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Design a Multivariable Controller for the
Quadruple-Tank Process
Characteristic Loci Method
mbarkhordary_at_ee.iust.ac.ir
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(commutative)
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(commutative)
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(commutative)
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Characteristic Loci
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MFD Toolbox
?????? MFD ?? MATLAB
mfddemo?????
1) Generating and Displaying an MVFR
Matrix. 2) Basic Mathematical Functions. 3)
Plotting Functions. 4) Characteristic Locus
Design Method. 5) Direct Nyquist Array Design
Method. 6) Inverse Nyquist Array Design
Method. 7) Quasi Classical Design Method. 8)
Block Building and Connection. 0)
Quit. Select a demo number
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MFD Toolbox
mv2fr
MV2FR Frequency response of MIMO system
MV2FR(A,B,C,D,W) calculates the MVFR matrix of
the system . x Ax Bu -1
y Cx Du G(s) C(sI-A) B D Vector W
contains the frequencies, in radians, at which
the frequency response is to be evaluated.
MV2FR(NUM,COMDEN,W) calculates the MVFR matrix
from the transfer function description G(s)
NUM(s)/COMDEN(s)
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MFD Toolbox
FMULF Multiply two MVFR
matrices. FCGERSH Generate column Gershgorin
circles. FRGERSH Generate row Gershgorin
circles. FGETF Get component
matrices from MVFR matrix. ALIGN
Real alignment PHLAG
design a phase lag compensator PHLEAD design
a phase lead compensator PLOTBODE Plot Bode
diagrams. PLOTDB Plot Magnitude Bode
diagrams. PLOTNIC Plot Nichols chart. PLOTNYQ
Plot Nyquist diagrams.
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"The Quadruple-Tank Process A Multivariable
Laboratory Process with an Adjustable Zero"
??? 8? ????? 3? ??? 2000 ?????? "IEEE
Transaction on Control Systems Technology"
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5 rad/sec
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Khalign(g_wh)
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T0.1
KA align(inv(W)) KMtf(0.1 1,00,0.1
1,0.1 0.2175,11,0.1 0.2175) KB
align(W)
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Characteristic Loci ????? ???? ??? ????
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Characteristic Loci ????? ???? ??? ????
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