Control System Toolbox For Use with MATLAB Computation Visualization Programming The MATH WORKS Inc. Using the Control System Toolbox Version 1
Computation Visualization Programming For Use with MATLAB® Using the Control System Toolbox Version 1 Control System Toolbox
Contents Introduction LTI Models LTI Models Using LTI Models in the Control System Toolbox LTI Objects Precedence rules 2-5 Viewing LTI Systems As Matrices 2-5 Command Summary 2-6 Creating LTI Model 2-8 Transfer Function Models Zero-Pole- Gain Models 2-12 State-Space Models 2-14 Descriptor State-Space Models 2-16 Frequency Response Data(FRD) Models 2-17 Discrete-Time models 2-19 Data Retrieval 2-23 LTI Properties Generic Properties Model-Specific Properties Setting Lti Properties Accessing Property Values Using get Direct Property Referencing Additional Insight into LTI Properties 2-32 Model Conversion Explicit Conversion 2-40 Automatic Conversion 2-41 Caution about Model conversions 2-41
i Contents 1 Introduction 2 LTI Models LTI Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Using LTI Models in the Control System Toolbox . . . . . . . . . . . 2-3 LTI Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 Precedence Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 Viewing LTI Systems As Matrices . . . . . . . . . . . . . . . . . . . . . . . 2-5 Command Summary . . . ............................... 2-6 Creating LTI Models .................................. 2-8 Transfer Function Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Zero-Pole-Gain Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12 State-Space Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14 Descriptor State-Space Models . . . . . . . . . . . . . . . . . . . . . . . . . 2-16 Frequency Response Data (FRD) Models . . . . . . . . . . . . . . . . . 2-17 Discrete-Time Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19 Data Retrieval . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23 LTI Properties ....................................... 2-25 Generic Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25 Model-Specific Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26 Setting LTI Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28 Accessing Property Values Using get . . . . . . . . . . . . . . . . . . . . 2-30 Direct Property Referencing . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31 Additional Insight into LTI Properties . . . . . . . . . . . . . . . . . . 2-32 Model Conversion ................................... 2-40 Explicit Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40 Automatic Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41 Caution About Model Conversions . . . . . . . . . . . . . . . . . . . . . . 2-41
Time Delays Supported Functionality Specifying Input/Output Delays Specifying Delays on the Inputs or Outputs 2-48 Specifying Delays in Discrete-Time Models 2-50 Retrieving Information About Delays 2-51 Pade Approximation of Time Delays 2-52 Simulink Block for LTI Systems 2-54 References 2-56 Operations on Lti Models 3 Precedence and Property Inheritance Extracting and Modifying Subsystems Referencing FRD Models Through Frequencies 3-7 Referencing Channels by Name -8 Resizing lti systems∴ 3-9 Arithmetic Operations Addition and Subtraction 3-11 Multiplication Inversion and Related Operations Transposition 3-14 Pertransposition 3-14 Model interconnection functions Concatenation of LTI Models Feedback and Other Interconnection Functions 3-18 Continuous/Discrete Conversions of lTi Models Zero-Order hold 3-20 First-Order hold Tustin Approximation
ii Time Delays ......................................... 2-43 Supported Functionality . . . ........................... 2-43 Specifying Input/Output Delays . . . . . . . . . . . . . . . . . . . . . . . . 2-44 Specifying Delays on the Inputs or Outputs . . . . . . . . . . . . . . . 2-48 Specifying Delays in Discrete-Time Models . . . . . . . . . . . . . . . 2-50 Retrieving Information About Delays . . . . . . . . . . . . . . . . . . . . 2-51 Padé Approximation of Time Delays . . . . . . . . . . . . . . . . . . . . . 2-52 Simulink Block for LTI Systems ....................... 2-54 References .......................................... 2-56 3 Operations on LTI Models Precedence and Property Inheritance .................. 3-3 Extracting and Modifying Subsystems .................. 3-5 Referencing FRD Models Through Frequencies . . . . . . . . . . . . . 3-7 Referencing Channels by Name . . . . . . . . . . . . . . . . . . . . . . . . . 3-8 Resizing LTI Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9 Arithmetic Operations ................................ 3-11 Addition and Subtraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11 Multiplication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13 Inversion and Related Operations . . . . . . . . . . . . . . . . . . . . . . 3-13 Transposition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14 Pertransposition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14 Model Interconnection Functions ..................... 3-16 Concatenation of LTI Models . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16 Feedback and Other Interconnection Functions . . . . . . . . . . . 3-18 Continuous/Discrete Conversions of LTI Models ........ 3-20 Zero-Order Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20 First-Order Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22 Tustin Approximation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Tustin with Frequency Prewarping 3-23 Matched poles and zeros 3-23 Discretization of Systems with delays Resampling of Discrete-Time Models References 3-27 Model analysis Tools General Model Characteristics 4-2 Model Dynamics State-Space Realizations 47 Arrays of LTi Models 5 Introduction 5-2 When to Collect a Set of Models in an LTI Array Restrictions for LTI Models Collected in an Array 22 Where to find information on lti array 5-3 The Concept of an LTI Array 5-4 Higher Dimensional Arrays of LTI Model 5-6 Dimensions, Size, and Shape of an LTI Array size and dims 5-9 Building LTI Arrays. 5-12 Generating LTI Arrays Using rss 5-12
iii Tustin with Frequency Prewarping . . . . . . . . . . . . . . . . . . . . . 3-23 Matched Poles and Zeros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23 Discretization of Systems with Delays . . . . . . . . . . . . . . . . . . . 3-23 Resampling of Discrete-Time Models ................... 3-26 References .......................................... 3-27 4 Model Analysis Tools General Model Characteristics ......................... 4-2 Model Dynamics ...................................... 4-4 State-Space Realizations ............................... 4-7 5 Arrays of LTI Models Introduction .......................................... 5-2 When to Collect a Set of Models in an LTI Array . . . . . . . . . . . 5-2 Restrictions for LTI Models Collected in an Array . . . . . . . . . . 5-2 Where to Find Information on LTI Arrays . . . . . . . . . . . . . . . . . 5-3 The Concept of an LTI Array ........................... 5-4 Higher Dimensional Arrays of LTI Models . . . . . . . . . . . . . . . . 5-6 Dimensions, Size, and Shape of an LTI Array ............ 5-7 size and ndims . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9 reshape . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11 Building LTI Arrays .................................. 5-12 Generating LTI Arrays Using rss . . . . . . . . . . . . . . . . . . . . . . . 5-12
Building LTI Arrays Using for Loops 5-12 Building LTI Arrays Using the stack Function 5-15 uilding Lti arrays Using tf, zpk, ss, and frd Indexing Into LTI Arrays Accessing Particular Models in an LTI Array Extracting LTI Arrays of Subsystems 5-21 Reassigning Parts of an LTI Array 5-22 Deleting Parts of an LTI Array 5-23 Operations on LTI Arrays 5-24 Example: Addition of Two LTI Arrays Dimension Requirements 5-26 Special Cases for Operations on LTI Arrays Other operations on LTi arrays Customization 6 The Property and Preferences Hierarchy Setting Toolbox Preferences 7「 Opening the Toolbox Preferences Editor 6-2 Units Page 6-3 Style Page Characteristics Page SISO Tool Page Setting Tool Preferences 8 Opening the Lti Viewer Preferences Editor 82 8-3
iv Building LTI Arrays Using for Loops . . . . . . . . . . . . . . . . . . . . 5-12 Building LTI Arrays Using the stack Function . . . . . . . . . . . . 5-15 Building LTI Arrays Using tf, zpk, ss, and frd . . . . . . . . . . . . . 5-17 Indexing Into LTI Arrays ............................. 5-20 Accessing Particular Models in an LTI Array . . . . . . . . . . . . . 5-20 Extracting LTI Arrays of Subsystems . . . . . . . . . . . . . . . . . . . 5-21 Reassigning Parts of an LTI Array . . . . . . . . . . . . . . . . . . . . . . 5-22 Deleting Parts of an LTI Array . . . . . . . . . . . . . . . . . . . . . . . . . 5-23 Operations on LTI Arrays ............................. 5-24 Example: Addition of Two LTI Arrays . . . . . . . . . . . . . . . . . . . 5-25 Dimension Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26 Special Cases for Operations on LTI Arrays . . . . . . . . . . . . . . 5-26 Other Operations on LTI Arrays . . . . . . . . . . . . . . . . . . . . . . . . 5-29 6 Customization The Property and Preferences Hierarchy . . . . . . . . . . . . . . . . . . 6-3 7 Setting Toolbox Preferences Opening the Toolbox Preferences Editor . . . . . . . . . . . . . . . . . . 6-2 Units Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3 Style Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3 Characteristics Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4 SISO Tool Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5 8 Setting Tool Preferences Opening the LTI Viewer Preferences Editor . . . . . . . . . . . . . . . 8-2 Units Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
Style Page 3 Characteristics Page ameters Page Opening the SISO Tool Preferences Editor 86 Units Page Style Pa 8-8 Options Page ...8-10 Line Colors Page Customizing Response Plot Properties 9 Property Editor 9-3 Labels Page Units Page Style Page Characteristics Page 9-8 Property Editing for Subplots ...9-10 Customizing Plots Inside the SISO Design Tool 9-11 Opening the Root Locus Plot Editor Labels Page 9-12 Limits Page Options Page 9-14 Opening the Bode Diagram Property Editor Labels Page 9-16 Limits Page 9-17 Options Page
v Style Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3 Characteristics Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4 Parameters Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5 Opening the SISO Tool Preferences Editor . . . . . . . . . . . . . . . . 8-6 Units Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7 Style Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8 Options Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10 Line Colors Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12 9 Customizing Response Plot Properties Property Editor ....................................... 9-3 Labels Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4 Limits Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4 Units Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5 Style Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7 Characteristics Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8 Property Editing for Subplots ......................... 9-10 Customizing Plots Inside the SISO Design Tool ......... 9-11 Opening the Root Locus Plot Editor . . . . . . . . . . . . . . . . . . . . . 9-11 Labels Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12 Limits Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12 Options Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14 Opening the Bode Diagram Property Editor . . . . . . . . . . . . . . 9-15 Labels Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16 Limits Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17 Options Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18
Design Case Studies 10 Yaw Damper for a 747 Jet Transport 10-3 Open-Loop Analysis -5 Root Locus design 10-9 Washout Filter Design 10-14 Hard-Disk Read/write Head Controller 10-20 LQG Regulation: Rolling Mill Example 10-31 Process and disturbance models LQG Design for the x-Axis 10-34 LQG Design for the y-Axi Cross-Coupling Between Axes 10-43 MIMO LQG Design 10-46 Kalman Filtering 10-50 Discrete Kalman Filter 10-50 Steady-State Design 0-51 Time-Varying Kalman Filter Time-Varying Design References 1061 Reliable Computations 11 Conditioning and Numerical Stability 114 Conditioning 114 Numerical Stabil 116 Choice oflti mode 118 State Space Transfer Function 118 Zero-Pole-Gain models 11-13 Scaling 1115
vi 10 Design Case Studies Yaw Damper for a 747 Jet Transport ................... 10-3 Open-Loop Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5 Root Locus Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-9 Washout Filter Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-14 Hard-Disk Read/Write Head Controller ............... 10-20 LQG Regulation: Rolling Mill Example ................ 10-31 Process and Disturbance Models . . . . . . . . . . . . . . . . . . . . . . . 10-31 LQG Design for the x-Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-34 LQG Design for the y-Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-41 Cross-Coupling Between Axes . . . . . . . . . . . . . . . . . . . . . . . . . 10-43 MIMO LQG Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-46 Kalman Filtering .................................... 10-50 Discrete Kalman Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-50 Steady-State Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-51 Time-Varying Kalman Filter . . . . . . . . . . . . . . . . . . . . . . . . . . 10-57 Time-Varying Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-58 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-61 11 Reliable Computations Conditioning and Numerical Stability ................. 11-4 Conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4 Numerical Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6 Choice of LTI Model .................................. 11-8 State Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8 Transfer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8 Zero-Pole-Gain Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-13 Scaling ............................................. 11-15
11-17 References l1-18 GUI Reference 12 SISO Design Tool Reference 13 Menu ba 13-4 13-5 13-6 13-8 Print 13-8 Print to Figure 13-9 13-9 Undo and redo 13-9 Root Locus and Bode diagrams 13-9 SISO Tool Preferences 13-10 13-10 Root Locus and Bode Diagrams 13-11 System Data Closed Loop poles 13-12 Design Histor 13-12 Tools 13-12 13-12 Continuous/Discrete Conversions 13-15 Draw a Simulink diag 13-17 13-17 Format 13-18 Edit 13-
vii Summary ........................................... 11-17 References ......................................... 11-18 12 GUI Reference 13 SISO Design Tool Reference Menu Bar ............................................ 13-4 File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-4 Import . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-5 Export . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-6 Toolbox Preferences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-8 Print . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-8 Print to Figure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-9 Close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-9 Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-9 Undo and Redo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-9 Root Locus and Bode Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . 13-9 SISO Tool Preferences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-10 View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-10 Root Locus and Bode Diagrams . . . . . . . . . . . . . . . . . . . . . . . . 13-11 System Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-11 Closed Loop Poles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-12 Design History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-12 Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-12 Loop Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-12 Continuous/Discrete Conversions . . . . . . . . . . . . . . . . . . . . . . 13-15 Draw a Simulink Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-17 Compensator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-17 Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-18 Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-19
Store 13-20 Retrieve Clear Window 13-21 Help Tool Ba 13-23 Current Compensator 13-24 Feedback Structure 13-25 Root Locus Right-Click Menus 13-26 Add Edit Compensator 13-27 Design Constraints 13-28 Grid 13-29 Properties 13-30 Bode Diagram Right-Click Menus 13-31 Add Delete pole/zero Edit Compensator Zoom ...1333 Grid 13-34 13-34 Status panel 13-35 LTI Viewer reference 14 LTI Viewer 14-2
viii Store . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-20 Retrieve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-21 Clear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-21 Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-21 Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-21 Tool Bar ............................................ 13-23 Current Compensator ............................... 13-24 Feedback Structure ................................. 13-25 Root Locus Right-Click Menus ....................... 13-26 Add . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-26 Delete Pole/Zero . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-27 Edit Compensator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-27 Design Constraints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-28 Grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-28 Zoom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-29 Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-30 Bode Diagram Right-Click Menus .................... 13-31 Add . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-31 Delete Pole/Zero . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-32 Edit Compensator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-32 Show . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-33 Zoom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-33 Grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-34 Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-34 Status Panel ........................................ 13-35 14 LTI Viewer Reference LTI Viewer .......................................... 14-2
LTI Viewer Menu bar 14-4 File 14-4 New viewer Import Using the LTI Browser 14-5 Export Using the LTI Viewer Export Window 14-6 Toolbox Preferences 14-6 Print 14-6 Print to Figure 14-7 147 Edit 147 Plot Configur. 14-8 Systems∴ 14-9 Delete Using the LTI Browser for System Deletion 14-9 Line Styles Editor 14-10 Viewer preferences 14-11 Window 14-11 14-11 Right-Click Menus for SISO Systems 14-12 Plot Type 14-13 Systems 14-14 Characteristics 14-14 Grid 14-22 1422 Properties 14-23 Right-Click Menus for MIMO and LTI Arrays 1424 Axis grouping 14-25 I/O Selector 14-25 Status Panel 14-27 Right-Click Menus for Response Plots 15 Right-Click Menus for SIXXSO Systems 15-4 Systems 15-4
ix LTI Viewer Menu Bar ................................ 14-4 File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-4 New Viewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-5 Import Using the LTI Browser . . . . . . . . . . . . . . . . . . . . . . . . . 14-5 Export Using the LTI Viewer Export Window . . . . . . . . . . . . . 14-6 Toolbox Preferences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-6 Print . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-6 Print to Figure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-7 Close . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-7 Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-7 Plot Configurations Window . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-8 Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-9 Delete Using the LTI Browser for System Deletion . . . . . . . . . 14-9 Line Styles Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-10 Viewer Preferences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-11 Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-11 Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-11 Right-Click Menus for SISO Systems .................. 14-12 Plot Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-13 Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-14 Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-14 Grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-22 Zoom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-22 Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-23 Right-Click Menus for MIMO and LTI Arrays .......... 14-24 Axis Grouping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-25 I/O Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-25 Status Panel ........................................ 14-27 15 Right-Click Menus for Response Plots Right-Click Menus for SIXXSO Systems ................ 15-4 Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-4
