ControlDesign

 Calling Sequence ControlDesign[command](arguments) command(arguments)

Description

 • The ControlDesign package is a collection of procedures for creating and designing control systems.
 • This package makes use of the tools present in the DynamicSystems package.
 • The Digits environment variable can be increased to accommodate designs which require greater numerical precision. See Digits for more details on how to change the number of digits that Maple uses when handling software floating-point numbers.
 Note: The symbols used for the continuous time variable, complex frequency variable, discrete frequency variable, discrete time variable, input variable, output variable, and state variable must be unassigned or changed before using the DynamicSystems package. See SystemOptions for more details.

PID Tuning

 Command Description Characterize all PID controllers for pole placement in a desired region PID tuning based on the Cohen-Coon method PID controller design for (dominant) pole placement Find feasible controller gains for pole placement in a desired region PID tuning based on gain and phase margin specifications Ziegler-Nichols frequency domain (closed-loop) identification Identify parameters of a first-order with time-delay (FOTD) model using time domain techniques PID automatic tuning based on a desired time constant of the closed-loop system Ziegler-Nichols frequency domain (closed-loop) methods Ziegler-Nichols time domain (open-loop) methods

State Feedback

 Command Description Compute the poles used in an Ackermann pole placement design based on a desired time constant of the closed-loop system Compute the Q, R, and N matrices used in an LQR design based on a desired time constant of the closed-loop system Design linear quadratic state feedback regulator (LQR) for a given state-space system Design continuous-time linear quadratic state feedback regulator (LQR) for a given pair Design discrete-time linear quadratic state feedback regulator (LQR) for a given pair Design linear quadratic state feedback regulator (LQR) with output weighting Calculate the state feedback gain for single-input systems using Ackermann's formula Calculate the state feedback gain for single-input or multiple-input systems

State Estimation

 Command Description Design Kalman estimator for a given state-space system Calculate the observer gain for single-output systems using Ackermann's formula Construct the static-gain (Luenberger) observer for given observer gain Calculate the observer gain for single-output or multiple-output systems

Design Verification

 Command Description Verify whether the system poles are in a desired region

System Manipulation

 Command Description Determine the equations of the subsystem comprised of a state feedback controller and an observer Determine the closed-loop equations of a system with PID controller Remove the structured unobservable and uncontrollable states for a given state-space system Determine the closed-loop equations of a system with state feedback controller