User manual MATLAB CONTROL SYSTEM TOOLBOX 9

[. . . ] Control System ToolboxTM 9 User's Guide How to Contact MathWorks Web Newsgroup www. mathworks. com/contact_TS. html Technical Support www. mathworks. com comp. soft-sys. matlab suggest@mathworks. com bugs@mathworks. com doc@mathworks. com service@mathworks. com info@mathworks. com Product enhancement suggestions Bug reports Documentation error reports Order status, license renewals, passcodes Sales, pricing, and general information 508-647-7000 (Phone) 508-647-7001 (Fax) The MathWorks, Inc. 3 Apple Hill Drive Natick, MA 01760-2098 For contact information about worldwide offices, see the MathWorks Web site. Control System ToolboxTM User's Guide © COPYRIGHT 2001­2010 by The MathWorks, Inc. The software described in this document is furnished under a license agreement. The software may be used or copied only under the terms of the license agreement. [. . . ] This extends the Select Color window, as shown in this figure. You can pick colors from the color spectrum located in the upper right corner of the window. To select a custom color, follow these steps: 7-12 Graphical Tuning Window Preferences Editor 1 Place your cursor at a point in the color spectrum that has a color you want to define. 2 Left-click. Notice that the hue, saturation, luminescence (lum. ), red, green, and blue fields specify the numerical values for the selected color. 3 Press Add to Custom Colors. This adds the selected color to the row of boxes labeled Custom Color. You can now use this color just like the basic colors. Options Pane The Options pane, shown below, has selections for compensator format and Bode diagrams. You can make the following selections: · Compensator Format -- Select the time constant, natural frequency, or zero/pole/gain format. The time constant format is a factorization of the compensator transfer function of the form DC × (1 + Tz1 s ) (1 + Tp1 s ) where DC is compensator DC gain, Tz1, Tz2, . . . , are the zero time constants, and Tp1, Tp2, . . . , are the pole time constants. 7-13 7 Setting Tool Preferences The natural frequency format is DC × (1 + s z ) (1 + s p ) 1 1 where DC is compensator DC gain, z1, and z2, . . . and p1, p2, . . . , are the natural frequencies of the zeros and poles, respectively. The zero/pole/gain format is K× ( s + z1 ) ( s + p1 ) where K is the overall compensator gain, and z1, z2, . . . · Bode Options -- By default, the GRAPHICAL Tuning Window shows the plant and sensor poles and zeros as blue x's and o's, respectively. Clear this check box to eliminate the plant's poles and zeros from the Bode plot. Note that the compensator poles and zeros (in red) will still appear. Line Colors Pane The Line Colors pane, shown below, has selections for specify the colors of the lines in the response plots of the Graphical Tuning Window. 7-14 Graphical Tuning Window Preferences Editor To change the colors of plot lines associated with parts of your model, specify a three-element vector to represent red, green, and blue (RGB) values. If you do not want to specify the RGB values numerically, click the Select button to open the Select Color window. See "Select colors" on page 7-12 for more information. 7-15 7 Setting Tool Preferences 7-16 8 Customizing Response Plot Properties · "Introduction" on page 8-2 · "Customizing Response Plots Using the Response Plots Property Editor" on page 8-3 · "Customizing Response Plots Using Plot Tools" on page 8-12 · "Customizing Response Plots from the Command Line" on page 8-16 · "Customizing Plots Inside the SISO Design Tool" on page 8-37 8 Customizing Response Plot Properties Introduction The lowest level of the "Property and Preferences Hierarchy" is setting response plot properties. This means that any property you set for a given plot will only affect that plot. 8-2 Customizing Response Plots Using the Response Plots Property Editor Customizing Response Plots Using the Response Plots Property Editor In this section. . . "Opening the Property Editor" on page 8-3 "Overview of Response Plots Property Editor" on page 8-4 "Labels Pane" on page 8-6 "Limits Pane" on page 8-6 "Units Pane" on page 8-7 "Style Pane" on page 8-8 "Options Pane" on page 8-9 "Editing Subplots Using the Property Editor" on page 8-11 Opening the Property Editor After you create a response plot, there are two ways to open the Property Editor: · Double-click in the plot region · Select Properties from the right-click menu Before looking at the Property Editor, open a step response plot using these commands. load ltiexamples step(sys_dc) This creates a step plot. Note that when you open the Property Editor, a set of black squares appear around the step response, as this figure shows: 8-3 8 Customizing Response Plot Properties SISO System Step Response Overview of Response Plots Property Editor This figure shows the Property Editor dialog box for a step response. 8-4 Customizing Response Plots Using the Response Plots Property Editor The Property Editor for Step Response In general, you can change the following properties of response plots. Note that only the Labels and Limits panes are available when using the Property Editor with Simulink® Design OptimizationTM software. · Units where applicable (e. g. , rad/s to Hertz) in the Units pane. If you cannot customize units, as is the case with step responses, the Property Editor will display that no units are available for the selected plot. You can show a grid, adjust font properties, such as font size, bold and italics, and change the axes foreground color · Change options where applicable in the Options pane. These include peak response, settling time, phase and gain margins, etc. The Property Editor displays only the options that make sense for the selected response plot. [. . . ] The panel directly above the buttons describes how to set the inclusion or exclusion criteria based on which selection criteria you select from the reconfigured Selection Criteria Setup panel. 12-22 Analyzing MIMO Models I/O Grouping for MIMO Models You can group this by inputs, by outputs, or both by selecting I/O Grouping and then Inputs, Outputs, or All, respectively, from the right-click menu. For example, if you select Outputs, the LTI Viewer reconfigures into 3 plots, one for each input. Selecting None returns to the default configuration, where all I/O pairs are displayed individually. 12-23 12 LTI Viewer Selecting I/O Pairs Another way to organize MIMO system information is to choose I/O Selector from the right-click menu, which opens the I/O Selector window. This window automatically configures to the number of I/O pairs in your MIMO system. You can select: · Any individual plot (only one at a time) by clicking on a button · Any row or column by clicking on Y(*) or U(*) · All of the plots by clicking [all] Using these options, you can inspect individual I/O pairs, or look at particular I/O channels in detail. 12-24 Customizing the LTI Viewer Customizing the LTI Viewer In this section. . . "Overview of Customizing the LTI Viewer" on page 12-25 "LTI Viewer Preferences Editor" on page 12-25 Overview of Customizing the LTI Viewer The LTI Viewer has a tool preferences editor, which allows you to set default characteristics for specific instances of LTI Viewers. If you open a new instance of either, each defaults to the characteristics specified in the Toolbox Preferences editor. LTI Viewer Preferences Editor Select Viewer Preferences in the Edit menu of the LTI Viewer to open the LTI Viewer Preferences editor. [. . . ]