User manual MATLAB CONTROL SYSTEM TOOLBOX RELEASE NOTES

[. . . ] Please see www. mathworks. com/patents for more information. Contents Summary by Version . 1 4 6 7 9 12 13 14 16 17 21 22 iii Version 6. 1 (R14SP1) Control System Toolbox Software . . 24 25 28 29 33 iv Contents Control System ToolboxTM Release Notes Summary by Version This table provides quick access to what's new in each version. Version Compatibility Considerations Yes Summary Fixed Bugs and Known Problems Bug Reports Related Documentation at Web Site Printable Release Notes: PDF Current product documentation V8. 4 (R2009b) V8. 3 (R2009a) V8. 2 (R2008b) V8. 1 (R2008a) V8. 0. 1 (R2007b) V8. 0 (R2007a) V7. 1 (R2006b) V7. 0 (R2006a) Yes Details Yes Details Yes Details Yes Details Yes Details Yes Details Yes Details Yes Details No Yes Summary Yes Summary No No No No No Bug Reports Bug Reports Bug Reports Bug Reports Bug Reports Bug Reports Bug Reports Bug Reports No No No No No No No No Version (Release) Latest Version V8. 5 (R2010a) New Features and Changes Yes Details 1 Control System ToolboxTM Release Notes Version (Release) V6. 2. 1 (R14SP3) V6. 2 (R14SP2) V6. 1 (R14SP1) V6. 0 (R14) V5. 2. 1 (R13SP2) V5. 2 (R13) New Features and Changes No Yes Details No Yes Details No Yes Details Version Compatibility Considerations No No No Yes Summary No No Fixed Bugs and Known Problems Bug Reports Fixed bugs Fixed bugs Fixed bugs No bug fixes Fixed bugs Related Documentation at Web Site No No No No No No Using Release Notes Use release notes when upgrading to a newer version to learn about: · New features · Changes · Potential impact on your existing files and practices Review the release notes for other MathWorksTM products required for this product (for example, MATLAB® or Simulink®). [. . . ] · Exactly analyze and simulate control systems with long delays. You can evaluate control strategies, such as Smith Predictor and PID control for first-order-plus-dead-time plants. · Use new commands for modeling state-space models with delays including: delayss, getDelayModel, and setDelayModel. For more information, see the section on time delays in the Control System Toolbox documentation. 14 Version 8. 0 (R2007a) Control System ToolboxTM Software New and Updated Automated Tuning Methods Control System Toolbox software now provides the following new and updated automated tuning methods: · New Singular Frequency Based Tuning lets you design PID compensators for both stable and unstable plants. · New H-infinity Loop Shaping lets you find compensators based on a desired open-loop bandwidth or loop shape. · Updated Internal Model Control (IMC) Tuning now supports unstable plants. For more information, see the section on automated tuning in the Control System Toolbox documentation. New Tustin and Prewarp Options for d2d Function The d2d function now includes the following new options for the resampling method: · 'tustin'--Performs Bilinear (Tustin) approximation · 'prewarp'--Performs Tustin approximation with frequency prewarping For more information, see the d2d reference pages. 15 Control System ToolboxTM Release Notes Version 7. 1 (R2006b) Control System Toolbox Software This table summarizes what's new in Version 7. 1 (R2006b): Version Compatibility Considerations No Related Documentation at Web Site No New Features and Changes Yes Details below Fixed Bugs and Known Problems No bug fixes New features and changes introduced in this version are · "New Loop Configurations in the SISO Design Tool" on page 16 · "New Design Requirements" on page 16 New Loop Configurations in the SISO Design Tool Two new loop configurations are available from the SISO Design Tool. See Modifying Block Diagram Structure for more information. New Design Requirements The LTI Viewer now supports step response and upper/lower time bound design requirements. See Adding Design Requirements to the LTI Viewer for more information. 16 Version 7. 0 (R2006a) Control System ToolboxTM Software Version 7. 0 (R2006a) Control System Toolbox Software This table summarizes what's new in Version 7. 0 (R2006a): Version Compatibility Considerations No Related Documentation at Web Site No New Features and Changes Yes Details below Fixed Bugs and Known Problems No bug fixes New features and changes introduced in this version are · "SISO Design Tool" on page 17 · "LTI Viewer Enhancements" on page 18 · "LTI Objects" on page 18 · "Numerical Algorithms" on page 20 SISO Design Tool The SISO Design Tool now provides one-click automated tuning using systematic algorithms such as Ziegler-Nichols PID tuning, IMC design, and LQG design. In addition, you can calculate low-order approximations of the IMC/LQG compensators to keep the control system complexity low. Compensator Optimization Is Now Supported If you have installed Simulink® Response OptimizationTM software, you can now optimize the compensator parameters inside the SISO Design Tool GUI. You can specify time- and frequency-domain requirements on SISO Design Tool plots such as bode and step, and use numerical optimization algorithms to automatically tune your compensator to meet your requirements. See the Simulink Response Optimization documentation for more details. Improved Compensator Editor The Compensator Editor used to edit the numerical values of poles and zeros has been upgraded to better handle common control components such as lead/lag and notch filters. 17 Control System ToolboxTM Release Notes Multi-Loop Compensator Design Support Many control systems involve multiple feedback loops, some of which are coupled and need joint tuning. The SISO Design Tool now lets you analyze and tune multi-loop configurations. You can focus on a specific loop by opening signals to remove the effects of other loops, gain insight into loop interactions, and jointly tune several SISO loops. SISO Design Tool Fully Integrated with the Controls & Estimation Tools Manager To improve workflow and better leverage other tools, such as Simulink® Control DesignTM software and Simulink Response Optimization software, the SISO Design Tool is now fully integrated with the Controls & Estimation Tools Manager (CETM). This provides a signal environment for the design and tuning of compensators. When you open the SISO Design Tool, the CETM also opens with a SISO Design Task. Many SISO Design Tool features, such as importing models, changing loop configurations, etc. , have been moved to the SISO Design Task in CETM. In addition, related tasks such as Simulink based Tuning and Compensator Optimization are seamlessly integrated with the SISO Design Task. See the Control System Toolbox Getting Started Guide for details on the new work flow. LTI Viewer Enhancements The LTI Viewer now lets you plot the response of a system to user-defined input signals (lsim) and initial conditions (initial). A new GUI lets you select input signals from a signal generator library, or import signal data from a variety of file formats. LTI Objects Descriptor and Improper State-Space Models Fully Supported There is now full support for descriptor state-space models with a singular E matrix. This now lets you build state-space representations, such as PID, and manipulate improper models with the superior accuracy of state-space 18 Version 7. 0 (R2006a) Control System ToolboxTM Software computations. In previous versions, only descriptor models with a nonsingular E matrix were supported. New Commands to Calculate Time Response Metrics The new stepinfo and lsiminfo commands compute time-domain performance metrics, such as rise time, settling time, and overshoot. [. . . ] You can access this functionality from the new toolbar. SISO Design Tool The following are new features in the SISO Design tool. Additional Feedback Structures The SISO Design tool supports two new feedback structures: · Feedforward configuration · Cascade configuration with filter F in the minor loop All the usual functionality (e. g. , graphical tuning of F and G) is available in the new feedback structures. 30 Version 5. 2 (R13) Control System ToolboxTM Software Analysis Menu The SISO Design tool contains a new Analysis menu that raises Loop Responses under Tools to the top level. New plots available from this menu are · Input disturbance rejection · Output disturbance rejection Linked LTI Viewers Are Dynamically Updated LTI Viewers that are linked to the SISO Design tool update response plots in real-time during mouse-driven compensator tuning. To deactivate this feature, clear the Real-Time Update check box in the linked LTI Viewer. In this case, plots update only when you release the mouse button. System Identification Toolbox Models Can Be Imported The SISO Design tool now imports System Identification Toolbox SISO models. [. . . ]