JuliaControl / Controlsystems.jl
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ControlSystems.jl
A control systems design toolbox for Julia.
Installation
To install, in the Julia REPL:
using Pkg; Pkg.add("ControlSystems")
News
2021-01
- Breaking: Support for julia versions older than 1.3 is dropped
-
Breaking:
c2d(::StateSpace)
now returns only the system, not thex0map
. Seec2d_x0map
for the old functionality. - System order can be specified in
baltrunc
. - New discretization methods in
c2d
. We now support:zoh,:foh,:fwdeuler,:tustin
- Symbolic computation utilities in SymbolicControlSystems.jl
More details under releases.
2020-10
-
lsimplot, stepplot, impulseplot
now have the same signatures as the corresponding non-plotting function. - New function
d2c
for conversion from discrete to continuous.
2020-09-24
Release v0.7 introduces a new TimeEvolution
type to handle Discrete/Continuous
systems. See the release notes.
2019-11-03
- Poles and zeros are "not sorted" as in Julia versions < 1.2, even on newer versions of Julia. This should imply that complex conjugates are kept together.
2019-05-28
Delay systems
- We now support systems with time delays. Example:
sys = tf(1, [1,1])*delay(1)
stepplot(sys, 5) # Compilation time might be long for first simulation
nyquistplot(sys)
New examples
- Delayed systems (frequency domain)
- Delayed systems (time domain)
- Systems with uncertainty
- Robust PID optimization
2019-05-22
New state-space type HeteroStateSpace
that accepts matrices of heterogeneous types: example using StaticArrays
.
Documentation
All functions have docstrings, which can be viewed from the REPL, using for example ?tf
.
A documentation website is available at http://juliacontrol.github.io/ControlSystems.jl/latest/.
Some of the available commands are:
Constructing systems
ss, tf, zpk
Analysis
pole, tzero, norm, hinfnorm, linfnorm, ctrb, obsv, gangoffour, margin, markovparam, damp, dampreport, zpkdata, dcgain, covar, gram, sigma, sisomargin
Synthesis
care, dare, dlyap, lqr, dlqr, place, leadlink, laglink, leadlinkat, rstd, rstc, dab, balreal, baltrunc
PID design
pid, stabregionPID, loopshapingPI, pidplots
Time and Frequency response
step, impulse, lsim, freqresp, evalfr, bode, nyquist
Plotting
lsimplot, stepplot, impulseplot, bodeplot, nyquistplot, sigmaplot, marginplot, gangoffourplot, pidplots, pzmap, nicholsplot, pidplots, rlocus, leadlinkcurve
Other
minreal, sminreal, c2d
Usage
This toolbox works similar to that of other major computer-aided control systems design (CACSD) toolboxes. Systems can be created in either a transfer function or a state space representation. These systems can then be combined into larger architectures, simulated in both time and frequency domain, and analyzed for stability/performance properties.
Example
Here we create a simple position controller for an electric motor with an inertial load.
using ControlSystems
# Motor parameters
J = 2.0
b = 0.04
K = 1.0
R = 0.08
L = 1e-4
# Create the model transfer function
s = tf("s")
P = K/(s*((J*s + b)*(L*s + R) + K^2))
# This generates the system
# TransferFunction:
# 1.0
# ---------------------------------
# 0.0002s^3 + 0.160004s^2 + 1.0032s
#
#Continuous-time transfer function model
# Create an array of closed loop systems for different values of Kp
CLs = TransferFunction[kp*P/(1 + kp*P) for kp = [1, 5, 15]];
# Plot the step response of the controllers
# Any keyword arguments supported in Plots.jl can be supplied
stepplot(CLs, label=["Kp = 1" "Kp = 5" "Kp = 15"])
Additional examples
See the examples folder and ControlExamples.jl