******************************************************************** * * * Announcing * * * * COSY_PAK * * * * (A symbolic COntrol SYstems analysis PAcKage) * * * * Version 0.9 * * * * (NO USER FEE RELEASE) * * * * for * * * * Mathematica Version 2.0 or higher * * * ******************************************************************** ==> INTRODUCTION COSY_PAK is set of packages and notebooks for classical control and (some) modern (state space) control analysis and design methods. The notebooks in COSY_PAK follow a typical `Control Engineering I' course taught at many universities around the world for the junior/senior level undergraduates. There is NO FEE to use COSY_PAK but certain responsibilities are expected of the user (see Copyright notice in the README file included below). For starters e-mail / FAX / Mail (Post) the registration form included in the README file. COSY_PAK is available via `anonymous ftp' from mishna.esys.cwru.edu (INTERNET No : 129.22.40.23) in the /pub directory. P.S.: A typical ftp session in UNIX is given after the README file. ==> FUTURE RELEASES If you would like to receive updates and newer versions of COSY_PAK please send e-mail/FAX/mail to the address below. In addition, your comments and suggestions are appreciated and are invaluable to us. We will do our best to fix any reported bugs. However, we cannot fix those bugs that have not been reported to us and those we do not know of. We would very much appreciate you taking a few minutes to communicate to us via e-mail / US Mail / Telephone / FAX. This will help us to release bug-free versions in the future. Comments are welcome. N. Sreenath Systems Engineering Department Case School of Engineering Case Western Reserve University ****************** e-mail: sree@mishna.cwru.edu U.S. Mail: Prof. N. Sreenath Tel.: (216) 368-6219 Systems Engg., Crawford Hall FAX: (216) 368-3123 Case Western Reserve Univ. Cleveland OH 44106-7070 ========================= Begin README file ========================= (NO USER FEE RELEASE) COSY_PAK (A symbolic COntrol SYstems analysis PAcKage) Version 0.9 for Mathematica Version 2.0 or higher by C.K.Chen N. Sreenath Systems Engineering Case School of Engineering Case Western Reserve University Cleveland, OH, 44106-7070 e-mail: sree@mishna.cwru.edu --> Copyright :Copyright: Copyright 1992 by C. K. Chen and N. Sreenath, Case Western Reserve University. Permission to use, copy, modify and distribute this software and its documentation for any purpose and without fee is hereby granted, provided that the above copyright notice appear in supporting documentation, and the name of the Case Western Reserve University, Case School of Engineering not be used in advertising or publicity pertaining to distribution of the software without specific, without prior permission. Case Western Reserve University makes no representations about the suitability of this software for any purpose. It is provided "as is" with out express or implied warranty. --> Acknowledgements Support from CWRU Information and Network Services - Dr. Ray Neff, Case Alumni Association, The Lilly Foundation and the Systems Engineering Department of Case Western Reserve University is gratefully acknowledged. Special thanks to Brian Evans of Georgia Tech for all the help. --> FTP COSY_PAK is available by anonymous `ftp' from mishna.esys.cwru.edu (Internet No. 129.22.40.23). A sample ftp session is given at the end of this file. ********************************************************************** --> Changes in Version 0.9 (update from v0.81 to v0.9) In this version, we have revised COSY_PAK to take advantage of the more robust signal processing functions available in Mathematica v2.1. Since Mathematica 2.1 provides a better and working LaplaceTransform and InverseLaplaceTransform functions than Mathematica v2.0 did, we adopted them. This has made COSY_PAK smaller. Thus Brian Evans' Signal Processing packages that supported the LaplaceTransform and InverseLaplaceTransform functions in the COSY_PAK v0.81 are no longer needed directly by COSY_PAK v0.9. For power users who use Signal Processing we still recommend the use of the very fine Brian Evans package on Signal Processing (available at the anonymous ftp site gauss.eedsp.gatech.edu or IP # 130.207.226.24). On the downside, the disadvantage of this update can be that Mathematica 2.1 requires more runtime resources than its previous version. *********************************************************************** --> For Mathematica 2.0 users We have included the LaplaceTransform package from Mathematica 2.1 in the directory `For_2.0'. Please move all files and directory under For_2.0 into the Calculus directory under Mathematica Packages directory. ************************************************************************** --> Introduction This is an unsupported release of COSY_PAK - a COntrol SYstems analysis PAcKage for symbolic control systems analysis using Mathematica 2.1. Classical control systems analysis and design methods and some modern control systems methods have been implemented in this package. This package and the attendant notebooks were developed on a NeXT (TM) computer (a UNIX based workstation). They have been used as a supplementary teaching aid along with standard control engineering texts (Ogata [1991], Phillips and Harbor [1991]) for undergraduate courses in `Control Engineering I' taught at the Systems Engineering Department of CWRU. In addition to the NeXT, they have also been tested successfully on Apple Macintosh computers (TM), and, IBM PC's (TM) running MS Windows(TM). We would be very much interested to hear from you if you or anybody you know uses this software on platforms not mentioned above. IBM users however will have to evaluate the notebooks first to visualize the graphics. Once installed (see below for instructions), this collection of Mathematica packages can be loaded by any user. Bundled with the packages are many notebooks ("COSY_Notes") which demonstrate the functionality of these packages. The notebooks follow a plan of many fine, standard, undergraduate Control Engineering text books listed in the references. Examples used in these notebooks have been collected from the various references given at the end of this file. The contents of the notebooks in the "COSY_Notes" directory are given below. ----------- Begin "COSY_Notes" Contents ----------- NOTEBOOK FILE NAME: 01_Introduction.ma CHAPTER 1: Introduction to Control Systems Sections: Analyticity Poles and Zeros Signals Forward Laplace Transforms Inverse Laplace Transforms Differential Equation With Zero-Valued Initial Conditions Differential Equation With Initial Conditions ----------- NOTEBOOK FILE NAME: 02_Math_Models.ma CHAPTER 2: Mathematical Modeling of Dynamic Systems Sections: ODE to State Space Linearization of a Nonlinear System of Equations State Space to Transfer Function ----------- NOTEBOOK FILE NAME: 03_*_Transient_Response.ma CHAPTER 3: Transient-Response Analysis (Chapter split into three sub notebooks because of file size) NOTEBOOK FILE NAME: 03_1_Transient_Response.ma Sections : Time Response Analysis First order System Second Order System Third Order and Higher Order Systems NOTEBOOK FILE NAME: 03_2_Transient_Response.ma Sections : First Order System (Step Response vs. Time Const) NOTEBOOK FILE NAME: 03_3_Transient_Response.ma Sections : Second Order System (Step Response vs. Damping Ratio) ----------- NOTEBOOK FILE NAME: 04_Steady_State_Response.ma CHAPTER 4: Steady-State Response Sections: Routh's Stability Steady-State Error Analysis ----------- NOTEBOOK FILE NAME: 05_Root_Locus.ma CHAPTER 5: Root-Locus Analysis ----------- NOTEBOOK FILE NAME: 06_Freq_Response.ma CHAPTER 6: Frequency-Response Analysis Sections: Bode Plot Analysis Magnitude vs. Phase Plot (Nichols Plot) Polar Plot Nyquist Plot Combined Example ----------- NOTEBOOK FILE NAME: 07_State_Space.ma CHAPTER 7: State Space Methods Sections: Introduction State Transition Matrix Controllability Observability Output Controllability Pole Placement Design Observer Design Time Response Using State Space Methods ----------- End Notebook Contents ----------- --> Compressed Files The files that contain a complete set of the COSY_PAK v0.9 packages and Notebooks for Mathematica are: COSY_PAK_09.tar.Z compressed tar file for Unix systems COSY_PAK_09.sit.hqx compressed sit file for Macintosh systems and encoded by BinHex 4.0 format (requires the shareware Stuffit file v 1.5.1 or higher). COSY_PAK_IBM_09.zip zip file for the IBM PC running MS-DOS Once expanded the Mathematica files can also be used on Macintosh / IBM PC / Unix systems also. --> Installation of COSY_PAK o In UNIX Command line type the following command: zcat COSY_PAK_09.tar.Z | tar xvf - o In Macintosh open the .sit.hqx file using the shareware Stuffit v 1.5.1 or higher. o In IBM Command line type the following command: pkunzip -o -d COSY_PAK_IBM_09.zip NOTE: This .zip file was zipped by zip utility v2.0. You must use pkunzip version 2.0 or higher to unzip it. IBM PC's may limit the directory name characters to eight. In that event type "pkunzip -o -d COSY_PAK.zip. You can also unzip the COSY_PAK_IBM_09.zip file on any Unix machine if you have unzip utility on it. Uncompressing and untarring "COSY_PAK_09.tar.Z" or unzipping "COSY_PAK_IBM_09.zip" will create a directory called "COSY_PAK". Once the files are expanded you should see a single directory "COSY_PAK" containing the following three files, four sub-directories and their contents: SUB-DIRECTORIES in "COSY_PAK": COSYPAK - contains control tool box packages MANUAL - COSY_PAK manual in .ps, .rtf, .txt, and .wn formats. COSY_Notes - contains notebooks For_2.0 - contains Laplace transform package from Mathematica 2.1 For Mathematica 2.0 users. FILES in directory "COSYPAK": chap1.m chap2.m chap3.m chap4.m chap5.m chap6.m chap7.m FILES in directory "COSY_Notes": 01_Introduction.ma 02_Math_Model.ma 03_1_Transient_Response.ma 03_2_Transient_Response.ma 03_3_Transient_Response.ma 04_Steady_State_Response.ma 05_Root_Locus.ma 06_Freq_Response.ma 07_State_Space.ma FILES in directory "For_2.0": LaplaceTransform.m DiracDelta.m SUB-DIRECTORIES in "COSY_PAK": Common FILES in directory "Common": Support.m ********************* Important ******************** The notebook example files(.ma files) will be under the "COSY_Notes" directory. To use the notebooks, move the directory `COSYPAK' to a directory that Mathematica can recognize : /LocalLibrary/Mathematica/Packages on a UNIX machine, MY_HardDisk:Mathematica:Packages on an Apple Macintosh, c:\winmath\packages on an IBM PC. At the beginning of the "Initialization" cell of each notebook in "COSY_Notes" directory, we list the example about how to make Mathematica identify the directory: (* Initialization of Path *) (* Example For a UNIX machine (Default) *) (* $Path=Join[$Path, {"/LocalLibrary/Mathematica/Packages"}]; *) (* Example For an Apple Macintosh *) (* $Path=Join[$Path, {"MY_HardDisk:Mathematica:Packages"}]; *) (* Example For IBM PC *) (* $Path=Join[$Path, {"c:\winmath\packages"}]; *) Change the pathname according to your machine by removing the Mathematica comment sign `(*' and `)*' before and after `$Path' setting. This command makes Mathematica recognize the directory /LocalLibrary/Mathematica/Packages on a UNIX machine MY_HardDisk:Mathematica:Packages on a Apple Macintosh c:\winmath\packages on an IBM PC --> Mathematica 2.0 users We include the LaplaceTransform package from Mathematica 2.1 in the directory For_2.0. Please move all files and directory under For_2.0 into the Calculus directory under Mathematica Packages directory. --> Getting started After installation, start Mathematica and open the notebooks in the "COSY_Notes" directory. All notebooks load their own packages. Navigate in the notebooks and enjoy. IBM users however will have to evaluate the notebooks to visualize the graphics. *************************************************************** --> USER RESPONSIBILITIES We request you to take a few minutes and fill out the information below and mail it to us by e-mail / FAX / U.S. Mail. This will help us to keep your abreast of the improvements and release new versions of COSY_PAK. Suggestions for improvements are welcome. -------------------------------cut here------------------------------- YOUR NAME: ________________________________________ ORGANIZATION: ________________________________________ TITLE: ________________________________________ e-mail: ________________________________________ POSTAL ADDRESS:________________________________________ ________________________________________ Comments & ________________________________________ Suggestions: ________________________________________ ________________________________________ -------------------------------cut here------------------------------- Mail this information to (E-mail / FAX / U.S. Mail) : INTERNET: sree@mishna.cwru.edu U.S. Mail: Prof. N. Sreenath Tel.: (216) 368-6219 Systems Engg., Crawford Hall FAX: (216) 368-3123 Case Western Reserve Univ. Cleveland OH 44106-7070 *************************************************************** --> REPORT BUGS Please report bugs and leave comments to the address above. Any suggestion for improvements and criticism are welcome. We will do our best to fix any reported bugs. However, we cannot fix those bugs that have not been reported to us and those we do not know of. We would very much appreciate you taking a few minutes to communicate to us via e-mail / US Mail / Telephone / FAX. This will help us to release bug-free versions in the future. *************************************************************** --> Disclaimer and Future Releases This software is the property of the Case Western Reserve University. Use this software at your own risk. We make no express or implied warranty. The packages and the notebooks can also be made to run under Mathematica versions 2.0 or lower with modification. We do not guarantee the outcome. --> Documentation COSY_PAK functions are indexed in the files in the `MANUAL' directory according the chapters. Usage is illustrated in notebooks residing in `COSY_Notes' directory. If your computer does not support notebooks find a Macintosh computer and acquire MathReader which is a public domain notebook reader. MathReader will at least allow you to peruse notebooks but you will not be able to evaluate any code fragments. --> References Dorf, R. C., "Modern Control Systems", Sixth Edition, Addison Wesley, New York, 1992. Fortmann, T. E., and Hitz, K. L., "An Introduction to Linear Control Systems", Marcel Dekker, 1977. Franklin, G. F., Powell, D. J., and Emami-Naeini, A., "Feedback Control of Dynamic Systems", Second Edition, Addison Wesley, New York, 1991. Kuo, B. C., "Automatic Control Systems", Sixth Edition, Prentice Hall, New Jersey, 1990. Ogata, K., "Modern Control Engineering", Second Edition, Prentice Hall, New Jersey, 1991. Phillips, C. L., and Harbor, R. D., "Feedback Control Systems", Second Edition, Prentice Hall, New Jersey, 1991. ========================= End README file ========================= TYPICAL `ftp' session : ----------------------- %ftp mishna.esys.cwru.edu Connected to mishna. 220 mishna FTP server (Version 5.20 (NeXT 1.0) Sun Nov 11, 1990) ready. Name (mishna.esys.cwru.edu:sree): anonymous Password: ftp> cd /pub ftp> binary ftp> ls 200 PORT command successful. 150 Opening ASCII mode data connection for file list. COSY_PAK_09.tar.Z COSY_PAK_IBM_09.zip Index README .places.wmd COSY_PAK_untar 226 Transfer complete. 78 bytes received in 0 seconds (15.35 Kbytes/s) ftp> get COSY_PAK_09.tar.Z 200 PORT command successful. 150 Opening BINARY mode data connection for COSY_PAK_09.tar.Z (460822 bytes). 226 Transfer complete. local: COSY_PAK_09.tar.Z remote: COSY_PAK_09.tar.Z 460822 bytes received in 1.33 seconds (3.38e+02 Kbytes/s) ftp> quit 221 Goodbye.