Control Systems CSE 301

Session 2013
Lab Manual 8
Date:6-4-2016
In this lab, you will use Matlab to solve the following problems:

Block Diagram Reduction:

Three methods are available:
1. Solution via Series, Parallel and Feedback commands.
2. Solution via Algebraic Operations
3. Solution via Append and Connect commands.

Solution via Series, Parallel and Feedback commands:

The closed loop transfer function is obtained by using following commands
successively, where the arguments are the LTI objects: series(G1,G2) for a cascade
connection of G1(s) and G2(s), parallel(G1,G2) for a parallel connection of G1(s)
and G2(s) and feedback(G,H,sign) for a closed loop connection with G(s) as a
forward path, H(s) as the feedback path and sign is -1 for negative feedback.
Exercise:
Determine the closed loop transfer function of the following system using the above
method

Solution via Algebraic Operations:

Another method is to use the algebraic operations successively on LTI transfer
G
functions as follows: G1*G2 for cascade, G1+G2 for parallel, 1 GH for
feedback. When using division we follow with the function minreal (sys) to cancel
common terms in the numerator and denominator.

Exercise:
Repeat the previous exercise using the algebraic operations

Solution via Append and Connect Commands:

This method defines the topology of the system, may be used effectively for
complicated systems. In this method following step are taken:
1. The subsystems are defined by LTI transfers functions.
2. The subsystems are appended using the command G=append (G1, G2, G3,
G4,, Gn), or gathered into multiple inputs multiple output system. Here G is
the single system and Gi are the LTI transfer functions of the subsystems.
3. The external inputs and outputs are specified. For this process first the all the
subsystem are assigned a number, e.g, G3 is 3, based upon the fact that it is the
third subsystem in the append argument. Now the external inputs and outputs
are specified, e.g, inputs=[1 5 6] and outputs=[3 4] is used to define that
external inputs be the inputs of the subsystems 1, 5, and 6 and the external
outputs to be the outputs of the subsystems 3 and 4.
Finally at this point, we tell the program how all of the subsystems whose
input comes from another subsystems output. Hence, we define a matrix Q
that has a row for each subsystem, where the first column contains the
subsystems number; the subsequent columns contain the number of
subsystems from which the input comes, e.g., a typical row might be as
follows [3 6 -7], this means that subsystem 3 input is formed from the sum of
the output of subsystem 6 and the negative of the output of the subsystem 7.
4. The subsystems are interconnected using the command T=connect (G, Q,
inputs, outputs);
5. An LTI closed loop transfer function is created by the command T=tf(T)
6. The common terms are cancelled by using command T=minreal(T)

Lab Assessment:
Find the closed loop transfer function for the model for human eye movement