Self-Tuning Controllers Simulink Library

 

The Self-Tuning Controllers Simulink Library contains various discrete single input single output (SISO) controllers. All controllers contain an on-line identification of a controlled process using the second or the third order model and thus are also suitable for a control of time varying processes.

System requirements

The library has been designed under MATLAB Release 12.1 (version 6.1) and Simulink version 4.1. For minimum and recommended system configuration see Matlab installation guide. It is also possible to port the library to lower versions of Simulink and Matlab, but in this case some functional limitations can occur. Dialog boxes used in library require screen resolution at least 800x600 pixels.

Installation

The Self-Tuning Controllers Simulink Library is available in two versions:

·         stcsl_std.zip – the standard version using the MATLAB programming language (m-files)

·         stcsl_rtw.zip – the version to be used with Real Time Workshop, using C language functions

To install the library simply unzip the appropriate file to an empty folder (for example using Winzip) and than add this folder to the matlab path. There are several possible approaches of adding a folder to the Matlab path (for example you can use path command), but the simplest way is to use the Set Path dialog, which can be accessed through the File menu.

Contact

Prof. Ing. Vladimir Bobal, CSc. (bobal@ft.utb.cz)

Ing. Petr Chalupa (chalupa@ft.utb.cz)

Department of Control Theory

Institute of Information Technologies

Tomas Bata University in Zlin

Mostni 5139

760 01 Zlin

Czech Republic

Accessed since 26.8.2002:

Last modified: 16.3.2003

 

Revision history

15.11.2001

First version of Self-tuning Controllers Simulink Library released.

26.8.2002

Library source codes have been rewritten to C language to be used with Real-Time Workshop. Two versions of the Library are available: Standard and RTW

16.3.2003

Three controllers added: general pole placement controllers using 2nd and 3rd order model and LQ controller using 2nd order model, several internal changes, new concept of on-line help

 

Survey of individual controllers

Contr. No.

m-file

Controller algorithm

Input parameters

Controller  type

1

 

zn2fr.m

zn3fr.m

;          ;                      

KPu; Tu;  T0       

 

PID controller using forward rectangular method

2

 

zn2br.m

zn3br.m

;       ;      

KPu; Tu;  T0       

 

PID controller using backward rectangular method

3

 

zn2tr.m

zn3tr.m

;     ;      

 

KPu; Tu;  T0       

 

PID controller using trapezoidal rectangular method

4

 

zn2pd.m

;                        

KPu; Tu; T0        

 

PD controller

5

 

zn2pi.m

;                 

KPu;      Tu;       T0

 

PI controller     

6

 

zn2fd.m

zn3fd.m

;    ;  

;  ;

KPu; Tu;  T0; Tf

 

PID controller using filtration of D-component, Tustin approximation

7

 

zn2tak.m

zn3tak.m

KPu; Tu;  T0       

 

PID - Takahashi's controller

8

 

zn2ast.m

zn3ast.m

KPu;      Tu;       T0           

 

PID - Åström's controller

9

 

zn2fpd.m

zn3fpd.m

KPu; Tu;  T0       

 

PID controller using backward rectangular method, replacing derivation by a four- point difference

10

 

ba2.m

;                                 ;                                                  

 (g = 0);   (g > 0);    

d - time delay

 

PID - Bányász - Keviczky's controller

11

 

da2.m

;               

;                   

B - adjustment factor

T0        

 

PID - Dahlin's controller

12

 

pp2a_1.m

;    ;     ;    

;    

wn -       natural frequency

x   -       damping factor

 

PID  A-1 pole placement controller

13

 

pp2a_2.m

;       ;        ;        

;    

;    

;    

a, w  - real and imaginary component of the   pole  

 

PID A-2 pole placement controller

 

14

 

pp2b_1.m

;     ;                ;    

wa  - natural frequency

x - damping factor

 

PID B-1 pole placement controller

15

 

pp2b_2.m

;     ;     ;    

;          

;           

;    

 a, w  - real and imaginary component of the pole

 

PID B-2 pole placement controller

 

16

db2w

db3w

Dead-beat controller (weak version)

17

db2s

db3s

Dead-beat controller (strong version)

18

mv2.m

q - penalisation factor

 

Minimum variance controller 

19

pp2chp

pp3chp

D – characteristic polynomial,

Reference signal type

T0

 

Generic pole placement controller

20

pp2lq

                   

                   

           

φ – weight of controller output signal in LQ criterion

Reference signal type

T0

 

Controller based on minimisation of LQ criterion

 

Notes:

m-file name: xx(x)a(yyyy).m: xx(x) - controller type, n = 2 or 3 - process model order, (yyyy) - controller further details

Controllers number 1, 2, 3, 4, 5, 6, 8 and 9:

; ;

Controllers number 12 and 14:

 for ,

 for ,

Controllers number 13 and 15: