The CNF Control Toolkit is developed under
MATLAB (6.5 and above) with
SIMULINK.
It fully utilizes the GUI resources of
MATLAB
and provides a user-friendly graphical interface.
It can be utilized to design a fast and smooth tracking controller
for a class of linear and nonlinear
systems with actuator and other nonlinearities
as well as with external disturbances. The composite nonlinear feedback
control for general SISO linear systems
without disturbances
and
with disturbances
introduced recently in the literature consists of a linear
feedback law and a nonlinear feedback law.
A more complete treatment of the subject can be found in the 2nd Edition of
a Springer
monograph,
Hard Disk Drive Servo Systems.
The linear feedback
part is designed to yield a closed-loop system with a small damping ratio
for a quick response, while the nonlinear feedback part is used to increase
the damping ratio of the closed-loop system as the system output approaches
the target reference to reduce the overshoot caused by the linear part.
A nonlinearity pre-compensation will be implemented if there are plant
nonlinearities that can be canceled using certain output feedback.
If the given plant is noisy and/or has high frequency resonance modes,
a low-pass or a notch filter can also be added to yield a good performance.
An integrator can also be added to the overall controller design if there are
external disturbances. The toolkit is capable of displaying both time-domain
and frequency-domain responses on its main panel, and generating three
different types of control laws, namely, the state feedback, the full order
measurement feedback and the reduced order measurement feedback controllers.
The main interface of the toolkit consists of three panels:
The
detailed description
on the usage of the toolkit together with few sample design examples
including two benchmark problems (one on an RTAC nonlinear system and
the other on an HDD servo system).
Interested readers might register your contact information below:
Interested readers please
send us an email
with (1) your name; (2) email address; (3) institution; and (4) country.
A zipped file, CNFv3.zip, containing all the m-functions of
the toolkit will be sent to your email address.
Please note that we might verify your information first before sending out the package to you.
Once again, note that your information will be added to our database
for distribution of future versions.
The toolkit is free for use in research
work only. Any commercial utilization of the package without the
owners' permission is strictly prohibited.