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matlab and simulink for modeling and control
Matlab and Simulink for Modeling and Control
ˇ
Robert Babuska and Stefano Stramigioli
November 1999
Delft Control Laboratory
Faculty of Information Technology and Systems
Delft University of Technology
Delft University of Technology P.O. Box 5031, 2600 GA Delft, The Netherlands
1 Introduction
With the help of two examples, a DC motor and a magnetic levitation system, the use of MATLAB and
Simulink for modeling, analysis and control design is demonstrated. It is assumed that the reader already
has basic knowledge of MATLAB and Simulink. The main focus is on the use of the Control System Toolbox
functions. We recommend the reader to try the commands out directly in MATLAB while reading this text. The
examples have been implemented by the authors and can be downloaded from http://lcewww.et.tudelft.nl/˜et4092.
The implementation is done in MATLAB version 5.3 and has also been tested in version 5.2.
2 Modeling a DC Motor
In this example we will learn how to develop a linear model for a DC motor, how to analyze the model under
MATLAB (poles and zeros, frequency response, time-domain response, etc.), how to design a controller, and
how to simulate the open-loop and closed-loop systems under SIMULINK.
2.1 Physical System
Consider a DC motor, whose electric circuit of the armature and the free body diagram of the rotor are shown
in Figure 1.
R L
+ T
+
J
V V = Kω
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