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Understanding Control System Design

with MATLAB

Dong Ngoc Minh Cong

Application Engineer (VN)

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Outline
• Introducing MATLAB and Simulink for Control System Design

• System Identification

• Modelling controller and plant

• Multi-loop control on physical modelling

• Summary

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Outline
• Introducing MATLAB and Simulink for Control System Design

• System Identification

• Modelling controller and plant

• Multi-loop control on physical modelling

• Summary

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What is MATLAB?
• High-level language

• Interactive development environment

• Used for:
– Numerical computation
– Data analysis and visualization
– Algorithm development and programming
– Application development and deployment

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What is Simulink?
• Block-diagram environment

• Model, simulate, analyze and validate dynamic systems

• Built-in library blocks

• Visualization blocks

• Automatic code generation

• Accurately design, test and implement:

– Control systems
– Signal processing systems
– Communication systems
– Mechanical Systems

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Simulink for Control System Design

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Control System Development Workflow

Plant modelling Control design Implementation

Understanding your Solving your Generating

design problem design problem embedded code

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Outline
• Introducing MATLAB and Simulink for Control System Design

• System Identification

• Modelling controller and plant

• Multi-loop control on physical modelling

• Summary

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Plant Modelling
System equations Empirical data

Mathematical models Gray box models Black box models

• Equations known • Equations known • Equations unknown
• Parameters known • Parameters unknown • Measurement data
• Measurement data obtained obtained
𝐴𝑠 + 𝐵
𝑇= 𝑥
𝐶𝑠 − 𝑠 + 1
x=2
x=2
A=1
A=1
B=?
B=2
C=?
C=3

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The System

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The Model
u y
Input Output

rudders velocity
aileron pitch angle
thrust

u, y: measured time or frequency

domain signals

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The System and the Model

System
Measured input + error

-
Model Minimize

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Modelling & Simulation

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Outline
• Introducing MATLAB and Simulink for Control System Design

• System Identification

• Modelling controller and plant

• Multi-loop control on physical modelling

• Summary

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What is controller?

Actuators
Electrical

Sensors
Mechanical

+ Controller Device

u y
Plant

❖ There 2 main problems:

• Which is the plant model?
• Which suitable parameters of the controller?
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Using Models for Control System Design
System
Current Identification Toolbox Position
▪ Estimate plant
with parameter
Noise Model uncertainties
Position Error Control
N
▪ Estimate
noise model
Dynamic Model
P + ∆P
➢Control System Toolbox
Controller ➢Simulink Control Design
➢Robust Control Toolbox
➢Model Predictive Control Toolbox
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Control Design Tasks
• Linearizing the plant model to understand dynamics
• Validating linearization results
• Creating linear models for control design
• Designing a controller at one operating condition
• Designing controllers for multiple operating conditions
• Working with multiple plant models
• Gain scheduling
• Designing control logic

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Outline
• Introducing MATLAB and Simulink for Control System Design

• System Identification

• Modelling controller and plant

• Multi-loop control on physical modelling

• Summary

Controlling a
robotic arm

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A 6-DOF Robotic Arm

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A 6-DOF Robotic Arm: untuned response

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A 6-DOF Robotic Arm

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Summary
• Using MATLAB and Simulink for control system design

• Modeling dynamic systems from measured data

• Easy and intuitive steps for engineers and non-control experts to use

• Integration of workflow, from basic, mathematical and physical modellings to deployment

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Q&A

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Training Options & Recommendations

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– Stateflow Onramp hands-on tutorial

• Onsite, hands-on Workshops

• Formal Training classes: public, online/onsite

– Public Class
– Online Training
– Custom Onsite Training 25
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 THANK YOU !
minhcong.dong@ascendas-asia.com

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