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Scilab Manual for Advanced Control Systems

The document is a Scilab code that demonstrates plotting the phase portraits of linear systems with stable and unstable nodes, and stable and unstable foci. It contains code to define transfer functions, convert them to state space form, and simulate trajectories starting from a grid of initial conditions to obtain the phase portraits. Plots are generated of the pole-zero maps and phase portraits for each example system. Captions and labels are added to the plots.

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Brijesh B Naik
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© All Rights Reserved
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Available Formats
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303 views40 pages

Scilab Manual for Advanced Control Systems

The document is a Scilab code that demonstrates plotting the phase portraits of linear systems with stable and unstable nodes, and stable and unstable foci. It contains code to define transfer functions, convert them to state space form, and simulate trajectories starting from a grid of initial conditions to obtain the phase portraits. Plots are generated of the pole-zero maps and phase portraits for each example system. Captions and labels are added to the plots.

Uploaded by

Brijesh B Naik
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Scilab Manual for

Advanced Control Systems


by Prof Deepti Khimani
Instrumentation Engineering
VESIT1

Solutions provided by
Prof Mrs. Deepti Khimani
Instrumentation Engineering
Mumbai University/V. E. S. Institute of Technology

December 28, 2018

1 Funded by a grant from the National Mission on Education through ICT,


[Link] This Scilab Manual and Scilab codes
written in it can be downloaded from the ”Migrated Labs” section at the website
[Link]
1
Contents

List of Scilab Solutions 4

1 To plot the phase portrait of systems having stable and


unstable nodes. 6

2 To plot the phase portrait of systems having stable and


unstable focus. 11

3 To plot the phase portrait of systems having vortex point. 15

4 To plot the phase portrait of systems having saddle point. 19

5 To demonstrate limit cycles for vander pol’s equation. 23

6 To demonstrate the effect of the static nonlinearities. 25

7 To demonstrate the stability of the system using Describing


function. 27

8 To demonstrate the stability of the system using Lyapunov


equation. 30

9 Stabilization of double integrator system using variable struc-


ture control. 32

10 Design the exact feedback linearizing controller for the non


linear system. 34

11 To design sliding mode controller for a linear system. 36

2
12 To demonstrate model reference adaptive control system. 38

3
List of Experiments

Solution 1.01 Lab01 . . . . . . . . . . . . . . . . . . . . . . . . 6


Solution 2.1 Lab02 . . . . . . . . . . . . . . . . . . . . . . . . 11
Solution 3.01 Lab03 . . . . . . . . . . . . . . . . . . . . . . . . 15
Solution 4.01 Lab04 . . . . . . . . . . . . . . . . . . . . . . . . 19
Solution 7.01 Lab07 . . . . . . . . . . . . . . . . . . . . . . . . 27
Solution 8.01 Lab08 . . . . . . . . . . . . . . . . . . . . . . . . 30

4
List of Figures

1.1 Lab01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Lab01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.1 Lab02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.2 Lab02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.1 Lab03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2 Lab03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

4.1 Lab04 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2 Lab04 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

5.1 Lab05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

6.1 Lab06 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.2 Lab06 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

7.1 Lab07 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

9.1 Lab09 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

10.1 Lab10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

11.1 Lab11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
11.2 Lab11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

12.1 Lab12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

5
Experiment: 1

To plot the phase portrait of


systems having stable and
unstable nodes.

Scilab code Solution 1.01 Lab01

1 // Lab . 0 1 : To p l o t t h e p h a s e p o r t r a i t o f s y s t e m s
h a v i n g s t a b l e and u n s t a b l e n o d e s .
2
3 // s c i l a b − 5 . 5 . 0
4 // O p e r a t i n g System : Windows 7 , 32− b i t
5
6 clc ;
7 clear all ;
8 clf ;
9
10 // System t r a n s f e r f u n c t i o n
11 s = poly (0 , ’ s ’ ) ;
12 g =1/( s ^2+3* s +2) ;
13
14 // Draw p o l e z e r o map o f t h e s y s t e m
15 plzr ( g ) ;
16 title ( ’ P o l e −z e r o map o f t h e s y s t e m w i t h r e a l s t a b l e

6
e i g e n v a l u e s ’ , ’ f o n t s i z e ’ ,3)
17 // C o n v e r t t h e g i v e n t r a n s f e r f u n c t i o n i n t o s t a t e
s p a c e form
18 sys = tf2ss ( g ) ;
19
20 // P l o t o f s y s t e m p h a s e t r a j e c t o r y
21 sys . c =[1 ,0;0 ,1];
22 sys . d =[0 0] ’;
23
24 t =0:0.2:10;
25 a1 = size ( t ) ;
26 u = zeros ( a1 (1) , a1 (2) ) ;
27 figure
28 for i = -2.0:0.5:2;
29 for j = -2:0.5:2;
30 y1 = csim (u ,t , sys ,[ i , j ] ’) ;
31 plot ( y1 (1 ,:) , y1 (2 ,:) ) ;
32 end
33 end
34
35 set ( gca () ,” g r i d ” ,[0.3 0.3])
36 title ( ’ Phase p o r t r a i t o f t h e s y s t e m w i t h s t a b l e node
’ , ’ f o n t s i z e ’ ,3)
37 xlabel ( ’ x1 ( t ) ’ , ’ f o n t s i z e ’ ,2)
38 ylabel ( ’ x2 ( t ) ’ , ’ f o n t s i z e ’ ,2)
39 f = get ( ” c u r r e n t f i g u r e ” ) // C u r r e n t f i g u r e h a n d l e
40 f . background =8
41 // System t r a n s f e r f u n c t i o n
42 s = poly (0 , ’ s ’ ) ;
43 g =1/( s ^2 -3* s +2) ;
44
45 // Draw p o l e z e r o map o f t h e s y s t e m
46 figure ;
47 plzr ( g ) ;
48 title ( ’ P o l e −z e r o map o f t h e s y s t e m w i t h r e a l
u n s t a b l e e i g e n v a l u e s ’ , ’ f o n t s i z e ’ ,3)
49 f = get ( ” c u r r e n t f i g u r e ” ) // C u r r e n t f i g u r e h a n d l e
50 f . background =8

7
51 // C o n v e r t t h e g i v e n t r a n s f e r f u n c t i o n i n t o s t a t e
s p a c e form
52 sys = tf2ss ( g ) ;
53
54 // P l o t o f s y s t e m p h a s e t r a j e c t o r y
55 sys . c =[1 ,0;0 ,1];
56 sys . d =[0 0] ’;
57
58 a1 = size ( t ) ;
59 u = zeros ( a1 (1) , a1 (2) ) ;
60 figure
61 for i = -2.0:0.5:2;
62 for j = -2:0.5:2;
63 y1 = csim (u ,t , sys ,[ i , j ] ’) ;
64 plot ( y1 (1 ,:) , y1 (2 ,:) ) ;
65 end
66 end
67 set ( gca () ,” g r i d ” ,[0.3 0.3])
68 f = get ( ” c u r r e n t f i g u r e ” ) // C u r r e n t f i g u r e h a n d l e
69 f . background =8
70 zoom_rect ([ -5 , -5 ,5 ,5])
71 title ( ’ Phase p o r t r a i t o f t h e s y s t e m w i t h u n s t a b l e
node ’ , ’ f o n t s i z e ’ ,3)
72 xlabel ( ’ x1 ( t ) ’ , ’ f o n t s i z e ’ ,2)
73 ylabel ( ’ x2 ( t ) ’ , ’ f o n t s i z e ’ ,2)

8
Figure 1.1: Lab01

9
Figure 1.2: Lab01

10
Experiment: 2

To plot the phase portrait of


systems having stable and
unstable focus.

Scilab code Solution 2.1 Lab02

1 // Lab . 0 2 : To p l o t t h e p h a s e p o r t r a i t o f s y s t e m s
h a v i n g s t a b l e and u n s t a b l e f o c u s p o i n t .
2
3 // s c i l a b − 5 . 5 . 0
4 // O p e r a t i n g System : Windows 7 , 32− b i t
5
6 clc ;
7 clear all ;
8 clf ;
9
10 // System t r a n s f e r f u n c t i o n
11 s = poly (0 , ’ s ’ ) ;
12 g =1/( s ^2+ s +1) ;
13
14 // Draw p o l e z e r o map o f t h e s y s t e m
15 plzr ( g ) ;
16 title ( ’ P o l e −z e r o map o f t h e s y s t e m w i t h s t a b l e

11
underdamped e i g e n v a l u e s ’ , ’ f o n t s i z e ’ ,3)
17 // C o n v e r t t h e g i v e n t r a n s f e r f u n c t i o n i n t o s t a t e
s p a c e form
18 sys = tf2ss ( g ) ;
19
20 // P l o t o f s y s t e m p h a s e t r a j e c t o r y
21 sys . c =[1 ,0;0 ,1];
22 sys . d =[0 0] ’;
23
24 t =0:0.2:10;
25 a1 = size ( t ) ;
26 u = zeros ( a1 (1) , a1 (2) ) ;
27 figure
28 for i = -2.0:0.5:2;
29 for j = -2:0.5:2;
30 y1 = csim (u ,t , sys ,[ i , j ] ’) ;
31 plot ( y1 (1 ,:) , y1 (2 ,:) ) ;
32 end
33 end
34 set ( gca () ,” g r i d ” ,[0.3 0.3])
35 f = get ( ” c u r r e n t f i g u r e ” ) // C u r r e n t f i g u r e h a n d l e
36 f . background =8
37 title ( ’ Phase p o r t r a i t o f t h e s y s t e m w i t h s t a b l e
f o c u s ’ , ’ f o n t s i z e ’ ,3)
38 xlabel ( ’ x1 ( t ) ’ , ’ f o n t s i z e ’ ,2)
39 ylabel ( ’ x2 ( t ) ’ , ’ f o n t s i z e ’ ,2)
40
41 // System t r a n s f e r f u n c t i o n
42 s = poly (0 , ’ s ’ ) ;
43 g =1/( s ^2 - s +1) ;
44
45 // C o n v e r t t h e g i v e n t r a n s f e r function into state
s p a c e form
46 sys = tf2ss ( g ) ;
47
48 // Draw p o l e z e r o map o f t h e s y s t e m
49 figure ;
50 plzr ( g ) ;

12
51 f = get ( ” c u r r e n t f i g u r e ” ) // C u r r e n t f i g u r e h a n d l e
52 f . background =8
53 title ( ’ P o l e −z e r o map o f t h e s y s t e m w i t h n e g a t i v e l y
damped e i g e n v a l u e s ’ , ’ f o n t s i z e ’ ,3)
54 // P l o t o f s y s t e m p h a s e t r a j e c t o r y
55 sys . c =[1 ,0;0 ,1];
56 sys . d =[0 0] ’;
57
58 a1 = size ( t ) ;
59 u = zeros ( a1 (1) , a1 (2) ) ;
60 figure
61 for i = -2.0:0.5:2;
62 for j = -2:0.5:2;
63 y1 = csim (u ,t , sys ,[ i , j ] ’) ;
64 plot ( y1 (1 ,:) , y1 (2 ,:) ) ;
65 end
66 end
67 set ( gca () ,” g r i d ” ,[0.3 0.3])
68 f = get ( ” c u r r e n t f i g u r e ” ) // C u r r e n t f i g u r e h a n d l e
69 f . background =8
70 zoom_rect ([ -5 , -5 ,5 ,5])
71 title ( ’ Phase p o r t r a i t o f t h e s y s t e m w i t h u n s t a b l e
f o c u s ’ , ’ f o n t s i z e ’ ,3)
72 xlabel ( ’ x1 ( t ) ’ , ’ f o n t s i z e ’ ,2)
73 ylabel ( ’ x2 ( t ) ’ , ’ f o n t s i z e ’ ,2)

13
Figure 2.1: Lab02

Figure 2.2: Lab02

14
Experiment: 3

To plot the phase portrait of


systems having vortex point.

Scilab code Solution 3.01 Lab03

1 // Lab . 0 3 : To p l o t t h e p h a s e p o r t r a i t o f s y s t e m s
having vortex point .
2
3 // s c i l a b − 5 . 5 . 0
4 // O p e r a t i n g System : Windows 7 , 32− b i t
5
6 clc ;
7 clear all ;
8 clf ;
9
10 // System t r a n s f e r f u n c t i o n
11 s = poly (0 , ’ s ’ ) ;
12 g =1/( s ^2+4) ;
13
14 // Draw p o l e z e r o map o f t h e s y s t e m
15 plzr ( g ) ;
16 title ( ’ P o l e −z e r o map o f t h e s y s t e m w i t h c r i t i c a l l y
damped e i g e n v a l u e s ’ , ’ f o n t s i z e ’ ,3)
17 // C o n v e r t t h e g i v e n t r a n s f e r f u n c t i o n i n t o s t a t e

15
s p a c e form
18 sys = tf2ss ( g ) ;
19
20 // P l o t o f s y s t e m p h a s e t r a j e c t o r y
21 sys . c =[1 ,0;0 ,1];
22 sys . d =[0 0] ’;
23
24 t =0:0.2:10;
25 a1 = size ( t ) ;
26 u = zeros ( a1 (1) , a1 (2) ) ;
27 figure
28 for i = -2.0:0.5:2;
29 for j = -2:0.5:2;
30 y1 = csim (u ,t , sys ,[ i , j ] ’) ;
31 plot ( y1 (1 ,:) , y1 (2 ,:) ) ;
32 end
33 end
34 set ( gca () ,” g r i d ” ,[0.3 0.3])
35 f = get ( ” c u r r e n t f i g u r e ” ) // C u r r e n t f i g u r e h a n d l e
36 f . background =8
37 title ( ’ Phase p o r t r a i t o f t h e s y s t e m w i t h v o r t e x
p o i n t ’ , ’ f o n t s i z e ’ ,3)
38 xlabel ( ’ x1 ( t ) ’ , ’ f o n t s i z e ’ ,2)
39 ylabel ( ’ x2 ( t ) ’ , ’ f o n t s i z e ’ ,2)

16
Figure 3.1: Lab03

17
Figure 3.2: Lab03

18
Experiment: 4

To plot the phase portrait of


systems having saddle point.

Scilab code Solution 4.01 Lab04

1 // Lab . 0 4 : To p l o t t h e Phase p o r t r a i t o f s y s t e m s
having saddle point .
2
3 // s c i l a b − 5 . 5 . 0
4 // O p e r a t i n g System : Windows 7 , 32− b i t
5
6 clc ;
7 clear all ;
8 clf ;
9
10 // System t r a n s f e r f u n c t i o n
11 s = poly (0 , ’ s ’ ) ;
12 g =1/( s ^2+1* s -2) ;
13
14 // C o n v e r t t h e g i v e n t r a n s f e r f u n c t i o n i n t o s t a t e
s p a c e form
15 sys = tf2ss ( g ) ;
16
17 // Draw p o l e z e r o map o f t h e s y s t e m

19
18 plzr ( sys ) ;
19 title ( ’ P o l e −z e r o map o f t h e s y s t e m w i t h r e a l s t a b l e
and u n s t a b l e e i g e n v a l u e s ’ , ’ f o n t s i z e ’ ,3)
20 // P l o t o f s y s t e m p h a s e t r a j e c t o r y
21 sys . c =[1 ,0;0 ,1];
22 sys . d =[0 0] ’;
23
24 t =0:0.2:5;
25 a1 = size ( t ) ;
26 u = zeros ( a1 (1) , a1 (2) ) ;
27 figure ;
28 for i = -2.0:0.5:2;
29 for j = -2:0.5:2;
30 y1 = csim (u ,t , sys ,[ i , j ] ’) ;
31 plot ( y1 (1 ,:) , y1 (2 ,:) ) ;
32 end
33 end
34 set ( gca () ,” g r i d ” ,[0.3 0.3])
35 f = get ( ” c u r r e n t f i g u r e ” ) // C u r r e n t f i g u r e h a n d l e
36 f . background =8
37 zoom_rect ([ -3 , -3 ,3 ,3])
38 title ( ’ Phase p o r t r a i t o f t h e s y s t e m w i t h s a d d l e
p o i n t ’ , ’ f o n t s i z e ’ ,3)
39 xlabel ( ’ x1 ( t ) ’ , ’ f o n t s i z e ’ ,2)
40 ylabel ( ’ x2 ( t ) ’ , ’ f o n t s i z e ’ ,2)

20
Figure 4.1: Lab04

21
Figure 4.2: Lab04

22
Experiment: 5

To demonstrate limit cycles for


vander pol’s equation.

This code can be downloaded from the website [Link]

23
Figure 5.1: Lab05

24
Experiment: 6

To demonstrate the effect of


the static nonlinearities.

This code can be downloaded from the website [Link]

25
Figure 6.1: Lab06

Figure 6.2: Lab06

26
Experiment: 7

To demonstrate the stability of


the system using Describing
function.

Scilab code Solution 7.01 Lab07

1 // Lab . 0 8 : To c h e c k t h e s t a b i l i t y o f t h e s y s t e m
using Describing Functions .
2
3 // s c i l a b − 5 . 5 . 0
4 // O p e r a t i n g System : Windows 7 , 32− b i t
5
6 clc ;
7 clear all ;
8
9 // F r e q u e n c y Bounds
10
11 wmin =1;
12 wmax =100;
13 fmin = wmin /2/ %pi ;
14 fmax = wmax /2/ %pi ;
15
16 // System Model

27
17
18 s = poly (0 , ’ s ’ ) ;
19 g1 = syslin ( ’ c ’ ,10/(0.5* s ^3+1.5* s ^2+ s ) )
20
21 // N y q u i s t P l o t
22
23 nyquist ( g1 , fmin , fmax )
24
25
26 // P l o t o f D e s c r i b i n g F u n c t i o n o f R e l a y w i t h
Deadzone N o n l i n e a r i t y
27 x =1:0.5:10;
28 n =(2/ %pi ) *( asin (1 ./ x ) +(1 ./ x ) .* sqrt (1 -(1 ./ x )
.^2) ) ;
29 n1 = -1 ./ n ;
30 z = size ( n1 ) ;
31 plot2d ( n1 , zeros (1 , z (2) ) ,2)
32
33 h = legend ([ ’DF Contour ’ ; ’ System Contour ’ ])

28
Figure 7.1: Lab07

29
Experiment: 8

To demonstrate the stability of


the system using Lyapunov
equation.

Scilab code Solution 8.01 Lab08

1 // Lab . 0 8 : To c h e c k t h e s t a b i l i t y o f t h e s y s t e m
u s i n g Lyapunov e q u a t i o n .
2
3 // s c i l a b − 5 . 5 . 0
4 // O p e r a t i n g System : Windows 7 , 32− b i t
5
6 clc ;
7 clear all ;
8
9 // System model
10
11 a =[0 1 0;0 0 1; -2 -3 -2];
12 q = - eye (3 ,3) ;
13 p = lyap (a ,q , ’ c ’ ) ;
14
15 // For a s t a b l e s y s t e m m a t r i x p s h o u l d be p o s i t i v e
definite for

30
16 // which a l l t h e p r i n c i p l e m i n o r s o r a l l e i g e n v a l u e s
o f t h e m a t r i x p s h o u l d be p o s i t i v e
17 eig_val = spec ( p ) ;
18 m = length ( eig_val ) ;
19 stable =0;
20 for i =1: m ;
21 if real ( eig_val ( i ) ) >0 then
22 stable = stable +1;
23 end
24 end
25 if stable == m then
26 disp ( ’ The s y s t e m i s a s y m p t o t i c a l l y s t a b l e ’ )
27 else
28 disp ( ’ The s y s t e m i s u n s t a b l e o r c r i t i c a l l y
stable ’)
29 end

31
Experiment: 9

Stabilization of double
integrator system using
variable structure control.

This code can be downloaded from the website [Link]

32
Figure 9.1: Lab09

33
Experiment: 10

Design the exact feedback


linearizing controller for the
non linear system.

This code can be downloaded from the website [Link]

34
Figure 10.1: Lab10

35
Experiment: 11

To design sliding mode


controller for a linear system.

This code can be downloaded from the website [Link]

36
Figure 11.1: Lab11

Figure 11.2: Lab11

37
Experiment: 12

To demonstrate model
reference adaptive control
system.

This code can be downloaded from the website [Link]

38
Figure 12.1: Lab12

39

Common questions

Powered by AI

When designing sliding mode control for linear systems, considerations include defining a sliding surface that ensures attractive motion towards the desired dynamics, selecting control laws to maintain the system on this surface, and ensuring robustness to uncertainties and disturbances. The design must also guarantee that reaching conditions are satisfied to initiate sliding mode behavior, with particular attention to chattering minimization techniques .

The phase portrait of a system with stable nodes will show trajectories that move towards the equilibrium point over time, indicating stability, whereas for systems with unstable nodes, the trajectories diverge away from the equilibrium point. This is visually represented in Scilab where the pole-zero map of the system with stable eigenvalues results in converging trajectories while real unstable eigenvalues show divergent paths .

Identifying unstable focus points is critical because they influence system dynamics by creating divergent spiral trajectories in their vicinity, which can lead to oscillatory behavior and instability in the system response. These points, identified through the pole-zero map, help in understanding and predicting the system's response to disturbances and initial conditions .

The pole-zero map is crucial in stability analysis as it visually represents the system's poles and zeros in the complex plane. Stability is indicated if the poles are located in the left-half of the complex plane for continuous-time systems. In Scilab, pole-zero maps are utilized to predict system behavior by depicting where system poles lie, which directly influences transient and steady-state responses .

Stabilizing a double integrator system through variable structure control involves implementing a switching surface that influences the trajectory of the system states. This surface is designed such that all system trajectories are directed towards it and maintain it thereafter. Variable structure control ensures system robustness against uncertainties and disturbances by dynamically switching control actions .

Designing an exact feedback linearizing controller involves transforming the nonlinear system dynamics into a linear form through state feedback and a dynamic coordinate transformation. This requires determining an input transformation that cancels out nonlinear terms, yielding a linear system description, which can then be controlled with linear control techniques .

The Describing function method can be used to approximate nonlinear systems by evaluating the frequency response of a linearized model of the nonlinear block. This involves plotting the Nyquist plot for the linearized system and comparing it against the contour plot of the describing function for relay with deadzone nonlinearity to check the presence of intersections. These intersections indicate potential closed-loop oscillations, thus impacting stability assessments .

Demonstrating MRAC systems is significant as it showcases the capability to adjust control parameters in real-time to match a desired reference model. This is particularly beneficial in systems subject to parameter variations or external disturbances, ensuring optimal performance and stability by dynamically adapting to changes .

Stability using the Lyapunov equation is assessed by determining a positive definite matrix P that satisfies the equation A'P + PA = -Q for a given system matrix A and positive definite matrix Q. The system is asymptotically stable if all eigenvalues of P are positive, which requires checking whether the principle minors of P are positive .

The phase portrait for systems with a vortex point is characterized by closed-loop trajectories that form vortex-like shapes. These systems typically have critically damped eigenvalues, which result in loops or spirals around a central point in the phase plane. In Scilab, the phase portrait is plotted using trajectories starting from various initial conditions, showing these cyclic patterns around stable points .

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