National Instruments ICDM ICDM Overview

Chapter 1 Introduction

Xmath Interactive Control Design Module 1-4 ni.com

MATRIXx Help

Interactive Control Design Module function reference information

is available in the MATRIXx Help. The MATRIXx Help includes all

Interactive Control Design functions. Each topic explains a function’s

inputs, outputs, and keywords in detail. Refer to Chapter 2, MATRIXx

Publications, Help, and Customer Support, of the MATRIXx Getting

Started Guide for complete instructions on using the MATRIXx Help

feature.

ICDM Overview

This section provides an overview of the Interactive Control Design

Module, a tool for interactive design of continuous-time linear

time-invariant controllers. ICDM runs under Xmath, using the Xmath

Graphical User Interface (GUI).

SISO Versus MIMO Design

Version 2.0 of ICDM handles full multivariable design, that is, design of

multi-input multi-output (MIMO) controllers for MIMO plants. Thus

ICDM 2.0 operates in two basic modes: SISO design (single input, single

output) and MIMO design. The mode is determined automatically by the

plant you read into ICDM. The two different modes feature somewhat

different plot options, different synthesis options, and so on.

NI has made the notation, conventions, and windows used for MIMO

design as similar as possible to those used for SISO design. Therefore a

user familiar with version 1.0 of ICDM (which handled only SISO design)

should have little trouble using the new MIMO synthesis tools. NI also

recommends that the user who wishes to use ICDM for MIMO design start

by becoming familiar with its features for SISO design.

Chapters 2 through 10 discuss SISO design. Chapters 11 through 13 discuss

MIMO design. The MIMO descriptions have been written for the user who

is familiar with SISO design features.

Starting ICDM

To use ICDM, you should:

• Have a user’s understanding of Microsoft Windows or X Windows and

the window manager that you use. For example, you should be able to

move, resize, and iconify windows; use a pull-down menu; and use a

scrollbar.

Contents

Main Page Important Information Warranty Copyright Trademarks Patents Conventions Contents Chapter 1 Introduction Chapter 2 Introduction to SISO Design Chapter 3 ICDM Main Window Chapter 4 PID Synthesis Chapter 5 Root Locus Synthesis Chapter 6 Pole Place Synthesis Chapter 7 LQG Synthesis Chapter 8 H-Infinity Synthesis Chapter 9 Chapter 10 Alternate Plant Window Chapter 11 Introduction to MIMO Design Chapter 12 LQG/H-Infinity Synthesis Page Introduction Using This Manual Document Organization Page Commonly-Used Nomenclature Related Publications MATRIXx Help ICDM Overview SISO Versus MIMO Design Starting ICDM Page Introduction to SISO Design SISO Design Overview Basic SISO Terminology Page 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 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 Page Using ICDM G G Page 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 Page 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 Ranges of Plots Plot Magnify Windows Page Selecting a Synthesis or History Window Edit Menu PID Synthesis PID Controller Terms Toggling Controller Terms On and Off Page 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 Root Locus Synthesis Overview Page Opening the Root Locus Synthesis Window Terminology Plotting Styles 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 Page Pole Place Synthesis 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 LQG Synthesis LQG Synthesis Window Anatomy Page Synthesis Modes Opening the LQG Synthesis Window Setup and Terminology Standard LQG (All Toggle Buttons Off) Exponential Time Weighting Output Weight Editing State-Space Interpretation Manipulating the Design Parameters Graphically Page H-Infinity Synthesis H-Infinity Synthesis Window Anatomy Page Opening the Synthesis Window Setup and Synthesis Method Central H-Infinity Controller Output Weight Editing Manipulating the Weight Transfer Function Infeasible Parameter Values Page History Window Saving the Current Controller on the History List Opening the History Window History Window Anatomy Selecting the Active Controller Editing the Comments Deleting History List Entries To Continue Designing from a Saved Controller Cycling Through Designs Writing a Saved Design to Xmath Page Alternate Plant Window Role and Use of Plant and Alternate Plant Displaying the Alternate Plant Responses Alternate Plant Window Anatomy Page Normalization Manipulating the Parameters Using the Alternate Plant Window Robustness to Plant Variations Adding Unmodeled Dynamics Ranges of Sliders and Plot Introduction to MIMO Design Basic Terminology for MIMO Systems Feedback System Configuration Transfer Functions Page Page Overview of ICDM for MIMO Design ICDM MIMO Windows Main Window MIMO Plot Window Alternate Plant Window (MIMO Version) Page LQG/H-Infinity Synthesis LQG/H-Infinity Main Window LQG/H-Infinity Weights Window Page Page Decay Rate Window H-Infinity Performance Window Frequency Weights Window Synthesis Modes and Window Usage Opening the LQG/H-Infinity Synthesis Window Setup and Terminology Page Chapter 12 LQG/H-Infinity Synthesis Xmath Interactive Control Design Module 12-10 ni.com Figure 12-6. LQG/H-Infinity Control Design Configuration w How to Select w, u, y, and z H-Infinity Solution Page Main Window Page Multi-Loop Synthesis Multi-Loop Window Anatomy Page Setup and Synthesis Method Multi-Loop Versus Multivariable Design Page Page Page 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 A Using an Xmath GUI Tool Overview Interacting with a GUI Application GUI Functions GUI Objects Page Page Page B Technical Support and Professional Services Index A B C D G H I K L R S T W Z