Introduction to Linear Control Systems

For the convenience of the reader this companion site contains all the MATLAB and SIMULINK codes of the examples and worked-out problems. The 2015a release of MATLAB is used. Thus newer, but not older, releases may be used as well. The naming of the files is as follows:

For MATLAB files:

Example X.Y    is named as ExampleXpointY.m. Thus for instance to run the m file of Example 1.2 (which is the Example 2 of Chapter 1) you should simply go to Chapter 1 and then run the corresponding m file    Example1point2    in the MATLAB environment. (The same for Problem X.Y.)

For SIMULINK files:

Example X.Y    is named as   ExampleXpointYS.slx. Hence for instance to run the slx file of Example 1.3  (which is the Example 3 of Chapter 1) you should simply go to Chapter 1 and then run the slx file    Example1point3S    in the SIMULINK environment. Then in the MATLAB environment you run the corresponding m file    Example1point3    which produces the desired figures. (The same for Problem X.Y.)

We highlight the sequel:

• In basic notation the transfer functions of the plant and controller are denoted by P and C.

• For complicated situations we have introduced extra denotations like   C_lead   which is clearly understood in the context of the programs.

• Regardless of the situation in which we use the command ‘lsim’, for the sake of ease of remembrance we always denote its input and output by  u  and  Y, respectively. The input time variable and the output (simulated/computed signal) time variable are denoted by   t   and   T, respectively. The command is used like   [Y,T]=lsim(sys,u,t) . In this command    sys denotes the respective transfer function whose input and output are denoted by  u and  Y. For notational simplicity inside the program we usually use the denotations like   sys ,   sysnew or   sys1 instead of the precise respective denotation like  which we introduce and discuss in Exercise 1.53 of Chapter 1. For instance, if we actually want to compute the output of  

  • which, in our notational convention in the book, is  

    u  

    or the control signal, in response to  

    r  

     

    or the reference input), inside the program we use   Y (instead of  

    u

    )    and   u (instead of  

    r

    ).

  We have made every possible effort to remove the mistakes which might have inadvertently crept into the text or this webpage. We appreciate to have the feedback of our colleagues who choose the book as their text. The future edition will correct the aforementioned oversights and address their concerns.