matlab and simulink for modeling and control.pdf

Matlab and Simulink for Modeling and Control ˇ Robert Babuska and Stefano Stramigioli November 1999 Delft Control Laboratory Faculty of Information Technology and Systems Delft University of Technology Delft University of Technology P.O. Box 5031, 2600 GA Delft, The Netherlands 1 Introduction With the help of two examples, a DC motor and a magnetic levitation system, the use of MATLAB and Simulink for modeling, analysis and control design is demonstrated. It is assumed that the reader already has basic knowledge of MATLAB and Simulink. The main focus is on the use of the Control System Toolbox functions. We recommend the reader to try the commands out directly in MATLAB while reading this text. The examples have been implemented by the authors and can be downloaded from http://lcewww.et.tudelft.nl/˜et4092. The implementation is done in MATLAB version 5.3 and has also been tested in version 5.2. 2 Modeling a DC Motor In this example we will learn how to develop a linear model for a DC motor, how to analyze the model under MATLAB (poles and zeros, frequency response, time-domain response, etc.), how to design a controller, and how to simulate the open-loop and closed-loop systems under SIMULINK. 2.1 Physical System Consider a DC motor, whose electric circuit of the armature and the free body diagram of the rotor are shown in Figure 1. R L + T + J V V = Kω