L22 Guideline SISOTool
L22 Guideline SISOTool
Farzad Pourboghrat
3. Select Import from File menu and import the plant model G(s) into sisotool GUI.
The root locus and Bode plot of the plant G(s) with the default control C(s)=1 will
then be shown in the SISO Design Tool window.
NOTE:
To change the units of the Bode magnitude plot
from dB to absolute value, choose magnitude in
absolute log scale from Edit / SISO Tool
Preferences / Units menu.
To change the compensator format from default to
C ( s) = K
s +1
z
s +1
p
4. To add/remove grids you right click on the corresponding plot windows (root-locus,
Bode, or both) and select the grid option. To show the design constraint
boundaries, you right click on the appropriate plot window and choose design
constraint option and specify your new constraint. To modify these constraints, click
and drag the appropriate constraint boundary to a new location.
The root locus and Bode plot of the open-loop system C(s)G(s), with the new
control C(s), will be shown in the SISO Design Tool window.
You can now interactively modify the current compensator until the design
constraints are satisfied.
6. To change the compensators pole and zero, click and drag them to new locations.
Instantly, you will see the systems root-locus and Bode plot will also change.
NOTE:
To save the results and plots at different
stages of your design, choose Save Session
from File menu. It saves everything.
To retrieve the results and plots that were
saved at different stages of design, choose
Retrieve Session from File menu.
You can also click and drag the closed-loop poles (the red squares on the rootlocus) to new locations. This, instantly changes the corresponding control gain.
To change the control gain, you may also click and drag the Bode plot magnitude
up or down. The cross-over frequency, phase-margin and gain-margin, shown in the
Bode plot, will then change instantly.
Now, the current controller is: C ( s) = 1.4
s+4
s +8
For other system responses, select Loop Responses Other from Tools menu.
9. To transfer the plots to another application such as WORD, choose Print to Figure
from File menu. This, transfers the selected figure to a MATLAB Figure window.
Now, in this Figure window, choose Copy Figure from the Edit menu and then
Paste it into your WORD file.
10. To transfer the data to SIMULINK, choose Draw Simulink Diagram from the Tools
menu. This can be done only after the plant and compensator data have already been
exported to MATLAB workspace.