Mathworks SIMULINK CONTROL DESIGN Release Notes

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Control Design™

Release Notes

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Control Design™ Release Notes

Summary by Version ............................... 1

Contents

Version 3.2 (R2010b) Simulink

Software

........................................ 4

Version 3.1 (R2010a) Simulink

Software

........................................ 9

Version 3.0 (R2009b) Simulink

Software

........................................ 13

Version 2.5 (R2009a) Simulink

Software

........................................ 16

Version 2.4 (R2008b) Simulink

Software

........................................ 18

Version 2.3 (R2008a) Simulink

Software

........................................ 20

Version 2.2 (R2007b) Simulink

Software

........................................ 22

Control Design

Version 2.1 (R2007a) Simulink

Software

........................................ 24

Version 2.0.1 (R2006b) Simulink

Software

Version 2.0 (R2006a) Simulink

Software

........................................ 26

........................................ 27

Version 1.3 (R14SP3) Simulink

Software

........................................ 29

Control Design

iii

Version 1.2 (R14SP2) Simulink®Control Design

Software

........................................ 30

Version 1.1 (R14SP1) Simulink

Software

........................................ 32

Version 1.0 (R14) Simulink

Software

........................................ 33

Control Design

Compatibility Summary for Simulink

Software

........................................ 35

Control Design

iv Contents

SummarybyVersion

This table provides quick access to w h at’s new in each version. For clarification, see “Using Release No tes” on page 2.

Simulink®Control Design™ Release Notes

Version (Release)

Latest Version V3.2 (R2010b)

V3.1 (R2010a)

V3.0 (R2009b)

V2.5 (R2009a)

V2.4 (R2008b)

V2.3 (R2008a)

V2.2 (R2007b)

V2.1 (R2007a)

New Features and Changes

Yes Details

Version Compatibilit Consideratio

No Bug Reports

Yes Summary

No Bug Reports

Fixed Bugs and Known Problems

Includes fixes

Bug Reports Includes fixes

Includes fixes

Related Documentation a t Web Site

Printable Release Notes: PDF

Current product documentation

New Blocks for Plotting and Verifying Linear System Characteristics of Simulink Models

This version of Simulink®Control Design™ software provides new blocks for:

• “Plotting Linear System Characteristics of Simulink Models” on page 4.

• “Verifying Linear System Characteristics of Simulink M od el s” on p age 5.

Plotting Linear System Characteristics of Simulink Models

Simulink Control Design software provides six new blocks in the

Linear Analysis Plots library. Use these blocks to plot the time- and

Version 3.2 (R2010b) Simulink®Control Design™ Software

frequency-domain characteristics of a linear system computed from a nonlinear Simulink model. The linear system is computed and plotted during simulation at:

• Simulation snapshot times. The default snapshot time is 0.

• Trigger-based simulation events.

You can also use these blocks to specify bounds on the linear system characteristics, and view the bounds on the plot.

Because these blocks are same as the “Model Verification”blocksexceptfor the default settings of the bound parameters, you can optionally use the blocks to verify that the bounds are satisfied during simulation.

For more information, see:

• “Visualize Bode Plot of Simulink Model During Simulation”

• “Linear Analysis Plots” block reference pages

• Plotting Linear System Characteristics of a Chemical Reactor demo

Verifying Linear System Characteristics of Simulink Models

Simulink Control Design software provides six new blocks in the Model Verification library. Use these blocks to verify that the time- and

frequency-domain characteristics of a linear system , computed from a nonlinear Simulink model, satisfy specified bounds during simulation. For example, you can verify whether the linearized behavior of your model satisfies upper and lower magnitude bounds on a Bode plot or gain and phase margins.

You can perform the verification during simulation at:

• Simulation snapshot times. The default snapshot time is 0.

• Trigger-based simulation events

Becausetheseblocksaresameasthe“LinearAnalysisPlots”blocksexceptfor the default settings of the bound parameters, you can use the blocks to view the bounds on time- and frequency-domain plots.

Simulink®Control Design™ Release Notes

You can also use these blocks with the Simulink M od el Verification library blocks to design co mplex logic for model verification.

If you have Simulink construct simulation tests for your model using the Verification Manager.

For more information, see:

• “Model Verification” in the S i m u link Control Design documentation.

• “Model Verification” block reference pages

• Verifying Frequency-Domain Characteristics of an Aircraft demo

Verification and Validation™ software, you can

New Tools for Identifying Time-Varying Source Blocks for Frequency Response Estimation

When you are performing frequency response estimation, time-varying source blocks in the signal path can skew the results. Previously, to obtain accurate estimation, you manually identified source blocks and inserted open-loop points in your model to disable them.

The new source blocks in the signal path of the output linearization points in your Simulink model. Additionally, a new option to the

BlocksToHoldConstant, allows you to disable these blocks during frequency

response estimation.

For more information, see the reference pages.

frest.findSources command automatically detects time-varying

frestimate command,

frest.findSources and frestimateOptions

There is also a new Model Advisor check for detecting time-varying source blocks in your model. For more information about using the Model Advisor, see Consulting the Model Advisor in the Simulink User’s Guide.

Tuning Tools Update Workspace Variables That Define Parameters of Tuned Blocks

When you use Simulink Control Design tools to tune a block with parameters defined as workspace variables, the software now updates the values of the workspace variables. This update occurs when you write the compensator

Version 3.2 (R2010b) Simulink®Control Design™ Software

design to your S i mulink mode l. The block remains parametrized by the variables. The software can update variable parameters that represent numerical values or base workspace or the model workspace.

Previously, tuning a block parametrized by workspace variables overwrote the block parameters with numerical values. Thus, such tuning did not change the value of the workspace variables.

Simulink.Parameter objects, whether they reside in the

Enhanced PID Tuner Including New Response Plots

This release introduces several enhancements to the PID Tuner, including:

• New response p lo t optio ns let you analyze system responses in either time

domain (step p lot) or frequency domain (Bode plot). Available responses are reference tracking, input and output disturbance rejection, controller effort, open loop, and plant.

• New options when the plant linearizes to zero at the o perating point

defined in the Simulink model.

When the plant linearizes to zero on launch of the PID Tuner, the PID Tuner provides an option to linearize at a different operating point. The PID Tuner also lets you import an LTI model of your plant, such as a model obtained by frequency response estimation. Previously , the PID Tuner did not launch when the plant linearized to zero.

For an example illustrating these options, see the new Simulink Control Design demo, Designing PID Controller in Simulink with Estimated Frequency Response.

For more information about using the PID Tuner, see “Automatic PID Tuning” in the Simulink Control Design User’s Guide.

New Demo Illustrating Control Design for a Plant That Has Parameter Variations

The Reference Tracking of a DC Motor with Parameter Variations demo illustrates compensator design for a plant that has parameter variations. The demo shows the following techniques:

Simulink®Control Design™ Release Notes

• Performing batch linearization to obtain multiple linear models from a

single Simulink model

• Using the new SISO Design Tool ability to analyze a control design for

multiple models simu ltaneously

Version 3.1 (R2010a) Simulink®Control Design™ Software

Version 3.1 (R2010a) Simulink Control Design Software

This table summarizes what’s new in Version 3.1 (R2010a):

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 Parallel Computing Support For Frequency Response Estimation”

on page 9

• “New Commands Support Recomputing Frequency Response Estimation

Results at Specific F requencies” on page 10

• “New frest.simcompare Output Argument Returns Simulation Output Data

From Linear System” on page 10

• “New Options in Simulink Results Viewer GUI for V iew ing Frequency

Response Estimation Results” on page 10

• “New Option for Labeling Bus Signal I/O Names in the SISO Design Task”

on page 10

Fixed Bugs and Known Problems

Bug Reports Includes fixes

Related Documentation a t Web Site

• “Existing Simulink Blocks Now Have Analytic J a c ob ians” on page 11

• “Change in Format of Time Series in frestimate Output” on page 11

New Parallel Computing Support For Frequency Response Estimation

If you have the Parallel Computing Toolbox™ software installed, you can use parallel computing to speed up frequency response estimation.

For more information, see “Speeding Up Estimation Using Parallel Computing” in th e Simulink Control D esi gn documentation.

Simulink®Control Design™ Release Notes

New Commands Sup Response Estima

If you use the sin your frequency not reach stea few frequenci

For more infor

New frest.si Simulation

This releas allows the r state-spa

For more in

ce representation, you can also return the state vector.

New Optio Viewing

The Simu now prov estima

lation Results Viewer GUI, which you display using

ides additional options for analyzing your frequency response

tion:

estream input signal for estimation, you can now recompute

response estimation for only those specific frequencies that do

dy state. Previously, you had to redo the entire estimation if a

es needed recomputing.

mation, see “Time Response Not at Steady State”.

mcompare Output Argument Returns

Output Data From Linear System

e provides enhanced

eturn of simulated output data. If your linear model uses

formation, see the

ns in Simulink Results Viewer GUI for

Frequency Response Estimation Results

tion Results at Specific Frequencies

port Recomputing Frequency

frest.simCompare functionality, which

frest.simCompare reference page.

frest.simView,

• You can

unwrap

• You ca

Simul you h impo

New O the

can now configure the SISO Design Ta sk to automatically label model

You

s using bus signal names. Model I/O labels describe available loops in the

I/O

aphical Tuning tab and label response plots in the Analysis Plots tab of the

now enable phase unwrapping in the frequency response plot. To

phase, right-click the Bode plot, and select Unwrap Phase.

n also import f requency response estimation results into an open

ation Results Viewer, which replaces the existing results. Previously,

ad to open a new Viewer each time you viewed estimation results. To

rt results, select File > Import in the Simulation Results Viewer.

ption for Labeling Bus Signal I/O Names in

SISO Design Task

Version 3.1 (R2010a) Simulink®Control Design™ Software

SISO Design Task GUI. Previously, labels for bus signals were based on the block and port path, or the Simulink signal name.

To use this option, select Tools > Options in the SISO Design Task GUI, and enable Use bus signal nam es to label model I/O.

Existing Simulink Blocks Now Have Analytic Jacobians

The following Simulink blocks now have Analytic Jacobians, which are optimized for memory consumption in large-scale models:

• Switch

• Multiport Switch

• Math Function (Transpose and Hermitian Transpose)

For more information on each block, see the block reference pages.

Change in Format of Time Series in frestimate Output

When you use the simout output of the frestimate command, you obtain a cell array of was always the first dimension of each

As of R2010a, the time dimension of each

• Thefirstdimension,ifthetimeseriesis2-D

• The last dimension, if the time series is 3-D or higher

Compatibility Considerations

If you have scripts that run frestimate on a model having an output point on a vector or matrix signal and perform operations on the resulting 3-D or higher-dimensional scripts to reflect the new placement of the time dimension in the time series.

For additional information, see:

Simulink.Timeseries objects. Previo usly, the time dimension

Simulink.Timeseries object.

Simulink.Timeseries in simout is:

Simulink.Timeseries object in simout, modify your

Simulink®Control Design™ Release Notes

• MATLAB Data Analysis Release Notes

frestimate reference page

•

Simulink.Timeseries reference page

•

Version 3.0 (R2009b) Simulink®Control Design™ Software

Version 3.0 (R2009b) Simulink Control Design Software

This table summarizes what’s new in Version 3.0 (R2009b):

New Features and Changes

Yes Details below

Version Compatibility Considerations

No Bug Reports

New features and changes introduced in this version are

• “New GUI for Tuning New PID Controller Blocks” on page 13

• “New Automated PID Tuning Algorithm” on page 14

• “Ability to Compute Frequency Response of Simulink Mo dels” on page 14

• “Ability to Specify the Linearization of Simulink Blocks” on page 14

• “Ability to Design Compensators for Plant Models With Time Delays” on

page 14

• “NewCommandstoMoreEfficientlyComputeMultipleLinearizations”

on page 15

• “Ability to Set Default Plot Type for Linear Analysis Results f r om GUI”

on page 15

Fixed Bugs and Known Problems

Includes fixes

Related Documentation a t Web Site

Printable Release Notes: PDF

Current product documentation

New GUI for Tuning New PID Controller Blocks

You can automatically tune the new Simulink PID Controller blocks in the PID Tuner GUI R2009b introduces. You launch the PID Tuner d irectly from the PID block dialogs boxes. These blocks are available in the Continuous and Discrete Simulink libraries.

For more information on tuning PID Controller using the PID Tuner, see “Automatic PID Tuning”.

Simulink®Control Design™ Release Notes

New Automated PI

You can now tune c called Robust Re You specify the computes PID pa

For informati see “Completi

Ability to Co

ompensators using a new automated PID tuning algorithm

sponse Time, which is available in the SISO Design Task.

open-loop bandwidth and phase margin, and the software

rameters to robustly stabilize your system.

on on tuning compensators using automated tuning methods,

ng the Design”.

mpute Frequency Response of Simulink

Models

You can now c simulation simultane changing y of exact li

Ability t

You can n model re specify models.

the linearizations as LTI models or Robust Control Toolbox uncertain

ompute the frequency response of a Simulink model using

. You use new commands to easily create input signals and

ously simulate and estimate the frequency response without

our model. You can also use this capability to validate the accuracy

nearizations.

o S pecify the Linearization of Simulink Blocks

ow specify the linearization o f Simulink blocks, subsystems, and

ferences without having to replace any block in your model. You can

D Tuning Algorithm

Abilit With T

You ca repre desi

For m see “

y to Design Compensators for Plant Models

ime Delays

n now design compensators for plants with e xa ct time delay

sentations. Previously, you had to specify a Padé approximation before

gning compensators.

ore information on designing compensators for plants with time delays,

Designing Compensators for Plants with Time Delays”.

Version 3.0 (R2009b) Simulink®Control Design™ Software

New Commands to More Efficiently Compute Multiple Linearizations

Youcannowmoreefficientlycomputemultiplelinearizationsforlargemodels when only a few blocks or model references change per linearization. You linearize the fixed portion of the model once using the varying portion multiple times. Then, you combine the results using

linlftfold to obtain linearizations equal to those you would receive if you

linearized the entire model multiple times.

linlft and linearize

For more information, see the

linlft and linlftfold reference pages.

Ability to Set Default Plot Type for Linear Analysis Results from GUI

You can now set the default plot type for viewing linear analysis results computed in the Control and EstimationToolsManager. Thissettingapplies to all future Control and Estimation Tools Manager sessions.

To set this option in the Simulink Control Design Preferences, select

File > Preferences in the Control and Estimation Tools Manager.

Simulink®Control Design™ Release Notes

Version 2.5 (R2009a) Simulink Control Design Software

This table summarizes what’s new in Version 2.5 (R2009a):

New Features and Changes

Yes Details below

Version Compatibility Considerations

No Bug Reports

New features and changes introduced in this version are

• “Ability to Generate MATLAB Code from the GUI for Creating Operating

Points and Linearizing Models” on page 16

• “Ability to Tune Additional Blocks” on page 16

• “New Option for Labeling Bus Signal I/O Names in Linearization Results”

on page 17

Fixed Bugs and Known Problems

Includes fixes

Related Documentation a t Web Site

Ability to Generate MATLAB Code from the GUI for Creating Operating Points and Linearizing Models

You can now generate MATLAB code reflecting the configuration in the GUI when creating operating points an d linearizing models.

Ability to Tune Additional Blocks

You can now tune the following blocks:

• Blocks that you discretized using the Simulink Model Discretiz er

• Blocks in the Simulink Extras library that specify initial states or outputs

For information about how to tune the se blocks, see “Selecting Blocks to Tune” in the Simulink Control Design documentation.

Version 2.5 (R2009a) Simulink®Control Design™ Software

New Option for Labeling Bus Signal I/O Names in Linearization Results

You can now compute linear models that show the bus signal names for linearization I/O po ints located on buses. You can select this option using the following:

• Linearization Options GUI

•

linoptions command

Simulink®Control Design™ Release Notes

Version 2.4 (R2008b) Simulink Control Design Software

This table summarizes what’s new in Version 2.4 (R2008b):

New Features and Changes

Yes Details below

Version Compatibility Considerations

No Bug Reports

New features and changes introduced in this version are

• “New Upsampling Option for Rate Conversion When Linearizing Simulink

Models” on page 18

• “Ability to Specify State Order of Linearized Models from the Command

Line” on page 19

• “Ability to Filter the Linearization Inspector to Show Blocks in the

Linearization Path” on page 19

• “Ability to Disable the Calculatio n of Linearization Diagno stics and

Inspector Data in the GUI” on page 19

Fixed Bugs and Known Problems

Includes fixes

Related Documentation a t Web Site

New Upsampling Option for Rate Conversion When Linearizing Simulink Models

Version 2.4 includes an upsampling rate conversion method for linearization. This method upsamples discrete-time LTI systems at any sampling rate that is an integer-value-times faster than t he sampling rate of the original system. You can select the upsampling rate conversion method in the following way s:

• Using the linearization options GUI

• From the command line using

For more information on the upsampling rate conversion method, see the

linoptions reference page.

linoptions

Version 2.4 (R2008b) Simulink®Control Design™ Software

Ability to Specify State Order of Linearized Models from the Command Line

You can now specify the order of the states in your linearized model directly from the command line using the only specify state order using the GUI.

For more information on specifying state order from the command line, see the

linearize reference page.

linearize command. Previously, you could

Ability to Filter the Linearization Inspector to Show Blocks in the Linearization Path

You can now filter the list of blocks in the Linearization Inspector to show only the blocks in the lineariza t ion path. This filtering makes it easier for you to find blocks in the linearization path that you want to inspect.

Ability to Disable the Calculation of Linearization Diagnostics and Inspector Data in the GUI

You can now d isable the calculation of the linearization inspector and diagnostics information when you linearize using the GUI. This capability allow you to choose when you want to calculate diagnostic information.

Simulink®Control Design™ Release Notes

Version 2.3 (R2008a) Simulink Control Design Software

This table summarizes what’s new in Version 2.3 (R2008a):

New Features and Changes

Yes Details below

Version Compatibility Considerations

No Bug Reports

New feature

• “New Diagn

on page 20

• “Ability t

• “Updated

New Diag Lineari

You can n you dia blocks linear

• Block

s and changes introduced in this version are

ostic Messages Help You Troubleshoot Linearization Results”

o Find Operating Points for Simscape Models” on page 20

Error and Warning Message System” on page 21

nostic Messages Help You Troubleshoot

zation Results

ow view diagnostic messages for your linearized model that help

gnose and troubleshoot linearization results. These mess ages identify

in your model that encounter the following block issues during

ization:

s that have been marked as not supported for linearization

Fixed Bugs and Known Problems

Includes fixes

Related Documentation a t Web Site

• Block

• Bloc

Abi

You Sim

s with linearization configuration warning messages

ks without pre-programm ed exact Jacobian that linearize using

rical approximation

nume

lity to Find Operating Points for Simscape Models

can now find operating points for models th at include Simscape™ and

Hydraulics

blocks using the Simulink Control Design findop command.

Version 2.3 (R2008a) Simulink®Control Design™ Software

For more information on finding operating point for Simscape Models, see theSimscapedocumentation.

Updated Error and Warning Message System

The Simulink Control Design 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.

Simulink®Control Design™ Release Notes

Version 2.2 (R2007b) Simulink Control Design Software

This table summarizes what’s new in Version 2.2 (R2007b):

New Features and Changes

Yes Details below

Version Compatibility Considerations

No Bug Reports

New features and changes introduced in this version are

• “Ability to Linearize Models with Model-Reference Blocks by Any

Linearization Method” on page 22

• “Ability to Design Compensators for Models Containing Model-Reference

Blocks” on page 22

• “Ability to Generate Linearized Models with Exact Time-Delay

Representations” on page 23

• “Ability to Linearize Periodic Function-Call Subsystems” on page 23

Fixed Bugs and Known Problems

Includes fixes

Related Documentation a t Web Site

Ability to Linearize Models with Model-Reference Blocks by Any Linearization Method

You can now perform any type of linearization for m odels containing Model blocks that reference other Simulink models.

Previously, you could only perform num erical p erturbation linearization for models containing Model blocks. Now, you can also perform block-by-block linearization for such models when yousetthesimulationmodeoftheModel blocks to Normal.

Ability to Design Compensators for Models Containing Model-Reference Blocks

You can now design compensators for tunable blocks inside external models referenced by your model. Your model references such external mode ls by

Version 2.2 (R2007b) Simulink®Control Design™ Software

using Model blocks. You can also update the tunable blocks in the external model with the new compensator designs.

To view and select tunable blocks for compensator design from the refe renced model, set the simulation mode of the Model block to Normal.

For more information about the typesofblocksthatyoucantune,see “Selecting Blocks to Tune” in the Simulink Control Design documentation.

Ability to Generate Linearized Models with Exact Time-Delay Representations

You can now use the Simulink Control Design software to compute linearized models with exact time-delay representations. Time delays in the original nonlinear model can result from any of the following blocks:

• Transport Delay

• Variable Time Delay

• Variable Transport Delay

• Unit Delay

• Integer D elay

Previously, you could only achieve approximate lineari zations of models with continuous time delays using a Padé approximation.

Ability to Linearize Periodic Function-Call Subsystems

You can now linearize periodic function-call subsystems with a constant sample time as discrete subsystems. You must set the sample time of the function-call trigger block to equal the sample time of the function-call generator block.

For more information on function-call subsystems, see “Function-Call Subsystems” in the Simulink documentation.

Simulink®Control Design™ Release Notes

Version 2.1 (R2007a) Simulink Control Design Software

This table summarizes what’s new in Version 2.1 (R2007a):

New Features and Changes

Yes Details below

Version Compatibility Considerations

No Bug Reports

New features and changes introduced in this version are

• “Ability to Linearize Using an Operating Point Specified Directly in a

Model” on page 24

• “Ability to Capture Linearization Snapshots in G U I” o n p age 25

• “Ability to Perform Control DesignatSnapshotsinGUI”onpage25

• “Ability to Retrieve Stored Compensator Designs” on page 25

Fixed Bugs and Known Problems

Includes fixes

Related Documentation a t Web Site

Ability to Linearize Using an Operating Point Specified Directly in a Model

You can use the Simulink Control Design software to linearize around any operating point that you specify directly in a Simulink model. This capability allows you to make changes to a model and then perform a linearization around the newly specified operating point with the click of a single button. Previously, this same task required two steps: creating a new operating point and then linearizing around this operating point.

There are two ways to linearize around an operating point specified directly in the model:

• From the Control and Estimation Tools Manager

• Using

linearize

Version 2.1 (R2007a) Simulink®Control Design™ Software

Ability to Captu

You can use the Co snapshots of you

• Specified simu

state solutio

• Events during

As in prior re snapshots in reference p

Ability to P

You can use design at s points:

• Specifie

state sol

• Events d

Ability

When yo the cur button by und more i Retri

rent design and then continue making changes to this d esign. A new called Retrieve Design lets you retrieve the stored design at any time

oing the design changes you made since you last stored the design. For

nformation on retrieving stored compensator designs, see “Storing and

eving Designs” in the Simulink Control Design documentation.

leases, you can use

your model operating point, as described in

ages.

erform Control Design at Snapshots in GUI

the Control and Estimation Tools Manager to perform control

napshots of your model operating point at the following simulation

dsimulationtimes,suchaswhenthesimulationreachesasteady

ution

uring a specif ied simulation interval

to Retrieve Stored Compensator Designs

udesignacompensatorusingtheSISOdesigntool,youcanstore

re Linearization Snapshots in GUI

ntrol and Estimation Tools Manager to linearize at

r model operating point at the following simulation points:

lation times, such as when the simulation reaches a steady

a specified simulation interval

linearize to perform linearization at

linearize in the

Simulink®Control Design™ Release Notes

Version 2.0.1 (R2006b) Simulink Control Design Software

This table summarizes what’s new in Version 2.0.1 (R2006b):

New Features and Changes

No No Bug Reports

Version Compatibility Considerations

Fixed Bugs and Known Problems

Includes fixes

Related Documentation a t Web Site

Version 2.0 (R2006a) Simulink®Control Design™ Software

Version 2.0 (R2006a) Simulink Control Design Software

This table summarizes what’s new in Version 2.0 (R2006a):

New Features and Changes

Yes Details below

Version Compatibility Considerations

No Bug Reports

New features and changes introduced in this version are

Fixed Bugs and Known Problems

Includes fixes

Related Documentation a t Web Site

Compensator Design in Simulink Is Now Supported

This release provides new tools to streamline the workflow for designing Single-Input Single-Output (SISO) control loops directly in Simulink. In previous releases, designing a compensator was a multistep process that involved several tools.

The new tools support any linearizable control architecture, such as sing le loops, multiple loops, and cascaded loops. With the new tools, you simply select the blocks you want to tune. Then, the Simulink Control Design software au tomatically analyzes your model to identify the relevant control loops and opens a preconfigured session of the SISO Design Tool (in the Control System Toolbox™ software). For more information, see “Designing Compensators” in the Simulink Control Design documentation.

Supported tunable SISO Simulink blocks include Gain, Transfer Function, Zero-Pole-Gain, State-Space, and PID blocks.

In the SISO Design Tool you can

• Graphically tune multiple SISO loops in a single GUI.

• Gain visual insight into loop interactions and coupling effects.

• Focus the analysis on a specific loop in a multiloop design by removing

the effect of other feedback loops.

Simulink®Control Design™ Release Notes

• Generate first-cut compensator designs u sing systematic design algorithms,

such as Ziegler-Nichols PID tuning, IMC design, or LQG design.

• Optimize linear responses to meet time and frequency-based design

constraints (requires the Simulink

Response Optimization™ software).

• Directly tune Simulink block parameters, such as PID gains, zero-pole-gain

representations, and masked blocks.

• Tune continuous or discrete control loops.

• Examine the closed-loop response of any portion of a model.

After a design is completed, you can write the tuned parameter values back to your model for verification w ith the full nonlinear system.

Version 1.3 (R14SP3) Simulink®Control Design™ Software

Version 1.3 (R14SP3) Simulink Control Design Software

This table summarizes what’s new in Version 1.3 (R14SP3):

New Features and Changes

Yes Details below

Version Compatibility Considerations

No Bug Reports

New features and changes introduced in this version are

• “Control and Estimation Tools Manager Enhanced” on page 29

• “Support for Operating Point S earch and Linearization of Models with

Model Reference Blocks” on page 29

Fixed Bugs and Known Problems

Includes fixes

Related Documentation a t Web Site

Control and Estimation Tools Manager Enhanced

You can copy and edit operating points within the Control and Estimation Tools Manager. .

You can initialize a model for simulation using operating points from within the Control and Estimation Tools Manager.

Support for Operating Point Search and Linearization of Models with Model Reference Blocks

You can linearize and compute operating points for models that reference other models using the M odel block. Linearization of model reference models must use the numerical perturbation linearization algorithm. This algorithm accepts state and input perturbation values in the form of an operating point object.

Simulink®Control Design™ Release Notes

Version 1.2 (R14SP2) Simulink Control Design Software

This table summarizes what’s new in Version 1.2 (R14SP2):

New Features and Changes

Yes Details below

Version Compatibility Considerations

No Bug Reports

New features and changes introduced in this version are

• “Context-Sensitive Help Added” on page 30

• “View Linearizations in the Control and Estimation Tools Manager” on

page 30

• “Discretization Methods Added” on page 3 1

• “List of Blocks with Preprogram med Analytic Jacobians Added” on pa ge 31

• “Block Name Readability Impro ved” on page 31

Fixed Bugs and Known Problems

Includes fixes

Related Documentation a t Web Site

Context-Sensitive Help Added

Access context-sensitive help for the Linearization, Operating Point Search, and Linearization State Ordering Options window of the Control and Estimation Tools Manager. To access help on a field within the options window, right-click the option’s label and select What’s this? from the context menu. Help for the option will appear in this window.

View Linearizations in the Control and Estimation Tools Manager

You can view state space, transfer function, and zero-pole gain representations of linearized models within the C ontrol and E stimatio n Tools Manager without exporting to the workspace. These linearized models appear in the linearization summary pane of the Control and Estimation Tools Manager.

Version 1.2 (R14SP2) Simulink®Control Design™ Software

Discretization

You can select fr multirate and hy

om three different discretization methods for linearization of

brid models.

List of Blocks Jacobians Add

You can view a c preprogramm linearizati

on algorithm.

omplete list of b locks indicating which blocks have

ed analytic Jacobians for use with the block-by-block analytic

Block Name R

You can use e space matr readabili

ither truncated block names or full block names in the state

ices of a linearized model, and within the LTI Viewer, to improve

ty.

Methods Added

with Preprogrammed Analytic

eadability Improved

Simulink®Control Design™ Release Notes

Version 1.1 (R14SP1) Simulink Control Design Software

This table summarizes what’s new in Version 1.1 (R14SP1):

New Features and Changes

No No

Version Compatibility Considerations

Fixed Bugs and Known Problems

Fixed bugs

Related Documentation a t Web Site

Version 1.0 (R1 4) Simulink®Control Design™ Software

Version 1.0 (R14) Simulink Control Design Software

This table summarizes what’s new in Version 1.0 (R14):

New Features and Changes

Yes Details below

Version Compatibility Considerations

New features and changes introduced in this version are

Fixed Bugs and Known Problems

No bug fixes

Related Documentation a t Web Site

About the Simulink Control Design Software

The Simulink Control Design software provides tools for the linearization of control systems and models. A graphical user interface (GUI) simplifies the tasks of specifying operating conditions, linearizing the model, and analyzing the results. Linearized models often facilitate system analysis and compensator design. This is useful in many industries and applications, including

• Aerospace: flight control, guidance, navigation

• Automotive: cruise control, emissions control, transmission

• Equipment manufacturing: motors, disk driv es, servos

The Simulink C ontrol Design software improves upon previous Simulink linearization tools by providing more options for computing operating conditions, allowing open loop analysis without the removal of feedback loops, and including a linearization inspector and debugger. Linearization projects are easier to manage with the new Control and Estimation Tools Manager. Furthermore, the Control System Toolbox software features, such as the LTI Viewer, are integrated with the Control Designer software to improve control system analysis and design.

Simulink®Control Design™ Release Notes

Key Features Int

Key features of t

• Specify linear

right-click me

• Perform open l

• Extract opera

• Compute oper

• Create outpu

• Linearize i

• Inspect and

• Identify b

• Export res

• Manage li

lineariz

• Use impr

analysi

he Simulink Control Design software include the ability to

ization input, output, and open loop analysis points using

nus

oop analysis without deleting feedback loops

ting conditions from a simulation

ating conditions by optimization (trimming)

t constraints for trim analysis

ndividual blocks using context menus

debug results of the linearization

locks in a model t h at contribute to a li nearization

ults to the MATLAB workspace

nearization projects, compute operating conditions, and perform

ation with a graphical user interface (GUI)

oved functions at the command line for linearization and trim

roduced

Compatibility Summary for Simulink®Control Design™ Software

Compatibility Summar y for Simulink Control Design Software

This table summarizes new features and changes that might cause incompatibilities when you upgrade from an earlier version, or when you use files on multiple versions. Details are provided in the description of the new feature or change.

Version (Release) New Featu res and Changes with

Version Compatibility Impact

Latest Version V3.2 (R2010b)

V3.1 (R2010a) See the Com patibility

V3.0 (R2009b)

V2.5 (R2009a)

V2.4 (R2008b)

V2.3 (R2008a)

V2.2 (R2007b)

V2.1 (R2007a)

V2.0.1 (R2006b)

V2.0 (R2006a)

V1.3 (R14SP3)

V1.2 (R14SP2)

V1.1 (R14SP1)

None

Considerations subheading for this change:

• “Change in Format of Time Series

in frestimate Output” on page 11

None

one

V1.0 (R14)

None

Mathworks SIMULINK CONTROL DESIGN Release Notes

Specifications and Main Features

Frequently Asked Questions

User Manual