Merge 8da50f2 into b200eaf

README.md

@@ -51,7 +51,9 @@ ss, tf, zpk, ss2tf
 ##### Analysis
 pole, tzero, norm, norminf, ctrb, obsv, gangoffour, margin, markovparam, damp, dampreport, zpkdata, dcgain, covar, gram, sigma, sisomargin
 ##### Synthesis
-care, dare, dlyap, lqr, dlqr, place, pid, leadlink, laglink, leadlinkat, rstd, rstc, dab
+care, dare, dlyap, lqr, dlqr, place, leadlink, laglink, leadlinkat, rstd, rstc, dab
+###### PID design
+pid, stabregionPID, loopshapingPI, pidplots
 ##### Time and Frequency response
 step, impulse, lsim, freqresp, evalfr, bode, nyquist
 ##### Plotting
@@ -102,3 +104,6 @@ stepplot(CLs, label=["Kp = 1", "Kp = 5", "Kp = 15"])
 ```
 
 ![StepResponse](/example/step_response.png)
+
+### Additional examples
+See the examples folder

example/example_pid_design.md

@@ -12,6 +12,14 @@ function `loopshapingPI` and tell it that we want 60 degrees phase margin at thi
 kp,ki,C = loopshapingPI(P,ωp,phasemargin=60, doplot=true)
 ```
 
+We could also cosider a situation where we want to create a closed-loop system with the bandwidth ω = 2 rad/s, in which case we would write something like
+```julia
+ωp = 2
+kp,ki,C60 = loopshapingPI(P,ωp,rl=1,phasemargin=60, doplot=true)
+```
+Here we specify that we want the Nyquist curve `L(iω) = P(iω)C(iω)` to pass the point `|L(iω)| = rl = 1,  arg(L(iω)) = -180 + phasemargin = -180 + 60`
+The gang of four tells us that we can indeed get a very robust and fast controller with this design method, but it will cost us significant control action to double the bandwidth of all four poles. 
+
 # Advanced pole-zero placement
 This example illustrates how we can perform advanced pole-zero placement. The task is to make the process a bit faster and damp the poorly damped poles.
 
@@ -25,22 +33,22 @@ A   = [1, 2ζ*ω, ω^2]
 P  = tf(B,A)
 ```
 
-Define the desired closed loop response, calculate the controller polynomials and simulate the closed-loop system
+Define the desired closed loop response, calculate the controller polynomials and simulate the closed-loop system. The design utilizes an observer poles twice as fast as the closed-loop poles. An additional observer pole is added in order to get a casual controller when an integrator is added to the controller. 
 ```julia
 # Control design
 ζ0 = 0.7
 ω0 = 2
 Am = [1, 2ζ0*ω0, ω0^2]
-Ao = conv(2Am, [1/2, 1]) # Observer polynomial
-AR = [1,0] # Force the controller to contain an integrator
+Ao = conv(2Am, [1/2, 1]) # Observer polynomial, add extra pole due to the integrator
+AR = [1,0] # Force the controller to contain an integrator ( 1/(s+0) )
 
 B⁺  = [1] # The process numerator polynomial can be facored as B = B⁺B⁻ where B⁻ contains the zeros we do not want to cancel (non-minimum phase and poorly damped zeros)
 B⁻  = [1]
 Bm  = conv(B⁺, B⁻) # In this case, keep the entire numerator polynomial of the process
 
 R,S,T = rstc(B⁺,B⁻,A,Bm,Am,Ao,AR) # Calculate the 2-DOF controller polynomials
 
-Gcl = tf(conv(B,T),zpconv(A,R,B,S)) # Form the closed loop polynomial from reference to output
+Gcl = tf(conv(B,T),zpconv(A,R,B,S)) # Form the closed loop polynomial from reference to output, the closed-loop characteristic polynomial is AR + BS, the function zpconv takes care of the polynomial multiplication and makes sure the coefficient vectores are of equal length
 
 stepplot([P,Gcl]) # Visualize the open and closed loop responses.
 gangoffourplot(P, tf(-S,R)) # Plot the gang of four to check that all tranfer functions are OK
@@ -59,3 +67,23 @@ f2 = stabregionPID(P2,exp10.(range(-5, stop=2, length=1000)))
 P3 = tf(1,[1,1])^4
 f3 = stabregionPID(P3,exp10.(range(-5, stop=0, length=1000)))
 ```
+
+
+
+
+# PID plots
+This example utilizes the function `pidplots`, which accepts vectors of PID-parameters and produces relevant plots. The task is to take a system with bandwidth 1 rad/s and produce a closed-loop system with bandwidth 0.1 rad/s. If one is not careful and proceed with pole placement, one easily get a system with very poor robustness.
+```julia
+P = tf([1.],[1., 1])
+
+ζ = 0.5 # Desired damping
+
+ws = logspace(-1,2,8) # A vector of closed-loop bandwidths
+kp = 2*ζ*ws-1 # Simple pole placement with PI given the closed-loop bandwidth, the poles are placed in a butterworth pattern
+ki = ws.^2
+pidplots(P,:nyquist,:gof;kps=kp,kis=ki, ω= logspace(-2,2,500)) # Request Nyquist and Gang-of-four plots (more plots are available, see ?pidplots )
+
+kp = linspace(-1,1,8) # Now try a different strategy, where we have specified a gain crossover frequency of 0.1 rad/s
+ki = sqrt(1-kp.^2)/10
+pidplots(P,:nyquist,:gof;kps=kp,kis=ki)
+```