【正文】 linearize the obtained nonlinear equation of motion about the quiescent point of operation. 3. How to design, though pole placement, a proportionalplusintegralplusfeed forwardbased controller for the CoupledTank system in order for it to meet the required design specifications for each configuration. 4. How to implement each configuration controller in realtime and evaluate their actual performance. 14 / 97 Chapter2. Software Introduction MATLAB Introduction MATLAB is a programming environment for algorithm development, data analysis, visualization, and numerical putation. Using MATLAB, you can solve technical puting problems faster than with traditional programming languages, such as C, C++, and FORTRAN. You can use MATLAB in a wide range of applications, including signal and ima ge processing, munications, control design, test and measurement, financial modeling and analysis, and putational biology. For a million engineers and scientists in industry and academia, MATLAB is the language of technical puting [2]. Key Features: ? Highlevel language for technical puting ? Development environment for managing code, files, and data ? Interactive tools for iterative exploration, design, and problem solving ? Mathematical functions for linear algebra, statistics, Fourier analysis, filtering, optimization, and numerical integration ? 2D and 3D graphics functions for visualizing data ? Tools for building custom graphical user interfaces ? Functions for integrating MATLAB based algorithms with external applications and languages, such as C, C++, Fortran, Java?, COM, and Microsoft Excel MATLAB can be used in following works: (1).Creating transfer functions A transfer function can be expressed as a numerator polynomial divided by a denominator polynomial, that is, F(s) =N(s)/D(s). The numerator, N(s), is represented by a row vector, numf, the contains the coefficients of N(s). Similarly, the denominator, D(s), is represented by a row vector, denf, that contains the coefficients of D(s). We 15 / 97 form F(s) with the mand, F=tf(numf,denf). F is called a linear timeinvariant (LTI) object, or transfer function, can be used as an entity in other operations, such as addition or multiplication. (2)Time response We can use MATLAB to calculate characteristics of a second order system, such as damping ratio, ? 。 and peak time, Tp. (3)Stability MATLAB can solve for the poles of a transfer function in order to determine stability. Also, we can use MATLAB to find the range of gain for stability by generating a loop, changing gain, and finding at what gain we obtain righthalfplane poles. (4)Steadystate error Static error constants are found using )(lim sGsn as 0?s . Once the static error constant is found, we can evaluate the steadystate error. (5)Root locus techniques MATLAB allows root loci to be plotted with the rlocus(GH) mand. Points on the root locus can be selected interactively using the ?rlocfind‘ mand. MATLAB then yields the gain (K) at that point as well as all other poles (p) that have that gain. We can zoom in and out of the root locus by changing the range of axis values. The root locus can be drawn over a grid that shows constant damping ratio ( ? ) and constant natural frequency ( n? ) (6)Frequency Response Techniques We can use MATLAB to make Bode plots using bode(G), where G/(s)=numg/deng and G is an LTI transfer function object. Also, we can use MATLAB to make Nyquist diagrams using Nyquist (G) [2]. 16 / 97 Simulink introduction SIMULINK is an environment for multi domain simulation and ModelBased Design for dynamic and embedded systems. It provides an interactive graphical environment and a customizable set of block libraries that let you design, simulate, implement, and test a variety of timevarying systems, including munications, controls, signal processing, video processing, and image processing. Addon products extend SIMULINK software to multiple modeling domains, as well as provide tools for design, implementation, and verification and validation tasks. SIMULINK is integrated with MATLAB, providing immediate access to an extensive range of tools that let you develop algorithms, analyze and visualize simulations, create batch processing scripts, customize the modeling environment, and define signal, parameter, and test data [3]. Key Features ? Extensive and expandable libraries of predefined blocks ? Interactive graphical editor for assembling and managing intuitive block diagrams ? Ability to manage plex designs by segmenting models into hierarchies of design ponents ? Model Explorer to navigate, create, configure, and search all signals, parameters, properties, and generated code associated with your model ? Application programming interfaces (APIs) that let you connect with other simulation programs and incorporate handwritten code ? MATLAB Function blocks for bringing MATLAB algorithms into SIMULINK and embedded system implementations ? Simulation modes (Normal, Accelerator, and Rapid Accelerator) for running simulations interpretively or at piled Ccode speeds using fixed or variablestep solvers ? Graphical debugger and profiler to examine simulation results and then diagnose performance and unexpected behavior in your design 17 / 97 ? Full access to MATLAB for analyzing and visualizing results, customizing the modeling environment, and defining signal, parameter, and test data ? Model analysis and diagnostics tools to ensure model consistency and identify modeling errors NetCon System The NetCon (Networked Control) system is a platform for teaching and research of realtime control systems through Intra/Inter. It consists of three hardware and software parts: NetController, NetConLink and NetConTop. Classic, modern and