Document Outline

• Xmath Interactive Control Design Module
• Support
  • Worldwide Technical Support and Product Information
  • National Instruments Corporate Headquarters
  • Worldwide Offices
• Important Information
  • Warranty
  • Copyright
  • Trademarks
  • Patents
  • WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS
• Conventions
• Contents
• Chapter 1 Introduction
  • Using This Manual
    • Document Organization
    • Commonly-Used Nomenclature
    • Related Publications
    • MATRIXx Help
  • ICDM Overview
    • SISO Versus MIMO Design
    • Starting ICDM
• Chapter 2 Introduction to SISO Design
  • SISO Design Overview
    • Basic SISO Terminology
      • Figure 2-1. Standard Classical Feedback Configuration Used in ICDM
  • Overview of ICDM
    • ICDM Windows
      • ICDM Main Window
      • PID Synthesis Window
      • Root Locus Synthesis Window
      • Pole Place Synthesis Window
      • LQG Synthesis Window
      • H-Infinity Synthesis Window
      • History Window
      • Alternate Plant Window
    • Key Transfer Functions and Data Flow in ICDM
      • Summary
      • Origin of the Controller
      • What the ICDM Main Window Plots Show
    • Controller/Synthesis Window Compatibilities
    • Using ICDM
      • Figure 2-2. Simple Representation of the Interactive Design Loop
      • Figure 2-3. Simple Representation of the Interactive Robustness Analysis
      • Figure 2-4. Simple ICDM Session
    • General Plotting Features
      • Ranges of Plots and Sliders
      • Zooming
      • Data-Viewing Plots
      • Interactive Plot Re-ranging
    • Graphically Manipulating Poles and Zeros
      • Editing Poles and Zeros
    • Editing Poles and Zeros Graphically
      • Complex Poles and Zeros
      • Isolated Real Poles and Zeros
      • Nonisolated Real Poles and Zeros and Almost Real Pairs
      • Adding/Deleting Poles and Zeros
      • Adding/Deleting Pole-Zero Pairs
• Chapter 3 ICDM Main Window
  • Window Anatomy
    • Figure 3-1. ICDM Main Window
    • Communicating with Xmath
      • Most Common Usage
      • Default Plants
      • Saving and Restoring an ICDM Session
      • Reading Another Plant into ICDM
      • Reading a Controller from Xmath into ICDM
      • Writing the Plant Back to Xmath
      • Writing the Alternate Plant back to Xmath
      • Writing a Controller on the History List to Xmath
    • ICDM Plots
    • Selecting Plots
      • Figure 3-2. ICDM Main Window Plot Choices Dialog
      • Ranges of Plots
      • Figure 3-3. ICDM Ranges Window
      • Plot Magnify Windows
      • Figure 3-4. Plot Magnify Window
  • Selecting a Synthesis or History Window
  • Edit Menu
• Chapter 4 PID Synthesis
  • Window Anatomy
  • PID Controller Terms
    • Table 4-1. PID Controller Terms and Parameters
    • Toggling Controller Terms On and Off
      • Figure 4-1. PID Synthesis Window
    • Opening the PID Synthesis Window
  • Manipulating the Controller Parameters
    • Time Versus Frequency Parameters
    • Ranges of Sliders and Plots
    • Controller Term Normalizations
      • Integral Term Normalization
      • Derivative Term Normalization
      • Rolloff Term Normalization
• Chapter 5 Root Locus Synthesis
  • Overview
  • Window Anatomy
    • Figure 5-1. Root Locus Synthesis Window
  • Opening the Root Locus Synthesis Window
  • Terminology
  • Plotting Styles
    • Figure 5-2. Root Locus Select Dialog for Choosing Plotting Style
    • Phase Contours
    • Magnitude Contours
    • Slider and Plot Ranges
  • Manipulating the Parameters
  • Design
    • Adding a Pole-Zero Pair
    • Deleting Pole-Zero Pairs
    • Interpreting the Nonstandard Contour Plots
      • Figure 5-3. Root Locus Synthesis Window with the 0 dB Magnitude Contour
• Chapter 6 Pole Place Synthesis
  • Window Anatomy
    • Figure 6-1. Pole Place Synthesis Window
  • Pole Place Modes
    • Normal Mode
    • Integral Action Mode
    • State-Space Interpretation
    • Opening the Pole Place Window
  • Manipulating the Closed-Loop Poles
    • Time and Frequency Scaling
    • Butterworth Configuration
    • Editing the Closed-Loop Poles
    • Slider and Plot Ranges
• Chapter 7 LQG Synthesis
  • LQG Synthesis Window Anatomy
    • Figure 7-1. LQG Synthesis Window
  • Synthesis Modes
    • Opening the LQG Synthesis Window
    • Setup and Terminology
      • Figure 7-2. Block Diagram Showing the Basic Setup for LQG Synthesis
    • Standard LQG (All Toggle Buttons Off)
    • Integral Action
    • Exponential Time Weighting
    • Output Weight Editing
    • State-Space Interpretation
  • Manipulating the Design Parameters
    • Manipulating the Design Parameters Graphically
    • Ranges
• Chapter 8 H-Infinity Synthesis
  • H-Infinity Synthesis Window Anatomy
    • Figure 8-1. H-Infinity Synthesis Window
  • Opening the Synthesis Window
  • Setup and Synthesis Method
    • Figure 8-2. Block Diagram Showing the Basic Setup for H-Infinity Synthesis
    • Central H-Infinity Controller
    • Output Weight Editing
  • Manipulating the Design Parameters
    • Manipulating the Weight Transfer Function
    • Infeasible Parameter Values
    • Ranges
• Chapter 9 History Window
  • Saving the Current Controller on the History List
  • Opening the History Window
  • History Window Anatomy
  • Selecting the Active Controller
    • Figure 9-1. History Window
  • Editing the Comments
  • Deleting History List Entries
  • To Continue Designing from a Saved Controller
  • Cycling Through Designs
  • Writing a Saved Design to Xmath
  • Using the History List
• Chapter 10 Alternate Plant Window
  • Role and Use of Plant and Alternate Plant
  • Displaying the Alternate Plant Responses
  • Alternate Plant Window Anatomy
    • Figure 10-1. Alternate Plant Window
  • Opening the Alternate Plant Window
  • Normalization
  • Manipulating the Parameters
  • Using the Alternate Plant Window
    • Robustness to Plant Variations
    • Adding Unmodeled Dynamics
    • Ranges of Sliders and Plot
• Chapter 11 Introduction to MIMO Design
  • Basic Terminology for MIMO Systems
    • Feedback System Configuration
      • Figure 11-1. Standard Feedback Connections and Signals for MIMO Design
  • Transfer Functions
    • Integral Action
  • Overview of ICDM for MIMO Design
    • ICDM MIMO Windows
    • Main Window
      • Figure 11-2. Plot Choices Window for the MIMO Case
    • MIMO Plot Window
      • Figure 11-3. Complete Set of Plot Choices
    • History Window
    • Alternate Plant Window (MIMO Version)
      • Figure 11-4. MIMO Plot Window with a Step Response Plot of the Transfer Function
• Chapter 12 LQG/H-Infinity Synthesis
  • Window Anatomy
    • LQG/H-Infinity Main Window
      • Figure 12-1. LQG/H-Infinity Main Window
    • LQG/H-Infinity Weights Window
      • Figure 12-2. LQG/H-Infinity Weights Window
    • Decay Rate Window
      • Figure 12-3. LQG/H-Infinity Decay Rate Window
    • H-Infinity Performance Window
      • Figure 12-4. LQG/H-Infinity Performance Level Window
    • Frequency Weights Window
      • Figure 12-5. LQG/H-Infinity Frequency Weights Window
  • Synthesis Modes and Window Usage
    • Opening the LQG/H-Infinity Synthesis Window
    • Setup and Terminology
      • Figure 12-6. LQG/H-Infinity Control Design Configuration
    • Standard LQG (All Toggle Buttons “Off”)
    • Integral Action
    • Exponential Time Weighting
    • Weight Editing
    • How to Select w, u, y, and z
    • H-Infinity Solution
  • Manipulating the Design Parameters
    • Main Window
    • Ranges
• Chapter 13 Multi-Loop Synthesis
  • Multi-Loop Window Anatomy
    • Figure 13-1. Multi-Loop Main Window
    • Figure 13-2. Multi-Loop Gain and Phase Plots Added to the ICDM Main Window
  • Setup and Synthesis Method
    • Multi-Loop Versus Multivariable Design
      • Figure 13-3. Standard Feedback Connection
      • Figure 13-4. Multi-Loop Configuration with 3-Sensor and 2-Actuator Plant
      • Figure 13-5. Root Locus Window During the Multi-Loop Design
    • Opening the Multi-Loop Synthesis Window
  • Designing a Multi-Loop Controller
    • Graphical Editor
    • Selecting and Deselecting Loops
    • Editing and Deleting Loops
    • Loop Gain Magnitude and Phase
• Appendix A Using an Xmath GUI Tool
  • Figure A-1. Programmable GUI Examples
  • Figure A-2. Programmable GUI Examples Do It Dialog
  • Figure A-3. PGUI Example Dialog after Pressing the 12 Button
• Appendix B Technical Support and Professional Services
• Index
  • A-F
  • G-P
  • R-Z