Introduction to Control System Design

& Analysis Using MATLAB & Simulink

Chirag Patel
Application Engineer – Control System

© 2012 The MathWorks, Inc.1

Key Takeaways

Single Environment for Plant Modeling, Controller Design and

Analysis

Efficiently Design Controller Logic using Interactive Design Tools

Achieve Overall System Performance Goals using Optimization-

Based Techniques

2
Control System Design Process

Know your plant/system - Linearization

Design the controller with linear plant model

Test controller with non-linear plant in closed-

loop

Add State-machine & Supervisory Logic

Test Controller in Real-Time

3
Multi-Domain Plant Modeling using Simulink
and Simscape

 Simulink is an environment used by Plant Modeling & Linearization

system and controls engineers for

multidomain system simulation & Controller Design & Stability
Analysis
embedded algorithm development
 Simscape enables physical
Closed-Loop System Analysis
modeling of multidomain physical
systems
Add State-Machine &
 Eases process of Supervisory Logic

modeling physical systems

– Build models that reflect Test Controller in Real-Time
structure of physical system
– Leverage MATLAB to create
Demo
reusable models
4
 Plant Model in Simulink

Simulink Advantages:
• Environment for Model-Based Design for Dynamic and Embedded
Systems
• Model, Simulate, Visualize & Analyze Results, Generate Code &
Implement

5
 Plant Model in Simscape

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Simscape Model Advantages:

• Easier to read than equations
• Quicker to create
• More intuitive – easier to
explain to other engineers
6
Multi-Domain Plant Modelling using
Simscape
Simscape Plant Modeling & Linearization
Mechanical Hydraulic Electrical

Controller Design & Stability

Thermal Pneumatic Magnetic
Analysis
N S

Custom Domains via

Simscape Language Closed-Loop System Analysis

Multidomain physical systems

Add State-Machine &
SimPowerSystems

Supervisory Logic
SimElectronics
SimMechanics

SimHydraulics

SimDriveline

Test Controller in Real-Time

Simscape
MATLAB, Simulink
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Model System using Measured Data

 System Identification Toolbox Plant Modeling & Linearization

helps you estimate a model from
measured data. Controller Design & Stability
Analysis

Closed-Loop System Analysis

Add State-Machine &

Supervisory Logic

Test Controller in Real-Time

8
Challenges with Nonlinear Plants

 Finding desired operating points or trimming the plant at multiple

operating conditions

 Deriving linearized models at multiple operating points for large &

complex system

 Handling systems with strong discontinuities or event-based

dynamics

 Performing stability analysis at various operating points

 Checking robustness of a controller against plant uncertainties

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 Nonintrusive Trimming & Linearization of
Plant Models
 Find trim points using optimization
Plant Modeling & Linearization
methods
 Calculate at specific times or events during
simulation Controller Design & Stability
Analysis
 Automatically generate MATLAB code from
the Graphical User Interface
Closed-Loop System Analysis

Add State-Machine &

Supervisory Logic

Test Controller in Real-Time

Demo
10
 Nonintrusive Trimming & Linearization of
Plant Models
 Linearize without having to modify model Plant Modeling & Linearization
structure
 Linearize whole model, portion of model,
single block, or subsystem Controller Design & Stability
Analysis
 Specify linearization behavior of any number
of blocks in the model
Closed-Loop System Analysis

Add State-Machine &

Supervisory Logic

Test Controller in Real-Time

Demo
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 Simulation-Based Computation of a Simulink
Model Frequency Response
 Compute frequency response for models Plant Modeling & Linearization
with strong discontinuities or event-based
dynamics
Controller Design & Stability
 Verify results of a linearization Analysis
 Study the effects of excitation signal
amplitude on nonlinear system’s gain and
Closed-Loop System Analysis
phase characteristics

Add State-Machine &

Supervisory Logic

Test Controller in Real-Time

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Easy Tuning of Single-Loop and Multi-Loop
Controllers Directly in Simulink

Plant Modeling & Linearization

 Tune gain, transfer function, zero-
pole-gain, state-space, and PID
blocks in SISO loops Controller Design & Stability
Analysis

 Automatically identify relevant control

loops and launch preconfigured Closed-Loop System Analysis
session of SISO Design Tool

Add State-Machine &

 Use graphical, automatic, and Supervisory Logic
optimization-based tuning methods

 Save design for easy retrieval and Test Controller in Real-Time

update of Simulink controller
parameters Demo

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Interactive Tuning of PID Controllers

Plant Modeling & Linearization

Controller Design & Stability

Analysis

Closed-Loop System Analysis

Add State-Machine &

Supervisory Logic

Test Controller in Real-Time

Demo

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 Controller Tuning using Optimization Based
Techniques
 Tune model parameters using numerical
Plant Modeling & Linearization
optimization to meet desired system
performance
Controller Design & Stability
Analysis

Closed-Loop System Analysis

Add State-Machine &

Supervisory Logic

Test Controller in Real-Time

Demo

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 Checking Robustness of Controller Against
Plant Uncertainties
 Capturing plant model uncertainty Plant Modeling & Linearization

 Worst-Case Stability and Performance

Analysis of Uncertain Systems Controller Design & Stability
Analysis

 Automatic Tuning of Centralized and

Decentralized Control Systems
Closed-Loop System Analysis

Add State-Machine &

Supervisory Logic

Test Controller in Real-Time

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Challenges with Nonlinear Plants

 Finding desired operating points or trimming the plant at multiple

operating conditions

 Deriving linearized models at multiple operating points for large &

complex system

 Handling systems with strong discontinuities or event-based

dynamics

 Performing stability analysis at various operating points

 Checking robustness of a controller against plant uncertainties

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 Design & Simulate State Machines and
Control Logic using Stateflow

 Stateflow® extends Simulink® with a design Plant Modeling & Linearization

environment for developing complex state
charts and flow graphs in a natural, readable,
and understandable form Controller Design & Stability
Analysis

Closed-Loop System Analysis

Add State-Machine &

Supervisory Logic

Test Controller in Real-Time

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 Real-time Testing & HIL Simulation

 Run Simulink models in hard real-time Plant Modeling & Linearization

using xPC Target Turnkey solution
Controller Design & Stability
 Complete hardware-software solution to Analysis
perform rapid-control prototyping or
hardware-in-loop testing
Closed-Loop System Analysis

Add State-Machine &

Supervisory Logic

Test Controller in Real-Time

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Summary

Plant Modeling & Linearization

Explore &
Research

Controller Design & Stability Analysis

Design &
Development
Closed-Loop System Analysis

Add State-Machine & Supervisory

Logic
Go
Real Time

Test Controller in Real-Time

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