********************************************************************
* *
* 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.