This package provides input/output blocks where every block is available in a continuous and a discrete (sampled) representation. A block is defined via its continuous parameterization. By specifying a discretization method and a sample time, the discrete representation is automatically derived from the continuous form. The defaults of the most important options for all blocks are set in the global SampleClock component (via inner/outer). As a result, it is, e.g., easy to switch quickly between a continuous and a discrete representation of all blocks of a controller.

Examples to demonstrate the technique are given in the package Examples. Especially, the continuous or discrete control of a simple flexible drive with a P-PI cascade controller is demonstrated in example SimpleControlledDrive.


UsersGuideControllers Tutorial
ExamplesPackage of examples to demonstrate the usage of controllers
SampleClockGlobal options for blocks of Controller library (in particular sample clock)
SamplerSample the input signal if discrete block or y=u if continuous block
StateSpaceContinuous or discrete state space system block
TransferFunctionContinuous or discrete, single input single output transfer function
ZerosAndPolesContinuous or discretized, single input single output block described by a ZerosAndPoles object
FilterContinuous or discretized analog low or high pass IIR-filter (CriticalDamping/Bessel/Butterworth/Chebyshev)
FilterFIRDiscrete finite impulse response low or high pass filter
IntegratorOutput the integral of the input signal (continuous or discrete block)
DerivativeApproximate derivative (continuous or discrete block)
FirstOrderFirst order (continuous or discrete) transfer function block (= 1 pole)
SecondOrderSecond order (continuous or discrete) transfer function block (= 2 poles)
PIProportional-Integral controller (continuous or discrete block)
PIDPID-controller in additive description form
LimPIDP, PI, PD, and PID controller with limited output, anti-windup compensation and setpoint weighting
UnitDelayDelay the input by a multiple of the base sample time if discrete block or y=u if continuous block
 ADconverterAnalog to digital converter (including sampler)
 DAconverterDigital to analog converter (including zero order hold)
InterpolatorIncreasing the sampling frequency with linear interpolation and optional mean value filtering
MatrixGainOutput the product of a gain matrix with the input signal vector. The matrix can be loaded from a file optionally
NoiseBlock that generates a uniform distributed noise output signal at sample instants if discrete and y=0 if continuous
IconsPackage of icons of controllers
InterfacesPackage of interfaces (partial blocks) of controllers
TemplatesPackage of templates used for demonstration purposes
TypesPackage of type definitions
InternalPackage of internal utilities of controllers (for advanced users only)

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