User manual MATLAB CONTROL SYSTEM TOOLBOX RELEASE NOTES

[. . . ] Control System ToolboxTM Release Notes How to Contact The MathWorks Web Newsgroup www. mathworks. com/contact_TS. html Technical Support www. mathworks. com comp. soft-sys. matlab suggest@mathworks. com bugs@mathworks. com doc@mathworks. com service@mathworks. com info@mathworks. com Product enhancement suggestions Bug reports Documentation error reports Order status, license renewals, passcodes Sales, pricing, and general information 508-647-7000 (Phone) 508-647-7001 (Fax) The MathWorks, Inc. 3 Apple Hill Drive Natick, MA 01760-2098 For contact information about worldwide offices, see the MathWorks Web site. Control System ToolboxTM Release Notes © COPYRIGHT 2002­2010 by The MathWorks, Inc. The software described in this document is furnished under a license agreement. The software may be used or copied only under the terms of the license agreement. [. . . ] For information on tuning compensators using automated tuning methods, see "Automated Tuning". 6 Version 8. 3 (R2009a) Control System ToolboxTM Software Version 8. 3 (R2009a) Control System Toolbox Software This table summarizes what's new in Version 8. 3 (R2009a): Version Compatibility Considerations Yes­Details labeled as Compatibility Considerations, below. Related Documentation at Web Site No New Features and Changes Yes Details below Fixed Bugs and Known Problems Bug Reports New change introduced in this version: Variable q Now Defined as the Forward Shift Operator z The variable q is now defined in the standard way as the forward shift operator z. For more information on upsampling, see the upsample reference page and "Resampling of Discrete-Time Models" in the Control System Toolbox User's Guide. New Scaling Tools to Enhance the Accuracy of Computations with State-Space Models You can now scale state-space models to maximize accuracy over the frequency band of interest using the prescale command and associated GUI. Use this functionality when you cannot achieve good accuracy at all frequencies and 10 Version 8. 2 (R2008b) Control System ToolboxTM Software some tradeoff is necessary. A warning alerts you when accuracy may be poor and using prescaling is recommended. For more information on setting the frequency band for scaling state-space realizations, see "Scaling State-Space Models" and the prescale reference page. New Command to Reorder the States of State-Space Models You can now reorder the states of state-space models according to a specified permutation using the xperm command. For more information on reordering states, see the xperm reference page. Enhanced Support for Customizing Response Plots You can now make the following changes to your Control System Toolbox response plots using the figure plotting tools: · System name · Line color · Line style · Line width · Marker type For more information on customizing the appearance of response plots using plot tools, see "Customizing Response Plots Using Plot Tools" in the Control System Toolbox User's Guide. 11 Control System ToolboxTM Release Notes Version 8. 1 (R2008a) Control System Toolbox Software This table summarizes what's new in Version 8. 1 (R2008a): Version Compatibility Considerations No Related Documentation at Web Site No New Features and Changes Yes Details below Fixed Bugs and Known Problems Bug Reports New change introduced in this version: Updated Error and Warning Message System The Control System Toolbox error and warning IDs and messages have been updated. If you use error and warning IDs in your code, you must update your code to reflect the new IDs. 12 Version 8. 0. 1 (R2007b) Control System ToolboxTM Software Version 8. 0. 1 (R2007b) Control System Toolbox Software This table summarizes what's new in Version 8. 0. 1 (R2007b): Version Compatibility Considerations No Related Documentation at Web Site No New Features and Changes Yes Details below Fixed Bugs and Known Problems Bug Reports New change introduced in this version: Updated and Expanded Demos The Control System Toolbox demos have been reformatted and expanded to include more examples and content. Demos in the following categories now have new and improved content: · Getting Started with LTI Models · Discretization and Sampling Rate Conversions · How to Get Accurate Results To open the Control System Toolbox demos, type demo toolbox control at the MATLAB prompt. 13 Control System ToolboxTM Release Notes Version 8. 0 (R2007a) Control System Toolbox Software This table summarizes what's new in Version 8. 0 (R2007a): Version Compatibility Considerations No Related Documentation at Web Site No New Features and Changes Yes Details below Fixed Bugs and Known Problems Bug Reports New features and changes introduced in this version are · "Analysis of Time Delay Systems Now Fully Supported" on page 14 · "New and Updated Automated Tuning Methods" on page 15 · "New Tustin and Prewarp Options for d2d Function" on page 15 Analysis of Time Delay Systems Now Fully Supported Control System Toolbox software now lets you: · Model, simulate, and analyze any interconnection of linear systems with delays, such as systems containing feedback loops with delays. · 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. This feature requires Robust Control ToolboxTM software. · 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. [. . . ] If you have Simulink Control Design software installed on your system, type slview to open the Linear Analysis Tool. 25 Control System ToolboxTM Release Notes Compatibility Considerations To perform linearization, you must install Simulink Control Design software. You can no longer perform this function using Control System Toolbox software. Enhanced Numerical Algorithms The numerical engine has been overhauled to leverage the state-of-the-art LAPACK and SLICOT libraries, resulting in faster and more accurate computations. This upgrade benefits the following areas: · Computation of system zeros (zero, ss to tf or zpk conversions) · Lyapunov and Riccati solvers (lyap, dlyap, care, dare) · Model order reduction (balreal and modred) This release also introduces several new foundation algorithms, including: · Square-root solvers for stable Lyapunov equations (lyapchol and dlyapchol) · Block diagonalization algorithm (bdschur) · Commands for reordering eigenvalues in Schur decompositions (ordschur and ordqz). These commands are part of the MATLAB product. Support for Model Order Reduction Is Improved The support for model order reduction has been significantly improved: · balreal now leverages the new square-root Lyapunov solvers for greater robustness, accuracy, and performance. [. . . ]