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Course
Highlights
This is a comprehensive course that demonstrates effective techniques for improving efficiency in the use of MATLAB and SIMULINK for modeling and simulation Control Systems with Control System Toolbox and SIMULINK Control Design. It elaborates ways to linearize a model and develop control laws using a variety of design methodologies. It explores Stateflow in implementing complex decision flows and finite-state machines to model and simulate event driven and logic systems. It introduces the automatic code generation with Real-Time Workshop for real-time application development.
Topics include:
- Control System Design Overview
- System Modeling
- System Analysis
- Control Design
- Controller Implementation
- Modeling complex logic flows
- Modeling state machines
- Rapid Prototyping with Real-Time Windows Target
- Real-Time Applications with xPC Target
- Software Deployment with Target Support Package™ (optional)
Course
Objectives
The aim of the course is to provide general knowledge for participants to use MATLAB and SIMULINK control system design tools to accelerate the design process for closed-loop control system, Stateflow to implement complex decision flows and finite-state machines, and Real-Time Workshop for real-time application development.
Who
Must Attend
Engineer, researchers, scientists, and managers who are involved in control engineering design and problem solving. It is also strongly recommended for those who would like to establish and strengthen their foundation in Control Engineering, MATLAB and SIMULINK.
Course Benefits
Upon the completion of the course, the participants will gain a comprehensive understanding on utilizing the Control System Toolbox and SIMULINK Control Design to design and develop control system using a variety of design methodologies. The participants will be able to implement complex decision flows with Stateflow, and develop real-time application with Real-Time Workshop.
Prerequisites
Attended "Comprehensive MATLAB" and "Comprehensive SIMULINK" or equivalent experience using MATLAB and SIMULINK, and an understanding of terminology and concepts related to common control systems.
Course
Outline
Day 1
Control System Design Overview
Objectives: Provide an overview of the control system design process and introduce how The MathWorks tools fit into that process. The details of each step in the design process will be covered in later chapters.
- The digital motion control system
- Control design workflow
- Linearizing a model
- Finding system characteristics
- Setting controller requirements
- Tuning a controller
- Testing the controller
System Modeling
Objectives: Discuss the various techniques used to model a system; from creating models based on data to creating models from mathematical equations.
- Model representations
- Black box modeling
- First principles modeling
- Gray box modeling
System Analysis
Objectives: Outline the different analysis tools available for understanding system behavior. Linear models are useful for control design algorithms, so there is focus on using the LTI Viewer (a powerful tool for analyzing linear models) and linearizing Simulink models. Finding specific system characteristics (system resonances, transient response, etc.) is also covered.
- Linearizing a system
- Using the LTI Viewer
- Additional linearization examples
Day 2
Control Design
Objectives: Illustrate the process of designing a compensator for different systems. Focus is on classical control design using the visualization capabilities of the SISO Design Tool. Common control techniques are covered, such as PID and Lead/Lag controllers.
- PID control
- Lead/Lag control
- Parameter tuning in Simulink
Controller Implementation
Objectives: Discuss steps that might be needed to effectively implement a controller on a real system. Controller implementation is often performed on a microprocessor, so controller discretization is covered. Also covered are methods for testing the controller in more realistic simulations.
- Physical and practical limitations of controllers
- Discretizing a controller
- Creating more realistic simulations
Day 3
Modeling Complex Logic Flows
Objective: Explains how to implement decision flows with flow diagrams.
- What is a flow graph
- Constructing a flow graph
- Semantics of a flow graph
- Reusing a flow graph
Modeling State Machines
Objective: Explain how to implement state machines with state diagrams.
- What is a state machine?
- Constructing a state machine
- State actions
- Semantics of a state transition
- Inner flow graph
Implementing Hierarchical State Machines
Objective: Explains how to implement hierarchical diagrams to improve clarity of state machine designs.
- Why use hierarchy?
- Constructing a multilevel state machine
- Behavior of a multilevel state machine
- Recovering active substates
- Semantics of a cross-level state transition
Using Events in State Charts
Objective: Explains how to use events within a Stateflow chart to affect chart execution.
- Using events in state charts
- Broadcasting events
- Behavior of state charts that contain events
- Implicit events
- Temporal logic operators
Day 4
The Roles of Real-Time Workshop
Objective: This section explains the applications of Real-Time Workshop and how they fit in Simulink model-based design.
- Explain the roles of Real-Time Workshop
- Explain the benefits of automatic code generation
- Provide an overview of Real-Time Workshop code architecture
- Explain the constraints of Real-Time Workshop
Nonreal-Time Applications with Simulation Targets
Objective: This section introduces the use of Real-Time Workshop to generate rapid simulation applications.
- Provide an overview to the S-function target
- Generate an S-function from a subsystem
- Generate an S-function from a model
- Provide an overview to the rapid simulation target
- Generate a rapid simulation
- Run a rapid simulation
Real-Time Execution Considerations
Objective: This section discusses the concerns related to real-time application development.
- Compare real-time and nonreal-time executions
- Explain the constraints of a real-time scheduler
- Discuss considerations of a multirate scheduler
Rapid Prototyping with Real-Time Windows Target
Objective: This section introduces the use of the Real-Time Windows Target to generate real-time applications.
- Provide an overview to the Real-Time Windows Target
- Install the Real-Time Windows Target kernel
- Generate a Real-Time Windows Target application
- Run a Real-Time Windows Target application
- Monitor signals in real time
- Tune parameters in real time
Real-Time Applications with xPC Target
Objective: This section introduces the use of xPC Target to generate real-time applications.
- Provide an overview to the xPC Target
- Boot the xPC Target kernel
- Generate an xPC Target application
- Run an xPC Target application
- Monitor signals in real time
- Tune parameters in real time
Optional: Software Deployment with Target Support Package™
Objective: This section introduces the use of Target Support Package™ to validate and deploy software implementations.
- Provide an overview to the Target Support Package™
- Set up the development environment
- Run a software-in-the-loop simulation
- Run a processor-in-the-loop cosimulation
- Run a real-time application
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