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Chapter 2 Introduction to SISO Design
Xmath Interactive Control Design Module 2-4 ni.com
These are briefly described in the following sections, and in more detail in
later chapters. Several of these windows have different forms for SISO and
MIMO design. This chapter restricts the discussion to the SISO forms.
Refer to Chapter 11, Introduction to MIMO Design, for a discussion of the
MIMO forms.
ICDM Main Window
The most important window is the ICDM Main window, which is used to:
• Communicate with Xmath (for example, transfer plants/controllers
from/to Xmath).
• Display warning and log messages.
• Display a variety of standard plots.
• Select a synthesis method for controller design.
• Control several auxiliary windows.
PID Synthesis Window
The PID Synthesis window is used to synthesize a PID controller, with up
to two additional poles (usually used for high frequency rolloff). Each term
can be separately toggled on and off, so the PID
window can be used to
synthesize P, PD, PI, PID, lead-lag, and lag-lead controllers. The design
parameters can be typed in, manipulated graphically by slider controls, or
manipulated graphically on a Bode plot of the controller transfer function.
Root Locus Synthesis Window
The Root Locus window can be used in many ways for synthesis and
analysis of controllers. It can display a conventional root locus in near
real-time, while the user drags controller poles and zeros. The user can
graphically create or destroy controller poles and zeros. The closed-loop
poles can be dragged along the root locus plot, which causes the gain
parameter to be set automatically. Nonconventional phase and gain
contours can be plotted as an aid to controller synthesis or robustness
analysis.
Pole Place Synthesis Window
The Pole Place Synthesis window is used to design a controller by
assigning the closed-loop poles. The closed-loop poles can be typed in, or
dragged on a plot. The closed-loop poles can be scaled in frequency or time
by graphical input, or assigned to a Butterworth configuration. The pole
place window supports integral action as an option.
- NI MATRIXx 1
- Important Information 3
- Conventions 4
- Chapter 3 6
- Chapter 4 6
- Chapter 11 9
- Chapter 12 9
- LQG/H-Infinity Synthesis 9
- Contents 10
- Introduction 11
- Chapter 1 Introduction 12
- Commonly-Used Nomenclature 13
- Related Publications 13
- ICDM Overview 14
- Introduction to SISO Design 16
- Overview of ICDM 18
- ICDM Main Window 19
- PID Synthesis Window 19
- Root Locus Synthesis Window 19
- Pole Place Synthesis Window 19
- LQG Synthesis Window 20
- H-Infinity Synthesis Window 20
- History Window 20
- Alternate Plant Window 20
- Origin of the Controller 21
- Using ICDM 24
- General Plotting Features 26
- Ranges of Plots and Sliders 26
- Data-Viewing Plots 27
- Interactive Plot Re-ranging 28
- Editing Poles and Zeros 28
- Complex Poles and Zeros 29
- Isolated Real Poles and Zeros 29
- Communicating with Xmath 33
- Most Common Usage 34
- Default Plants 34
- Chapter 3 ICDM Main Window 35
- ICDM Plots 36
- Selecting Plots 36
- Ranges of Plots 37
- Plot Magnify Windows 38
- Edit Menu 40
- PID Synthesis 41
- Chapter 4 PID Synthesis 42
- Ranges of Sliders and Plots 45
- Integral Term Normalization 45
- Derivative Term Normalization 46
- Rolloff Term Normalization 46
- Root Locus Synthesis 47
- Terminology 49
- Plotting Styles 50
- Phase Contours 51
- Magnitude Contours 51
- Manipulating the Parameters 52
- Adding a Pole-Zero Pair 53
- Deleting Pole-Zero Pairs 53
- Pole Place Synthesis 56
- Pole Place Modes 57
- Normal Mode 58
- Integral Action Mode 59
- State-Space Interpretation 60
- Opening the Pole Place Window 60
- Time and Frequency Scaling 60
- Butterworth Configuration 61
- Editing the Closed-Loop Poles 61
- Slider and Plot Ranges 61
- LQG Synthesis 62
- Chapter 7 LQG Synthesis 63
- Synthesis Modes 64
- Output Weight Editing 67
- R in the LQG window 69
- window 69
- H-Infinity Synthesis 70
- Opening the Synthesis Window 72
- Central H-Infinity Controller 73
- Infeasible Parameter Values 75
- Editing the Comments 78
- Deleting History List Entries 79
- Cycling Through Designs 79
- Using the History List 80
- Normalization 84
- Adding Unmodeled Dynamics 85
- Ranges of Sliders and Plot 86
- Introduction to MIMO Design 87
- Transfer Functions 88
- ICDM MIMO Windows 91
- MIMO Plot Window 92
- LQG/H-Infinity Weights Window 96
- Decay Rate Window 99
- H-Infinity Performance Window 99
- Frequency Weights Window 100
- Setup and Terminology 102
- Integral Action 105
- Exponential Time Weighting 106
- Weight Editing 106
- How to Select w, u, y, and z 107
- H-Infinity Solution 108
- Main Window 110
- in the LQG window 111
- Multi-Loop Synthesis 112
- Setup and Synthesis Method 114
- Graphical Editor 118
- Editing and Deleting Loops 119
- Loop Gain Magnitude and Phase 119
- Using an Xmath GUI Tool 120
- GUI Functions 122
- GUI Objects 122
- and the left mouse button 123
- Technical Support and 126
- Professional Services 126
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