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MATLAB Control-System Toolbox Tutorial

This document provides a tutorial on using MATLAB's control system toolbox. It covers: 1. Defining transfer functions in different formats (transfer function, zero-pole-gain, state-space) and converting between them. 2. Combining transfer functions in series, parallel and feedback configurations. 3. Analyzing stability using Routh's criterion, Nyquist plots and root locus analysis. 4. Computing time and frequency response functions like impulse response, step response and Bode plots.

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72 views2 pages

MATLAB Control-System Toolbox Tutorial

This document provides a tutorial on using MATLAB's control system toolbox. It covers: 1. Defining transfer functions in different formats (transfer function, zero-pole-gain, state-space) and converting between them. 2. Combining transfer functions in series, parallel and feedback configurations. 3. Analyzing stability using Routh's criterion, Nyquist plots and root locus analysis. 4. Computing time and frequency response functions like impulse response, step response and Bode plots.

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qwerty
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MATLAB control-system toolbox tutorial

1. Define a transfer function:


15(1+𝑠) 15+15𝑠
Let us assume a close loop transfer function, 𝐺 = (3−𝑠)(5+𝑠) = −𝑠2 −2𝑠+15
The transfer function may be defined in state-space form:
A= [ 2 15
1 0]
B = [1
0]
C = [ -15 -15]
D= 0
• Use tf command:
G=tf ([15 15],[-1 -2 15])
• Use zero-pole-gain format
G=zpk([-1],[3 -5],15)
• Use state-space form
G=ss (A,B,C,D) when you have defined A, B, C and D before.

2. Conversion among different formats:


• tf2ss : [A B C D]= tf2ss ([15 15],[-1 -2 15])
• zp2ss: [A B C D]= zp2ss([-1],[3 -5],15) outputs of these two commands may be
different.
• ss2tf: [x y]=ss2tf(A,B,C,D) output gives the coefficients
• ss2zp: [x y z]=ss2zp(A,B,C,D)
• try all the possibilities

3. series and parallel and feedback:


15 (1+𝑠)
𝐺 = (3−𝑠) 𝐻 = (5+𝑠)
• series: T= series(G,H)
• parallel: T= parallel(G,H)
• feedback: T=feedback(G,H)

4. Stability of a control system:

• Routh’s criterion: no built-in command yet. However, many third-party functions are
available.
• Nyquist plot: Works on open-loop transfer function. Nyquist plot is the plot of the value
of open-loop transfer function when s is traversed through the positive half of s plane.
Here, N=Z-P: nyquist(G)
• Root-locus method: The locus of each root as gain K varies, is known as the root locus.
rlocus(H) : stable system as all the routes have negative real part.

5. Time/ transient response:


15(1+𝑠) 15+15𝑠
Assume the close loop transfer function, 𝐺 = (3−𝑠)(5+𝑠) = −𝑠2 −2𝑠+15
Define time matrix time_mat= linspace(0,1,1000))
• Impulse response : impulse(G,time_mat)
• Step response: step(G,time_mat)
• Response for arbitrary input:
Define time matrix and input
time_mat=0:0.1:20;
u=0.5*time_mat;
for i=101:1:201
u(i)=5;
end
A =tf([1],[0.2 1 1])

response: lsim(A,u,time_mat)
• Response for an initial condition: This works with state-space format only.
Define initial condition of state variables: x0=[1 -1]'
Response: find state space form: [AA,BB,CC,DD]=tf2ss([1],[1 0.1 10])
Only take the state space output: a2b=ss(AA,[],CC,[])
Initial(a2b,x0)

6. Frequency response:
15(1+𝑠) 15+15𝑠
Assume the close loop transfer function, 𝐺 = (3−𝑠)(5+𝑠) = −𝑠2 −2𝑠+15
• Bode plot: bode(G)
• Gain and phase margin: margin (G)

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