITB CACSD with Scilab

A PI controller
PI = ( s +1)/ s e v a n s ( PI * System ) s g r i d ( zeta , wn ) // These v a l u e s a r e from t h e P r o p o r t i o n a l controller Kpi = 1/ r e a l ( h o r n e r ( PI * System , [ 1 %i ] * l o c a t e ( 1 ) ) )

Aditya Sengupta, EE, IITB

CACSD with Scilab

A PI controller
PISystem = Kpi * PI * System / . 1 yPI = c s i m ( s t e p , t , PISystem ) ; p l o t ( t , yPI ) p l o t ( t , o n e s ( t ) , r ) , // Compare w i t h s t e p

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CACSD with Scilab

A PD controller
We wish to achieve the following parameters:
OS = 0 . 0 5 Ts = 0 . 5

From theory, we know the corresponding values of and n are: = (log OS )2 (log OS )2 + /2 n = 4 Ts

zeta = s q r t ( ( l o g ( OS ) ) 2 / ( ( l o g ( OS ) ) 2 + %pi 2 ) ) wn = 4 / ( zeta * Ts )

Aditya Sengupta, EE, IITB

CACSD with Scilab

A PD controller
PD = s + 20 e v a n s ( PD * System ) s g r i d ( zeta , wn ) // Zoom f i r s t , t h e n e x e c u t e n e x t l i n e : Kpd = 1/ r e a l ( h o r n e r ( PD * System , [ 1 %i ] * l o c a t e ( 1 ) ) )

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CACSD with Scilab

A PD controller
PDSystem = Kpd * PD * System / . 1 yPD = c s i m ( s t e p , t , PDSystem ) ; p l o t ( t , yPD ) p l o t ( t , o n e s ( t ) , r ) , // Compare w i t h s t e p

Aditya Sengupta, EE, IITB

CACSD with Scilab

A PD controller
Note the improved transient performance, but the degraded steady state error:

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CACSD with Scilab

A PID Controller
We design our PID controller by eliminating the steady state error from the PD controlled system:
PID = ( s + 2 0 ) * ( s +1)/ s e v a n s ( PID * System ) s g r i d ( zeta , wn ) // These v a l u e s a r e from t h e PD s y s t e m

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CACSD with Scilab

A PID Controller
Kpid = 1/ r e a l ( h o r n e r ( PID * System , [ 1 %i ] * l o c a t e ( 1 ) ) ) PIDSystem = Kpid * PID * System / . 1 yPID = c s i m ( s t e p , t , PIDSystem ) ; p l o t ( t , yPID ) p l o t ( t , o n e s ( t ) , r ) , // Compare w i t h s t e p

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CACSD with Scilab

A Comparison

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CACSD with Scilab

References

Control Systems Engineering, Norman Nise Modern Control Engineering, Katsuhiko Ogata Digital Control of Dynamic Systems, Franklin and Powell Master Scilab by Finn Haugen. http://home.hit.no/ finnh/scilab scicos/scilab/index.htm Mass, damper, spring image: released into the public domain by Ilmari Karonen. http://commons.wikimedia.org/wiki/File:Mass-SpringDamper.png

Aditya Sengupta, EE, IITB

CACSD with Scilab