Control System Toolbox™
Release Notes
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Control System Toolbox™ Release Notes
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Summary by Version ............................... 1
Version 8.5 (R2010a) Control System Toolbox
Software
Version 8.4 (R2009b) Control System Toolbox
Software
Version 8.3 (R2009a) Control System Toolbox
Software
Version 8.2 (R2008b) Control System Toolbox
Software
Version 8.1 (R2008a) Control System Toolbox
Software
........................................ 4
........................................ 6
........................................ 7
........................................ 9
........................................ 12
Contents
Version 8.0.1 (R2007b) Control System Toolbox
Software
Version 8.0 (R2007a) Control System Toolbox
Software
Version 7.1 (R2006b) Control System Toolbox
Software
Version 7.0 (R2006a) Control System Toolbox
Software
Version 6.2.1 (R14SP3) Control System Toolbox
Software
Version 6.2 (R14SP2) Control System Toolbox
Software
........................................ 13
........................................ 14
........................................ 16
........................................ 17
........................................ 21
........................................ 22
iii
Version 6.1 (R14SP1) Control System Toolbox
Software
........................................ 24
Version 6.0 (R14) Control System Toolbox Software
Version 5.2.1 (R13SP2) Control System Toolbox
Software
Version 5.2 (R13) Control System Toolbox Software
Compatibility Summary for Control System Toolbox
Software
........................................ 28
........................................ 33
... 25
... 29
iv Contents
SummarybyVersion
This table provides quick access to what’s new in each version. For
clarification, see “Using Release Notes” on page 2 .
Control System Toolbox™ Release Notes
Version
(Release)
Latest Versi
V8.5 (R2010a
V8.4 (R2009b)
V8.3 (R2009a)
V8.2 (R2
V8.1 (R2008a)
V8.0.1 (R2007b)
R2007a)
V8.0 (
V7.1 (R2006b)
on
)
008b)
New Features
and Changes
Yes
Details
Yes
Details
Yes
Details
Yes
Details
Yes
Details
Yes
ls
Detai
Yes
Details
Yes
Details
Version
Compatibility
Considerations
Yes
Summary
No Bug Reports No
Yes
Summary
Yes
Summary
No Bug Reports No
No Bug Re
No Bug Reports No
No Bug Reports No
Fixed Bugs
and Known
Problems
Bug Reports
Bug Repor
Bug Reports No
ts
ports
Related
Documentation
at Web Site
Printable R elease
Notes: PDF
Current product
documentation
No
No
V7.0 (R2006a)
Yes
Det
ails
No Bug
Reports
No
1
Control System Toolbox™ Release Notes
Version
(Release)
V6.2.1 (R14SP3)
V6.2 (R14SP2)
V6.1 (R14SP1)
V6.0 (R14)
V5.2.1 (R13SP2)
V5.2 (R13)
Version
New Features
and Changes
No No Bug Reports No
Yes
Details
No No
Yes
Details
No No
Yes
Details
Compatibility
Considerations
No
Yes
Summary
No
Fixed Bugs
and Known
Problems
Fixed bugs
Fixed bugs
Fixed bugs
No bug fixes
Fixed bugs
Related
Documentation
at Web Site
No
No
No
No
No
Using Release Notes
Use release notes when upgrading to a newer version to learn about:
• New features
• Changes
• Potential impact on your existing files and practices
Review the release notes for other MathWorks™ products required for this
product (for example, MATLAB
bugs, or compatibility considerations in other products impact you.
If you are upgrading from a software version other than the m ost recent one,
review the current release notes and all interim versions. For example, when
you upg rade from V1.0 to V1.2, review the release notes for V1.1 and V1.2.
®
or Simulink®). Determine if enhancements,
What Is in the Release Notes
New Features and Changes
• New functionality
2
SummarybyVersion
• Changes to existing functionality
Version Compatibility Con si derations
When a new feature or change introduces a reported incompatibility between
versions, the Compatibility Considerations subsection explains the
impact.
Compatibility issues reported after the product release appear under Bug
Reports at The MathWorks™ Web site. Bug fixes can sometimes result
in incompatibilities, so review the fixed bugs in Bug Reports for any
compatibility impact.
Fixed Bugs and Known Problems
The MathWorks offers a user-searchable Bug Reports database so you can
view Bug Reports. The development team updates this database at release
time and as more information becomes available. Bug Reports include
provisions for any known workarounds or file replacem ents. Information is
available for bugs existing in or fixed in Release 14SP2 or later. Information
is not avail able for all bugs in earlier releases.
Access Bug Reports using y our MathWorks Account.
3
Control System Toolbox™ Release Notes
Version 8.5 (R2010a) Control System Toolbox Software
This table summarizes what’s new in Version 8.5 (R2010a):
New Features and
Changes
Yes
Details below
Version
Compatibility
Considerations
Yes–Details labeled
as Compatibility
Considerations,
below. See also
Summary.
New features introduced in this version:
• “Enhanced c2d Command to Approximate Fractional Time Delays in Tustin
and Matched Discretization Methods” on page 4
• “New Commands for Specifying Options for Continuous-Discrete
Conversions” on page 5
• “New FDEL Command to Remove Specified Data from Frequency Response
Data (FRD) Models” on page 5
Fixed Bugs an d
Known Problems
Bug Reports
Related
Documentation at
Web Site
Printable Release
Notes: PDF
Current product
documentation
Enhanced c2d Command to Approximate Fractional
Time Delays in Tustin and Matched Discretization
Methods
The c2d command can now approximate fractional time delays when
discretizing linear models with the
c2dOptions command lets you specify an optional Thiran all-pass filter. The
Thiran filter approximates fractional delays for improved phase matching
between continuous and discretized models. Previously,
fractional time delays to the nearest multiple of the sampling time when
using the
and c2 dOpt ions reference pages and “Converting Between Continuous- and
Discrete-Time Representations” in the Control System Toolbox™ User Guide.
tustin or matche d methods. For more information, see the c2d
tustin or matche d methods. T he new
c2d rounded
4
Version 8.5 (R 2010a) Control System Toolbox™ Software
New Commands for Specifying Options for
Continuous-Discrete Conversions
New commands c2dOptions, d2dOptions,andd2cOptions make it easier
to specify options for
• Discretization using
• Resampling using d2d.
• Conversion from discrete to continuous time using
c2d
d2c.
Compatibility Consideration
This release deprecates the prewarp method for c2d, d2d,andd2c.Instead,
use
c2dOptions, d2dOptions,ord2cOptions to specify the tustin method
and a prewarp frequency. For more information, see “C onverting Between
Continuous- and Discrete-Time Representations” in the Control System
Toolbox User Guide and the
c2d, d2d,andd2c reference pages.
New FDEL Command to Remove Specified Data from
Frequency Response Data (FRD) Models
You can now remove selected data from frd models using the new fdel
command. For example, use fdel to:
• Remove spurious or unneeded data from
measured frequency response data.
• Remove data at intersecting frequencies from
them into a single
containing no common frequencies.
frd model with fcat, which can only merge frd models
frd models you create from
frd models before merging
For more information, see
fdel reference page.
5
Control System Toolbox™ Release Notes
Version 8.4 (R2009b) Control System Toolbox Software
This table summarizes what’s new in Version 8.4 (R2009b):
New Features and
Changes
Yes
Details below
Version
Compatibility
Considerations
No Bug Reports No
New features introduced in this version:
• “Ability to Design Compensators for New Types of Plants” on page 6
• “New Automated PID Tuning Method” on page 6
Fixed Bugs an d
Known Problems
Related
Documentation at
Web Site
Ability to Design Compensators for New Types of
Plants
In the SISO Desig n Tool, you can now design compensators for plants models
that:
• Contain time delays
Previously, you had to approximate delays before designing compensators.
• You specify as frequency-response data (FRD)
For more information on designing compensators using the SISO Design
Tool, see “SISO Design Tool”.
New Automated PID Tuning Method
You can now tune compensators using a new automated PID tuning algorithm
called Robust Response Time, which is available in the SISO Design Tool.
You specify the open-loop bandwidth and phase margin, and the software
computes PID parameters to robustly stabilize your system.
For information on tuning compensators using automated tuning methods,
see “Automated Tuning”.
6
Version 8.3 (R 2009a) Control System Toolbox™ Software
Version 8.3 (R2009a) Control System Toolbox Software
This table summarizes what’s new in Version 8.3 (R2009a):
New Features and
Changes
Yes
Details below
Version
Compatibility
Considerations
Yes–Details labeled
as Compatibility
Considerations,
below. See also
Summary.
New change introduced in this version:
Fixed Bugs an d
Known Problems
Bug Reports No
Related
Documentation at
Web Site
Variable q Now Defined as the Forward Shift
Operator z
The variable q is now defined in the standard way as the forward shift
operator z. Previously, q was defined as z
Note This new definition is consistent with the System Identification
Toolbox™ definition of q.
Compatibility Consideration
If you use the q variable, you may receive different results than in previous
releases when you:
-1
.
• Create a transfer function
• Modify the
The resulting transfer function differs from previous releases when both the
num or den properties of an existing transfer function
7
Control System Toolbox™ Release Notes
• Variable property is set to q
num and den properties have different lengths
•
For example, the following code:
H = tf([1,2],[1 3 8],0.1, 'Var iable','q')
now returns the transfer function
q
+
22
qqzzz
++
38238
Previously, the code returned the transfer function
12
+
13 8
++
qq
The two transfer functions have different numerators.
2
+
≡
++
1
−
12
q
≡
2
+
z
1222
−−
13 8
++
zz
≡
2
+
zz
38
++
zz
8
Version 8.2 (R 2008b) Control System Toolbox™ Software
Version 8.2 (R2008b) Control System Toolbox Software
This table summarizes what’s new in Version 8.2 (R2008b):
New Features and
Changes
Yes
Details below
Version
Compatibility
Considerations
Yes–Details labeled
as Compatibility
Considerations,
below. See also
Summary.
New features and changes introduced in this version are
• “New Design Tools for Linear-Quadratic-Gaussian (LQG) Servo Controllers
with Integral Action” on page 9
• “New Upsampling Method for Rate Conversion in Discrete-Tim e Models”
on page 10
• “New Scaling Tools to Enhance the Accuracy of Computations with
State-Space Models” on page 10
• “New Command to Reorder the States of State-Space Models” on page 11
• “Enhanced Support for Customizing Response Plots” on page 11
Fixed Bugs an d
Known Problems
Bug Reports No
Related
Documentation at
Web Site
New Design Tools for Linear-Quadratic-Gaussian
(LQG) Servo Controllers with Integral Action
You can now design a Linear-Quadratic-Gaussian (LQG) servo controller
for set-point tracking using the new
compensator ensures that the system output tracks the reference command
and rejects process disturbances and measurement noise.
lqi and lqgtrack commands. This
For more information on forming LQG servo controllers, see
“Linear-Quadratic-Gaussian (LQG) Design”, the
lqgtrack reference page.
lqi reference page, and the
9
Control System Toolbox™ Release Notes
Current Flag Moved from lqgreg to kalman
The 'current' flag was moved from the lqgreg function to the kalman
function.
Compatibility Consideration. The following code:
kest = kalman(sys,Qn,Rn)
c = lqgreg(kest,k)
now returns the current regulator
regulator
To update your code to return the same results as in previous releases, use
the following code with the added string
kest = kalman(sys,Qn,Rn,'delayed')
c = lqgreg(kest,k)
ˆ
un Kxn n
=− −
[]
|1
[]
un Kxn n
[]=−[]
.
ˆ
'delayed' in the kalman command:
|
instead of the delayed
10
For information on using these functions with the current flag in the kalman
function, see the kalman and lqgreg reference pages.
New Upsampling Method for Rate Conversion in
Discrete-Time Models
You can now upsample a discrete-time system to an integer multiple of the
original sampling rate without any distortion in the time or frequency domain
using the
For more information on upsampling, see the
“Resampling of Discrete-Time Models” in the Control System Toolbox User’s
Guide.
upsample command.
upsample reference page and
New Scaling Tools to Enhance the Accuracy of
Computations with State-Space Models
You can now scale state-space models to maximize accuracy over the frequency
band of interest using the
functionality when you cannot achieve good accuracy at all frequencies and
prescale command and associated GUI. Use this
Version 8.2 (R 2008b) Control System Toolbox™ Software
some tradeoff is necessary. A warning alerts you when accuracy may be poor
and using prescaling is recommended.
For more information on setting the frequency band for scaling state-space
realizations, see “Scaling State-Space Models” and the
page.
prescale reference
New Command to Reorder the States of State-Space
Models
You can now reorder the states of state-space models according to a specified
permutation using the
xperm command.
For more information o n reordering state s, see the
xperm reference page.
Enhanced Support for Customizing Response Plots
You can now make the following changes to your Control System Toolbox
response plots using the figure plotting tools:
• System name
• Line color
• Line style
• Line width
• Marker type
For more information on customizing the appearance of response plots using
plot to ols, see “Customizing Response Plots Using Plot Tools” in the Control
System Toolbox User’s Guide.
11
Control System Toolbox™ Release Notes
Version 8.1 (R2008a) Control System Toolbox Software
This table summarizes what’s new in Version 8.1 (R2008a):
New Features and
Changes
Yes
Details below
Version
Compatibility
Considerations
No Bug Reports No
New change introduced in this version:
Fixed Bugs an d
Known Problems
Related
Documentation at
Web Site
Updated Error and Warning Message System
The Control System Toolbox error and warning IDs and messages have been
updated. If you use error and warning IDs in your code, you must update your
code to reflect the new IDs.
12
Version 8.0.1 (R2007b) Control S ystem Toolbox™ Software
Version 8.0.1 (R2007b) Control System Toolbox Software
This table summarizes what’s new in Version 8.0.1 (R2007b):
New Features and
Changes
Yes
Details below
Version
Compatibility
Considerations
No Bug Reports No
New change introduced in this version:
Fixed Bugs an d
Known Problems
Related
Documentation at
Web Site
Updated a nd Expanded Demos
The Control System Toolbox demo s have been reformatted and expanded to
include more examples and content. Demos in the following categories now
have new and improved content:
• Getting Started with LTI Models
• Discretization and Sampling Rate Conversions
• How to Get A ccurate Results
To open the Control System Toolbox demos, type
demo toolbox control
at the M ATLAB prompt.
13
Control System Toolbox™ Release Notes
Version 8.0 (R2007a) Control System Toolbox Software
This table summarizes what’s new in Version 8.0 (R2007a):
New Features and
Changes
Yes
Details below
Version
Compatibility
Considerations
No Bug Reports No
New features and changes introduced in this version are
• “Analysis of Time Delay Systems Now Fully Supported” on page 14
• “New and Updated Automated Tuning Methods” on page 15
• “New Tustin and Prewarp Options for d2d Function” on page 15
Fixed Bugs an d
Known Problems
Related
Documentation at
Web Site
Analysis of Time Delay Systems Now Fully Supported
Control System Toolbox software now lets you:
• Model, simulate, and analyze any interconnection of linear systems with
delays, such as systems containing feedback loops with delays.
• Exactly analyze and simulate control systems with long delays. You can
evaluate control strategies, such as Smith Predictor and PID control for
first-order-plus-dead-time plants.
• Use new commands for modeling state-space models with delays including:
delayss, getDelayModel,andsetDelayModel.
14
For more information, see the section on time delays in the Control System
Toolbox documentation.
Version 8.0 (R 2007a) Control System Toolbox™ Software
New and Updated A
Control System T
automated tunin
• New Singular Fr
for both stabl
• New H-infinit
open-loop ban
Toolbox™ sof
• Updated Inte
plants.
For more inf
System Too
New Tustin
The d2d fu
method:
•
'tustin
•
'prewar
nction now includes the following new options for the resampling
'
p'
oolbox software now provides the following new and updated
gmethods:
equency Based Tuning lets you design PID compensators
e and unstable plants.
y Loop Shaping lets you find compensators based on a desired
dwidth or loop shape. This feature requires Robust Control
tware.
rnal Model Control (IMC) Tuning now supports unstable
ormation, see the section on automated tuning in the Control
lbox documentation.
and Prewarp Options for d2d Function
—Performs Bilinear (Tustin) app r oximation
—Performs Tustin approximation with frequency prewarping
utomated Tuning Methods
For mor
e information, see the
d2d reference pages.
15
Control System Toolbox™ Release Notes
Version 7.1 (R2006b) Control System Toolbox Software
This table summarizes what’s new in Version 7.1 (R2006b):
New Features and
Changes
Yes
Details below
Version
Compatibility
Considerations
No
New features and changes introduced in this version are
• “New Loop Configurations in the SIS O Design Tool” on page 16
• “New Design Requirements” on page 16
Fixed Bugs an d
Known Problems
No bug fixes
Related
Documentation at
Web Site
No
New Loop Configurations in the SISO Design Tool
Two new loop configurations are available from the SISO Design Tool. See
Modifying Block Diagram Structure for more information.
New Design Requirements
The LTI Viewer now supports step response and upper/lower time bound
design requirements. See Adding Design Requirements to the LTI Viewer
for more information.
16
Version 7.0 (R 2006a) Control System Toolbox™ Software
Version 7.0 (R2006a) Control System Toolbox Software
This table summarizes what’s new in Version 7.0 (R2006a):
New Features and
Changes
Yes
Details below
Version
Compatibility
Considerations
No
New features and changes introduced in this version are
• “SISO Design Tool” on page 17
• “LTI Viewer Enhancements” on page 18
• “LTI Objects” on page 18
• “Numerical Algorithms” on page 20
Fixed Bugs an d
Known Problems
No bug fixes
Related
Documentation at
Web Site
No
SISO Design Tool
The SISO Design Tool now provides one-click automated tuning using
systematic algorithms such as Ziegler-Nichols PID tuning, IMC design, and
LQG design. In addition, you can calculate low-order approximations of the
IMC/LQG compensators to keep the control system complexity low.
Compensator Optimization Is Now Supported
If you have installed Simulink®Response Optimization™ software, you can
now optimize the compensator parameters inside the SISO Design Tool GUI.
You can specify time- and frequency-domain requirements on SISO Design
Tool plots such as
to automatically tune your compensator to meet your requirements. See the
Simulink Response Optimization documentation for more details.
bode an d step, a nd use numerical optimization algorithms
Improved Compensator Editor
The Compensator Editor used to edit the numerical values of poles and zeros
has been upgraded to better handle common control components such as
lead/lag and notch filters.
17
Control System Toolbox™ Release Notes
Multi-Loop Compensator Design Support
Many control systems involve multiple feedback loops, some of which are
coupled a nd need joint tuning. The SISO Design Tool now lets you analyze
and tune multi-loop configurations. You can focus on a specific loop by
opening signals to remove the effects of other loops, gain insight into loop
interactions, and jointly tune several SISO loops.
SISO Design Tool Fully Integrated with the Controls &
Estimation Tools Manager
To improve workflow and better leverage other to ols, such as Simulink
Control Design™ software and Simulink Response Optimization software,
the SISO Design Tool is now fully integrated with the Controls & Estimation
Tools Manager (CETM). This provides a signal environment for the desig n
and tuning of compensators.
When you open the SISO Design Tool, the CETM also opens with a SISO
Design Task. Many SISO Design Tool features, such as importing models,
changing loop configurations, etc., have been moved to the SISO Design Task
in CETM. In addit ion, related tasks such as Si m ulink based Tuning and
Compensator Optimization are seamlessly integrated with the SISO Design
Task. See the Control System Toolbox Getting Started Guide for details on
the new work flow.
®
18
LTI Viewer Enhancements
The LTI Viewer now lets you plot the response of a system to user-defined
input signals (
select input signals fr om a signal generator library, or import signal data
from a variety of file formats.
lsim) and initial conditions (initial). A new GUI lets you
LTI Objects
Descriptor and Improper State-Space Models Fully Supported
There is now full support for descriptor state-space models with a singular
E matrix. This now lets you build state-space representations, such as PID,
and manipulate improper models with the superior accuracy of state-space
Version 7.0 (R 2006a) Control System Toolbox™ Software
computations. In previous versions, only descriptor models with a nonsingular
E matrix were supported.
New Commands to Calculate Time Response Metrics
The new stepinfo and lsiminfo commands compute time-domain
performance metrics, such as rise time, settling time, and overshoot. You can
use these commands to write scripts that automatically verify or optimize
such performance requirements. Previously, these metrics were available
only from response plots.
Simplified System Interconnections Using I/O Channel Names
The commands connect, feedback, series, parallel,andlft now let you
connect systems by matching names of I/O channels. A helper function,
sumblk, has also been added to simplify the specification of summing
junctions. Altogether this considerably simplifies the task of deriving models
for complicated block diagrams. In previous releases, only index-based system
connection was supported.
Changes in the Representation of I/O Delays in State-Space
Models
The ioDelay property is deprecated from state-space models. Ins tead, these
models have a new property called
cannot be pushed to the inputs or outputs. Driving this change is the switch
to a representation of delays in terms of delayed differentialequationsrather
than frequency response. See Time Delays in the Control System Toolbox
documentation for more details on internal delays, and
details on the new internal representation of state-space models with delays.
InternalDelay for logging all delays that
ss/getdelaymodel for
New N ame Property for LTI Objects
This new property lets you attach a name (string) to a given LTI model. The
specified name is reflected in response plots.
New Commands and Operations for LTI Objects
The new exp command simplifies the creations of continuous-time transfer
functions with delays. For more information, type h elp
MATLAB prompt.
lti/exp at the
19
Control System Toolbox™ Release Notes
The frd object has the following new methods:
•
fcat — Concatenates one or more FRD models along the frequency
dimension (data merge).
•
fselect — Selects frequency points or range in frd model.
fnorm —Calculatespointwisepeakgainoffrd model.
•
The
.* operation is supported for transfer functions and zero-pole-gain
objects. This allows you to perform element-by-element multiplication of
MIMO models.
Numerical Algorithms
There have been several major improvements in the Control System Toolbox
numerical algorithms, many of which benefit the upgraded SISO Design Tool:
• New scaling algorithm that maximizes accuracy for badly scaled state-space
models
20
• Performance improvement in time and frequency response computations
through MEX-files
• More accurate computations of the zero-pole-gain and transfer function
representations of a state-space model
• More accurate state-space representations of zero-pole-gain models
• Better handling of nonminimal modes in model reduction commands
(
balred, balreal)
canon now computes a block modal form for A matrices that are not
•
diagonizable or are nearly defective
• Exact phase computation for zero-pole-gain models in
bode and nichols
• Accurate handling of improper models using the descriptor state-space
representation
Version 6.2.1 (R14SP3) Control System Toolbox™ Software
Version 6.2.1 (R14SP3) Control System Toolbox Software
This table summarizes what’s new in Version 6.2.1 (R14SP3):
Version
New Features and
Changes
No No Bug Reports No
Compatibility
Considerations
Fixed Bugs an d
Known Problems
Related
Documentation at
Web Site
21
Control System Toolbox™ Release Notes
Version 6.2 (R14SP2) Control System Toolbox Software
This table summarizes what’s new in Version 6.2 (R14SP2):
New Features and
Changes
Yes
Details below
Version
Compatibility
Considerations
No
New features and changes introduced in this version are
• “Command-Line API for Customizing Plots” on page 22
• “Constraint Types for SISO Design” on page 22
• “Bode and Nichols Plots Have Additional Options” on page 23
• “Model-Approximation and Order-Reduction Commands” on page 23
Fixed Bugs an d
Known Problems
Fixed bugs
Related
Documentation at
Web Site
No
Command-Line API for Customizing Plots
The Control System Toolbox software now provides a command-line API for
customizing units, labels, limits, and other plot options. You can now change
default plot options before generating a plot, or modify plot properties after
creation.
For a detailed description of the commands, see the Control System Toolbox
documentation.
22
Constraint Types for SISO Design
You can now create
• Single piecewise linear constraints for root-locus and Bode plo ts
• Gain/phase exclusion r egions for Nich ols plots
Design constraints are displayed as shaded r egions.
Version 6.2 (R14SP2) Control System Toolbox™ Software
Bode and Nichols
When editing Bod
• Set the lower li
• Adjust the pha
multiple resp
Model-Appro
e and Nichols plots, you can now
mit of the magnitude manually.
se offsets by multiples of 360 degrees to facilitate comparing
onses.
ximation and Order-Reduction
Commands
New commands
reduction:
•
hsvd comput
•
balred com
balancing
asingleco
have been added for model approximation and order
es and plots the Hankel s ingular values.
putes low-order approximations using a numerically stable,
-free alg orithm. You can perform multiple order reductions with
mmand.
Plots Have Additional Options
23
Control System Toolbox™ Release Notes
Version 6.1 (R14SP1) Control System Toolbox Software
This table summarizes what’s new in Version 6.1 (R14SP1):
Version
New Features and
Changes
No No
Compatibility
Considerations
Fixed Bugs an d
Known Problems
Fixed bugs
Related
Documentation at
Web Site
No
24
Version 6.0 (R14) Control System Toolbox™ Software
Version 6.0 (R14) Control System Toolbox Software
This table summarizes what’s new in Version 6.0 (R14):
New Features and
Changes
Yes
Details below
Version
Compatibility
Considerations
Yes—Details labeled
as Compatibility
Considerations,
below. See also
Summary on page
23.
New features and changes introduced in this version are
• “Linearization Tools Moved to Simulink
page 25
• “Enhanced Numerical Algorithms” on page 26
• “Support for Model Order Reduction Is Improved” on page 26
• “Modal Decompositions Co mmands Expanded” on page 26
• “Fixed Bugs” on page 27
Fixed Bugs an d
Known Problems
Fixed bugs
Details below
®
Control Design Software” on
Related
Documentation at
Web Site
No
Linearization Tools Moved to Simulink Control Design
Software
The LTI V iew er interface with the Simulink linearization tools has been
moved from the Control System Toolbox product to the Simulink Control
Design product.
If you have Simulink Control Design software installed on your system, type
slview to open the Linear Analy sis Tool.
25
Control System Toolbox™ Release Notes
Compatibility Considerations
To perform linearization, you must install Simulink Control Design software.
You can no longer perform this function using Contro l System Toolbox
software.
Enhanced Numerical Algorithm s
The numerical engine has been overhauled to leverage the state-of-the-art
LAPACK and SLICOT libraries, resulting in faster and more accurate
computations. This upgrade benefits the following areas:
• Computation of system zeros (zero , ss to tf or zpk conversions)
• Lyapunov and Riccati solvers (
• Model order reduction (
This release also introduces several new foundation algorithms, including:
• Square-root solvers for stable Lyapunov equations (
dlyapchol)
• Block diagonalization algorithm (
• Commands for reordering eigenvalues in Schur decomposition s (
and ordq z). These commands are part of the MATLAB product.
balreal and modred)
lyap, dlyap, care, dare)
lyapchol and
bdschur)
ordschur
Support for Model Order Reduction Is Improved
The suppo rt for model order reduction has been significantly improved:
•
balreal now leverages the new square-root Lyapunov solvers for greater
robustness, accuracy, and performance.
• Reduction of unstable or marginally stable systems is now supported.
Modal Decompositions Commands E xpanded
New commands have been added for additive modal decompo sitions:
•
stabsep separates the stable and unstable modes of a system.
26
modsep performs modal decompositions into N arbitrary regions.
•
Fixed Bugs
The following bu
Version 6.0 (R14) Control System Toolbox™ Software
gs were fixed in this release:
• Issues with fre
•
allmargin iss
ues for some discrete models with poles n ear
• Empty sigma pl
• Issues with
rl
quency-unit conversions in the LTI Viewer
z=1
ot for MIMO system with zero gain between some I/O pairs
ocus
command applied to improper systems
27
Control System Toolbox™ Release Notes
Version 5.2.1 (R13SP2) Control System Toolbox Software
This table summarizes what’s new in Version 5.2.1 (R13SP2):
Version
New Features and
Changes
No No
Compatibility
Considerations
Fixed Bugs an d
Known Problems
No fixed bugs
Related
Documentation at
Web Site
No
28
Version 5.2 (R13) Control System Toolbox™ Software
Version 5.2 (R13) Control System Toolbox Software
This table summarizes what’s new in Version 5.2 (R13):
New Features and
Changes
Yes
Details below
Version
Compatibility
Considerations
No
New features and changes introduced in this version are
• “Response Plots” on page 29
• “Importing in the LTI Viewer” on page 30
• “SISO Design Tool” on page 30
• “c2d Function Is Enhanced” on page 31
• “Fixed Bugs” on page 31
Fixed Bugs an d
Known Problems
Fixed bugs
Details below
Related
Documentation at
Web Site
V5.2 product
documentation
Response Plots
New features for response plots include
• Normalization of time plots for easy trend comparison.
• Display of driving input signal in linear simulation (
• Standard zooming for all response plots.
lsim)plots.
• The Full View right-click menu.
• Ability to toggle magnitude and phase displays in Bode plots.
• In Bode plots, a modified phase-correction a lgorithm that produces
consistent phase at
structure at the origin.
• Displaying only positive frequencies in N yquist plots.
• A new function,
I/O pair in a MIMO system.
w=Inf and is robust to perturbations of the pole/zero
iopzmap, that plots the transfer poles and zeros for each
29
Control System Toolbox™ Release Notes
Importing in the
The following ar
e new features and enhancement in the LTI Viewer.
LTI Viewer
Models with Unequal Number of I/Os Can Be Imported
The LTI Viewer
of inputs and/
combination o
no longer restricts importing models with unequal numbers
or an unequal numbers of outputs. You can import any
f LTI models into the viewer.
Import and Export Dialog Boxes Easier to Use
The import a
nd export dialog boxes are now easier to use.
System Identification Toolbox Models Can Be Imported
The LTI Vie
The noise m
ZPK format
wer now im po rts System Identification Toolbox SISO models.
odel is automatically discarded and the
.
idmodelis converted to
Zoom Property in the LTI Viewer Right-Click Menu Is Removed
The zoom
can acce
SISO De
The fol
property in the LTI Viewer right-click menu has been removed. You
ss this functionality from the new toolbar.
sign Tool
lowing are new features in the SISO Design tool.
30
Additional Feedback Structures
The SI
• Feed
• Casc
All
the
SO Design tool supports two new feedback structures:
forward configuration
ade configuration with filter F in the minor loop
the usual functionality (e.g., graphical tuning of F and G) is available in
new feedback structures.
Version 5.2 (R13) Control System Toolbox™ Software
Analysis Menu
The SISO Design too l contains a new Analysis menu that raises Loop
Responses under Tools to the top level. New plots available from this
menu are
• Input disturbance rejection
• Output disturbance rejection
Linked LTI Viewers Are Dynamically Updated
LTI Viewers that are linked to the SISO Design tool update response plots
in real-time during mouse-driven compensator tuning. This is the default
behavior. To deactivate this feature, clear the Real-Time Update check box
in the linked LTI View er. In this case, plots update only when y ou release
the mouse button.
System Identification Toolbox Models Can Be Imported
The SISO Design tool now imports System Identification Toolbox SISO
models. The noise model is automatically discarded and the
converted to ZPK format.
idmodel is
Reworked Store and Retrieve Windows
Anewwindow,theDesign Archive, combines both store and retrieve
functions within a single, more-intuitive GUI.
Nichols Plots
You can now trace the frequency by placing your mouse cursor over the
Nichols contour.
c2d Function Is Enhanced
The c2d function has a new impulse-invariant discretization method that
guarantees matching continuous and discrete responses for pulse inputs.
Fixed Bugs
The following bugs were fixed in this release:
31
Control System Toolbox™ Release Notes
allmargin
The allmargin function converts ZPK models to TF format only when there
is an algebraic loop in your system. This change ensures that the SISO
Design tool can correctly diagnose closed-loop stability (o pen loop is always
in ZPK format).
dlinmod
The dlinmod function now correctly linearizes all multirate discrete or hybrid
(continuous and discrete) Simulink models when using Jacobian-based
linearization.
place
Formerly, bad edge cases in the orthogonalization loop caused a divide by zero
in the
place function. This is no longer the case.
32
Compatibility Summary for Control System Toolbox™ Software
Compatibility Summary for Control System Toolbox
Software
This table summarizes new features and changes that might cause
incompatibilities when you upgrade from an earlier version, or wh en you
use files on multiple versions. Details are provided with the description of
the new feature or change.
New Features and Changes with Version
Version (Release)
Compatibility Impact
Latest Version
V8.5 (R20010a)
V8.4 (R2009b)
V8.3 (R2009a) See the Compatibility Considerations
V8.2 (R2008b) See the Compatibility Considerations
V8.1 (R2008a)
V8.0.1 (R2007b)
V8.0 (R2007a)
V7.1 (R2006b)
V7.0 (R2006a)
See the Compatibility Considerations
subheading for this change:
• “New Commands for Specifying Options for
Continuous-Discrete Conversions” on page 5
None
subheading for this new feature or change:
• “Variable q Now Defined as the Forward Shift
Operator z” on page 7
subheading for this new feature or change:
• “Current Flag Moved from lqgreg to kalman”
on page 10
None
None
None
None
None
V6.2.1 (R14SP3)
V6.2 (R14SP2)
None
None
33
Control System Toolbox™ Release Notes
Version (Release)
New Features and Changes with Version
Compatibility Impact
V6.1 (R14SP1)
None
V6.0 (R14) See the Compatibility C on siderations
subheading for this new feature or change:
• “Linearization Tools Moved to Simulink
Control Design Software” on page 25
V5.2.1 (R13SP2)
V5.2 (R13)
None
None
®
34
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