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.

Name | Description |
---|---|

UsersGuide | Controllers Tutorial |

Examples | Package of examples to demonstrate the usage of controllers |

SampleClock | Global options for blocks of Controller library (in particular sample clock) |

Sampler | Sample the input signal if discrete block or y=u if continuous block |

StateSpace | Continuous or discrete state space system block |

TransferFunction | Continuous or discrete, single input single output transfer function |

ZerosAndPoles | Continuous or discretized, single input single output block described by a ZerosAndPoles object |

Filter | Continuous or discretized analog low or high pass IIR-filter (CriticalDamping/Bessel/Butterworth/Chebyshev) |

FilterFIR | Discrete finite impulse response low or high pass filter |

Integrator | Output the integral of the input signal (continuous or discrete block) |

Derivative | Approximate derivative (continuous or discrete block) |

FirstOrder | First order (continuous or discrete) transfer function block (= 1 pole) |

SecondOrder | Second order (continuous or discrete) transfer function block (= 2 poles) |

PI | Proportional-Integral controller (continuous or discrete block) |

PID | PID-controller in additive description form |

LimPID | P, PI, PD, and PID controller with limited output, anti-windup compensation and setpoint weighting |

UnitDelay | Delay the input by a multiple of the base sample time if discrete block or y=u if continuous block |

ADconverter | Analog to digital converter (including sampler) |

DAconverter | Digital to analog converter (including zero order hold) |

Interpolator | Increasing the sampling frequency with linear interpolation and optional mean value filtering |

MatrixGain | Output the product of a gain matrix with the input signal vector. The matrix can be loaded from a file optionally |

Noise | Block that generates a uniform distributed noise output signal at sample instants if discrete and y=0 if continuous |

Observer | Luenberger observer for state space systems |

BaseClasses | Base classes for control plants |

Interfaces | Package of interfaces (partial blocks) of controllers |

Icons | Package of icons of controllers |

Types | Package of type definitions |

Internal | Package of internal utilities of controllers (for advanced users only) |

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