Xcos examples from textbooks and for blocksHEADmaster

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diff --git a/Working_Examples/3432/CH4/EX4.6/Ex4_6.sce b/Working_Examples/3432/CH4/EX4.6/Ex4_6.sce
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+//Example 4.6 

+//PID Control of DC Motor Speed.

+

+//------------------------------------------------------------------

+//NOTE THAT--

+

+//The model as given in matlab program for this example in the book is

+

+//num=Ra*s + La*s^2 ;

+//den=Ke*ki + (Ra*Ke*Ke+Ke*kp)*s + (Ra*b+Ke*Ke+Ke*kd)*s^2 + Jm*La*s^3;

+

+//this does not match to the model of DC motor given on page 43. 

+//Also, if we assume this model, disturbance response given 

+//in figure 4.13 (a) 

+//is different from expected.

+//For instance, with P control, output should asymptotically go to 0

+//for disturbance step input, because numerator is s(Ra + La*s) 

+//and system is type 0 (no pole at origin).

+//i.e. y(inf)=lim s->0 s*Y(s)= s*[s(Ra + La*s)/den]*1/s=0;

+

+//In following code, we have considered correct model of DC motor as 

+//given on page 43. Note that, this model must have been used 

+//by authors of the book for 

+//step reference tracking as it is correctly shown in figure 4.13 (b)

+

+//------------------------------------------------------------------

+xdel(winsid())//close all graphics Windows

+clear;

+clc;

+

+//------------------------------------------------------------------

+// System parameters

+Jm=0.0113; // N-m-s^2/rad

+b=0.028;   // N-m-s/rad

+La=0.1;    // henry

+Ra=0.45;   // ohms

+Kt=0.067   // n-m/amp

+Ke=0.067;  // V-sec/amp

+

+// Controller parameters

+kp=3;

+ki=15;    // sec^-1

+kd=0.3;   // sec

+

+// DC Motor Transfer function as given on page 43 of book (edition 5)

+//G=Kt/[Jm*La s^2 + (Jm*Ra + La*b)s +(Ra*b +Kt*Ke)]

+s=%s;

+num=[Kt];

+den=[(Ra*b +Kt*Ke) (Jm*Ra + La*b) Jm*La];

+Ns=poly(num,'s','coeff');

+Ds=poly(den,'s','coeff');

+G=syslin('c',Ns/Ds)

+

+//PID controller, Gc=(kd s^2 + kp s + ki)/s

+num=[ki kp kd;ki kp 0;0 kp 0]; //numerator parameters of controller)

+                                 //(row wise for PID, PI and P)

+den=[0 1];                    //denominator parameters of controller

+Ds=poly(den,'s','coeff');    //denominator polynomial of controller

+t=0:0.005:10;               // Simulation time

+//------------------------------------------------------------------

+//Step disturbance response with P, PI and PID controller. 

+

+for i=1:3

+Ns=poly(num(i,:),'s','coeff');//numerator polynomial of controller

+sysG=syslin('c',Ns/Ds);

+sysD=G/. sysG;

+v(i,:)=csim('step',t,sysD);

+end

+plot(t',v');

+//Title, labels and grid to the figure

+exec .\fig_settings.sci; //custom script to set the figure properties

+title('Responses of P,PI and PID control to step disturbance...

+ input','fontsize',3)

+xlabel('Time t (sec.)','fontsize',2)

+ylabel('Amplitude','fontsize',2)

+hl=legend(['PID','PI','P']);

+

+//------------------------------------------------------------------

+//Reference step response

+

+figure

+for i=1:3

+Ns=poly(num(i,:),'s','coeff');

+Gc=syslin('c',Ns/Ds);

+// Step reference response with P, PI and PID controller.

+sysR=G*Gc/(1+G*Gc);

+v(i,:)=csim('step',t,sysR);

+end

+plot(t',v')

+//Title, labels and grid to the figure

+exec .\fig_settings.sci; //custom script to set the figure properties

+title('Responses of PID control to step reference input','fontsize',3)

+xlabel('Time t (sec.)','fontsize',2)

+ylabel('Amplitude','fontsize',2)

+hl=legend(['PID','PI','P']);

+

+//------------------------------------------------------------------

diff --git a/Working_Examples/3432/CH4/EX4.6/Ex4_6_f0.pdf b/Working_Examples/3432/CH4/EX4.6/Ex4_6_f0.pdf
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diff --git a/Working_Examples/3432/CH4/EX4.6/Ex4_6_f1.pdf b/Working_Examples/3432/CH4/EX4.6/Ex4_6_f1.pdf
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+++ b/Working_Examples/3432/CH4/EX4.6/Ex4_6_f1.pdf
diff --git a/Working_Examples/3432/CH4/EX4.7/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH4/EX4.7/DEPENDENCIES/fig_settings.sci
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+//------------------------------------------------------------------

+//figure handel settings

+f=get("current_figure"); //Current figure handle

+f.background=8; //make the figure window background white

+l=f.children(1); 

+l.background=8 ;//make the text background white

+id=color('grey');

+xgrid(id);

+//------------------------------------------------------------------

diff --git a/Working_Examples/3432/CH4/EX4.7/Ex4_7.sce b/Working_Examples/3432/CH4/EX4.7/Ex4_7.sce
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+//Example 4.7

+//Discrete Equivalent.

+//------------------------------------------------------------------

+xdel(winsid())//close all graphics Windows

+clear;

+clc;

+

+// Transfer function

+s=%s; 

+num=[1 11];

+den=[1 3]

+Us=poly(num,'s','coeff');

+Es=poly(den,'s','coeff');

+Ds=syslin('c',Us/Es);

+sysc=tf2ss(Ds)

+

+//Discretize the system using sampling time Ts=1 and Bilinear Transform

+Ts=1;

+sysd=cls2dls(sysc,Ts);

+

+//Pulse transfer function

+Dd=ss2tf(sysd)

+disp(Dd,"Dd=")

+disp("Note that, multiply numerator and denomintor each by 7... 

+ will give the result as in book.")

+//------------------------------------------------------------------

diff --git a/Working_Examples/3432/CH4/EX4.8/DEPENDENCIES/fig_settings.sci b/Working_Examples/3432/CH4/EX4.8/DEPENDENCIES/fig_settings.sci
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+//------------------------------------------------------------------

+//figure handel settings

+f=get("current_figure"); //Current figure handle

+f.background=8; //make the figure window background white

+l=f.children(1); 

+l.background=8 ;//make the text background white

+id=color('grey');

+xgrid(id);

+//------------------------------------------------------------------

diff --git a/Working_Examples/3432/CH4/EX4.8/Ex4_8.sce b/Working_Examples/3432/CH4/EX4.8/Ex4_8.sce
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+//Example 4.8
+//Equivalent discrete controller for DC motor speed control.
+//------------------------------------------------------------------
+//NOTE THAT-- The system response (continuous) to sampled control 
+//input depends on 
+//the sampling time set for continuous signal in SIMULATION.
+//In this example we consider sampling period of 0.009 sec 
+//to represent continuous time signal.
+//------------------------------------------------------------------
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//------------------------------------------------------------------
+// Continuous time system and controller
+// System transfer function
+s=%s; 
+num=[45 0];
+den=[45 14 1]
+Nms=poly(num,'s','coeff');
+Dns=poly(den,'s','coeff');
+Gp=syslin('c',Nms/Dns); //system transfer function
+
+// Controller
+
+numDa=[6 1];
+denDa=[0 1]
+Nms=poly(numDa,'s','coeff');
+Dns=poly(denDa,'s','coeff');
+sysD=syslin('c',1.4*Nms/Dns); //controller transfer function
+
+//Closed loop responses
+
+num=[1 0];
+den=[1 0];
+Nms=poly(num,'s','coeff');
+Dns=poly(den,'s','coeff');
+H=syslin('c',Nms/Dns)
+
+sysDa=Gp*sysD/.H;
+
+//step response and control input
+t=0:0.009:5;
+yt=csim('step',t,sysDa); //step response
+figure(0)
+plot2d(t,yt,1)
+Gu=sysD/(1+Gp*sysD);
+ut=csim('step',t,Gu); //control input
+figure(1)
+plot2d(t,ut,1)
+//------------------------------------------------------------------
+
+sys=tf2ss(Gp); //state space model of the system
+con=tf2ss(sysD); //controller state space model
+
+// discrete-time time system and controller
+
+//Discretize the system and control with sampling time Ts=0.07
+// using Bilinear Transform
+Ts=0.07;
+sysDd=cls2dls(sys,Ts); // discrete-time system state space model
+conDd=cls2dls(con,Ts); // discrete-time controller state space model
+
+//Pulse transfer function of system
+Gpz=ss2tf(sysDd);
+//Pulse transfer function of controller
+Gcz=ss2tf(conDd);
+//Closed loop response
+Gz=Gpz*Gcz/(1+Gpz*Gcz)
+//Control input pulse transfer function
+Guz=Gcz/(1+Gpz*Gcz)
+T=0:Ts:5;
+r=ones(1,length(T));
+yd=flts(r,Gz);............//Discrete respnse to discrete input
+ud=flts(r,Guz);           //Discrete Control input
+//continuous response for digital input
+t=0:0.009:5;
+k=0;
+
+for i=1:length(yd)
+    for j=1:8
+       if (k+j)>length(t) then
+          break
+          else
+          YD(1,k+j)=yd(i);
+       end
+       end
+    k=k+j;
+end
+
+yt=csim(1-YD,t,Gp*sysD);
+scf(0)
+plot2d(t,yt,5);
+scf(1)
+plot2d2(T,ud,5);
+//------------------------------------------------------------------
+//Discretize the system and control with sampling time Ts=0.035
+// using Bilinear Transform
+Ts=0.035;
+sysDd=cls2dls(sys,Ts); // discrete-time system state space model
+conDd=cls2dls(con,Ts); // discrete-time controller state space model
+
+Gpz=ss2tf(sysDd);      //Pulse transfer function of system
+Gcz=ss2tf(conDd);     //Pulse transfer function of controller
+
+//Closed loop response
+Gz=Gpz*Gcz/(1+Gpz*Gcz)
+//Control input pulse transfer function
+Guz=Gcz/(1+Gpz*Gcz)
+T=0:Ts:5;
+r=ones(1,length(T));
+yd=flts(r,Gz);............//Discrete respnse to discrete input
+ud=flts(r,Guz);           //Discrete Control input
+t=0:0.009:5;
+k=0;
+
+for i=1:length(yd)
+    for j=1:4
+       if (k+j)>length(t) then
+          break
+          else
+          YD(1,k+j)=yd(i);
+       end
+       end
+    k=k+j;
+end
+
+yt=csim(1-YD,t,Gp*sysD);
+scf(0)
+plot2d(t,yt,2);
+scf(1)
+plot2d2(T,ud,2);
+
+scf(0)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script to set the figure properties
+title('Comparision plots of Speed-control system with continuous...
+ and discrete controllers','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+hl=legend(['Continuous time','Discrete-time, Ts=0.07 s'...
+,'Discrete-time, Ts=0.035 s'],4);
+scf(1)
+//Title, labels and grid to the figure
+exec .\fig_settings.sci; //custom script to set the figure properties
+title('Comparision plots of Speed-control system with continuous...
+ and discrete controllers','fontsize',3)
+xlabel('Time t (sec.)','fontsize',2)
+hl=legend(['Continuous time','Discrete-time, Ts=0.07 s',...
+'Discrete-time, Ts=0.035 s']);
+//------------------------------------------------------------------
diff --git a/Working_Examples/3432/CH4/EX4.8/Ex4_8_f0.pdf b/Working_Examples/3432/CH4/EX4.8/Ex4_8_f0.pdf
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diff --git a/Working_Examples/3432/CH4/EX4.8/Ex4_8_f1.pdf b/Working_Examples/3432/CH4/EX4.8/Ex4_8_f1.pdf
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