OUTLINES

1. Constructing Dynamic System Models

• Transfer Function Models
• Zero-Pole-Gain Models
• State-Space Models

2. Connecting
• Models in Series
• Models in Parallel
• Placing Models in a Closed-Loop Configuration
 Model Types
1. Linear versus Nonlinear Models
2. Time-Variant versus Time-Invariant Models
3. Continuous versus Discrete Models

The Control Design and Simulation Module

supports :
• Both linear and nonlinear models.
• Time-invariant models
• Continuous and discrete models.
 Model Forms
Systems described as:

– Single-input single-output (SISO) systems.

– Single-input multiple-output (SIMO) systems.
– Multiple-input single-output (MISO) systems.
– Multiple-input multiple-output (MIMO)
systems.
 Model Forms
• The first step in working with the Control
Design toolkit is inputting a model to work
with. The Control Design Toolkit can work
with
• Transfer Function (TF)
• State Space (SS)
• Zero Pole Gain (ZPK) models.
 Constructing Dynamic System Models
Use the CD Construct Transfer Function Model VI to create continuous SISO,
SIMO, MISO, and MIMO system models in transfer function form.
 Constructing Transfer Function.vi

Sampling Time (s) defines whether the model represents a continuous-time system
or a discrete-time system.

If the model represents a continuous-time system. Sampling Time (s) must

equal zero.

If the model represents a discrete-time system, Sampling Time (s) must be

greater than zero and equal to the sampling rate, in seconds, of the discrete
system.
 Constructing Transfer Function.vi

• Numerator contains the constant coefficients, in

ascending order. The coefficients take the following form:
b0 + b1s + ... +bmsm.

• Denominator contains the constant coefficients, in

ascending order. The coefficients take the following form:
a0 + a1s + ... +ansn.

• Delay is the transport time delay that might exist in the

system.
SISO Transfer Function Model
 SISO Transfer Function Model
Use the CD Draw Transfer Function
Equation VI to displays the transfer
function equation of the model.

Display format specifies the format in which this VI displays the

equation.

Output (row) specifies the index number of the output row from which to draw the
transfer function matrix. The index is zero-based. The default is –1, which draws all
outputs.

Input (column) specifies the index number of the input column from which to draw
the transfer function matrix. The index is zero-based. The default is –1, which draws
all inputs.
SISO Symbolic Transfer Function Model
 SISO Transfer Function Model
• If you know the coefficients of the discrete transfer function model, you can enter
in the appropriate values for Numerator and Denominator and set the Sampling
Time (s) to a value greater than zero. Figure shows this process using a sampling
time of 10 µs.
 SISO Transfer Function Model
• If you do not know the coefficients of the discrete transfer function model, you
must use the CD Convert Continuous to Discrete VI for the conversion. Set the
Sampling Time (s) parameter of this VI to a value greater than zero.

Converting from a continuous model to a discrete model results in the

following equation:
 SISO Transfer Function Model
Constructing Models Textually
• MathScript allows models to be created using m-file
syntax.
 SIMO, MISO, and MIMO Transfer
Function Models
You can define the transfer function of this
MIMO system by using the following transfer
function matrix H, where each element
represents a SISO transfer function.

Suppose the following equations define the SISO

transfer functions between each input-output
H11 & H21 has one input U1 and two outputs Y1 & Y2 pair.

H11 & H12 has two inputs U1 and U2 and one output Y1
SIMO Transfer Function Model
MISO Transfer Function Model
MIMO Transfer Function Model
Constructing Zero-Pole-Gain Models
 Constructing Zero-Pole-Gain Models

• Use the CD Construct Zero-Pole-Gain Model VI to create this continuous zero-

pole-gain model.

• You create SIMO, MISO, and MIMO zero-pole-gain models the same way
you create SIMO, MISO, and MIMO transfer function models.

• You create symbolic zero-pole-gain models the same way you create symbolic
transfer function models.
Constructing State-Space Models
 Constructing State-Space Models
• Using the RLC Circuit Example, the following equations
define a continuous state-space model.

• The following matrices

define a state-space model
where R = 20 Ω, L = 50 mH,
and C = 10 µF.
 Constructing State-Space Models
• Use the CD Construct State-Space Model VI
to create this continuous state-space model.

• You create SIMO, MISO, and MIMO state-space models the same way
you create SIMO, MISO, and MIMO transfer function models.
 Model Forms
Control Design and Simulation Module represents dynamic system models in the
following three forms: transfer function, zero-pole-gain, and state-space.
 Connecting Models

1. Connecting Models in Series

2. Appending Models

3. Connecting Models in Parallel

4. Placing Models in a Closed-Loop Configuration

Connecting Models in Series
 Connecting Models in Series
CD Series VI

Connections specifies which outputs of the first model this VI connects to which
inputs of the second model.
Output Model 1 specifies the output number of the first model that is connected to
an input of the second model as specified by Input Model 2. Connections uses the
index number of the input and output to identify the input-output pair. The indexes
are zero-based.

Input Model 2 is the input number of the second model that is connected to the
output of the first model as specified by Output Model 1. Connections uses the
index number of the input and output to identify the input-output pair. The indexes
are zero-based.
 Connecting Models in Series
•Connecting SISO Systems in Series

1 2

2 3

1
 Connecting Models in Series
• Connecting SISO Systems in Series

• Consider a valve that controls the flow rate of water into a tank.
 1 2

2
 Connecting Models in Series
•Creating SIMO Systems in Series Select row index
1 This means you have one input and two outputs col index

2 3
Model 1

Model 2

The Output of CD Series.vi

3

SELECT OUTPUT 0 FROM Model 1

AND INPUT 0 FROM Model 2
 Connecting Models in Series
• Creating SIMO Systems in Series
• For example, adding another valve and tank to the example in the
Connecting SISO Systems in Series section of this chapter results in a
SIMO system that divides the flow rate between two different tanks.
 Connecting Models in Series
• Steps:

3
1

2 6

4
1

3 6
2

5
 Connecting Models in Series
• Creating MISO Systems in Series
This means you have two input and one outputs
1 2

2
 Connecting Models in Series
• Connecting MIMO Systems in Series

1 MIMO 1 2 MIMO 2
MIMO 1
1

2
MIMO 2
 Appending Models

Append Model 2 to Model 1

in a vertical vector
 Connecting Models in Series
(MathScript)
• Use MathScript
commands to
interconnect models
Connecting Models in Parallel
 Connecting Models in Parallel
• A parallel connection creates a single model from two separate
systems that share common inputs.
• You also can use a parallel connection to add or subtract outputs
of two subsystems and represent them as a single output.
• Use the CD Parallel VI to connect systems in parallel.
SISO with positive connection in the
output
SISO will execute parallel concatenation
with the specified output sign
SISO Vertical Concatenation
SISO Horizontal Concatenation
Parallel Connection in SIMO
Parallel Connection in SIMO
Parallel Connection in MISO
Parallel Connection in MISO
Parallel Connection in MIMO
Parallel Connection in MIMO
 Placing Models in a Closed-Loop
Configuration

Use the CD Feedback VI to place one or two models in a closed-loop configuration.

 Closed-Loop Models

Feedback Sign specifies the sign of all feedback connections. If Feedback Sign is positive (TRUE),

Model 1 This model represents the system in the forward loop path.

Model 2 This model represents the system in the feedback path

Unity Feedback Closed-Loop
Configuration
SISO Feedback Closed-Loop
Configuration
SIMO Feedback Closed-Loop
MISO Feedback Closed-Loop
MIMO Feedback Closed-Loop
MIMO Feedback Closed-Loop
Feedback connection of discrete-time transfer
function models including time delay
 Control Design Model
Interconnection (Graphical)
• Connect models in series and parallel
• Create feedback loops