Nonlinear Control Design Blockset

Introduction

Overview

System Requirements

Default Window Size

Installation Instructions

Typographical Conventions

Tutorial

Quick Start

A Control Design Example

Nonlinear Control Design Blockset Startup

Adjusting Constraints

Running the Optimization

Adding Uncertainty

A System Identification Problem

Nonlinear Control Design Blockset Startup

Adjusting Constraints

Running the Optimization

Solving the Optimization Problem

Nonlinear Control Design Blockset
Command-Line Interaction

Nonlinear Control Design Blockset
and the Simulink Accelerator

Printing a Nonlinear Control Design
Blockset Constraint Figure

Problem Formulation

Actuation Limits vs. State Constraints
(Physical vs. Design Constraints)

Minimizing Integrated Positive Signals (Control Energy)

Noise Inputs

Tracking

Disturbance Rejection

System Identification

Model Following

Adaptive Control

MIMO Systems

Multimode Control

Gain Scheduling

Repeated Parameter Problems

Simultaneous Stabilization

Controller Pole (Zero) Placement

Strong Stabilization

Case Studies

Case Study 1: PID Controller

Problem Definition

Problem Setup

Problem Solution

Case Study 2: LQR with Feedforward Controller

Problem Definition

Problem Setup

Problem Solution

Case Study 3: MIMO PI Controller

Problem Definition

Problem Setup

Problem Solution

Case Study 4: Inverted Pendulum on Track

Problem Definition

Problem Setup

Problem Solution

Troubleshooting

Control and Identification

Optimization

Nonlinear Control Design Blockset Interface

Reference

Object Manipulation

Cursor Modes

Manipulating Constraints

Nonlinear Control Design Blockset Menus

File Menu.

Edit Menu

Options Menu

Optimization Menu

Style Menu

Nonlinear Control Design Blockset Control Panel

Appendix

Optimization Details

Problem Formulation Details

Optimization Algorithmic Details

Representation of Time-Domain Constraints

Nonlinear Control Design Blockset Global
Variable ncdStruct

LQR Design for Inverted Pendulum

Introduction