Using MATLAB and Simulink for Control System Simulation and ...

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Frequency Domain Description of LTI <strong>System</strong>s Input/Output (differential equation) state Input output What does LTI mean? State Space
Description of LTI <strong>System</strong>s Frequency Domain M( θ ) "" θ + Dθ" +∇ G( θ )( θ − θ ) = τ d θ d d Input/Output (differential equation) ∆ θ = θ + +∇ θ τ $%%%%%&%%%%%' 2 −1 () s ( s M( d) Ds θG( d)) () s G( s) State Space ⎡ 0 I ⎤ ⎡ 0 ⎤ x" = ⎢ x+ τ −1 −1 −1 −M ∇G −M D ⎥ ⎢ M ⎥ ⎣$%%%&%%%' ⎦ $&' ⎣ ⎦ [ 0] 0( y = I x+ $&' C A B D x τ ⎡x⎤ ⎡θ −θd⎤ ⎢ ⎥ ⎢ θ" ⎥ ⎣ ⎦ ⎣ ⎦ 1 = = x2
Page 1 and 2: Using MATLAB and Simulink for Contr
Page 3 and 4: Last Time Equation of motion for dy
Page 5 and 6: MATLAB • Vectors: theta=[theta_1;
Page 7 and 8: Application to Pan-Tilt Platform pa
Page 9 and 10: Linearization Equation of motion is
Page 11: Linearization: General Mechanical S
Page 15 and 16: Open Loop Linear System Response Im
Page 17 and 18: Simulink Instead of command line en
Page 19 and 20: Adding Sampling to Simulink Diagram
Page 21 and 22: What You Need to Do Turn your qual

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