" Input system data                " Time response                    " Root loci                        " Frequency analysis               " Close control-loop               " System Matrix                    " Display of system - page overview" Options                          " Exit program return to DOS  Alt+X                                   " Poles and zeros                  " PoLynomials                      " Corner frequencies               " Input from File                  " Append system                                                                                                                                                                                                   " Input signal                     " Laplace - partial fractions      " Time response - Expression       " Time response - Table            " Time response - Plot             " Plot Options                     " Z-transform                      " Z-transform  - partial fractions                                                                       " Frequency response Table         " Single frequency                 " Phase margin                     " Gain at phase Margin             " Gain margin                      " Bode, polar and gain-phase plot  " Plot Options                                                                                                                              " Gain-frequency plot (Bode)       " Phase-frequency plot (Bode)      " POlar plot                       " GAin-phase plot                                                                                                                                                                                                                                    " Lowest frequency - rad/s         " Highest frequency - rad/s        " M - circle                       " N - circle                       " Unit-circle in polar plot        " Bode plot instruction            " Change main menu options                                                                                                                  " Breakaway points                 " Root locus - Table               " Root locus - Plot                " Root locus plot Options          " Compensator design                                                                                                                                                                                              " Beginning of horizontal scale    " End of horizontal scale          " Step magnitude                   " Cursor Adjustment magnitude      " Negative imaginary part of plot  " Maximum gain                     " Constant Damping-ratio           " Unit-cirle (discrete systems)    " Change main menu options                                            ! Input system matrices            ! Input system matrices from File  ! System matrices - page overview  ! Pole placement                   ! Observer                         ! Reduced observer                 ! Z - transform of matrices                                                                                                                 " Store plot                       " Fetch plot                       " Vertical lines - discrete graph  " Change main menu options                                                                                                                                                                                                                           " Existing state equations         " Controllable canonical form      " Observable canonical form        " View pages and save                                                                                                                                                                                                                                " Zero/pole ratio                  " DC gain                          " Optimize                                                                                                                                                                                                                                                                              " 1.      M = 0, N = 1             " 2.      M = B.N                  " 3.      M = -G, N = 0            "    Select Zeros by M en N        " 2.      M = (B - GCB).N                                                                                                                                                                                         " 1. Ma = 1, Mb to select Zeros    " 2. Ma = 0, Mb to select Zeros    " 3. Ma = 1, Mb = 0, N = 0         " 4. Ma = 0, Mb = 0                " 5. Ma = 0, Mb = (Bb - GbBa).N                                                                                                                                                                                   Input K or Kpz ?  Coord Cart or pol?PlotTitles ?      Grids in plots ?  Print size ?      Low frequ. rad/s                                                                              High frequ. rad/s                                                                             M-value                                                                                       N-value in deg                                                                                PlotTitles ?      Grids in Plots ?  Print size ?                                            
Beginning:                                                                                    End:                                                                                          Step magnitude:                                                                               Cursor step:                                                                                  NegativeImaginary?                                                                            
Maximum gain:                                                                                 Damp.coeff.(zta):                                                                            Unit-circle ?                                                                                                                                                                                store ?                                                                                       fetch ?                                                                                       show ?                                                                                        Instruction mode ?                                                                                                                                                                           K   Kpz Cartpol  no yes  no yes A-5 A-4                                                                                                                                                                                                          no yes  no yes A-5 A-4                                                                                                                                                                                                                              no yes                                                                                                                                              no yes                                                                                            no yes                                          no yes                                          no yes                                          no yes                                                                                           	 
                        	                                                                                                                      Incorrect input         	-Abort                   
 Real part :             , Imaginary part :       Number of zeros          Denominator polynomial   Numerator polynomial     POLES                    ZEROS                    DENOMINATOR              	NUMERATOR                Select :                 P                        oles and zeros           or po                    L                        ynomials                 C                        orner frequencies         Select                  -Return                  GAINS                     DENOMIN POL             
NUMERATOR POL            File NOT FOUND           	-MainMenu                -Menu                    	-Next                    yes                      
Directory:               Input files:             -continuation            time      response       other time in sec :      wait !                   -Prnt                     sampling period         
File name:               The phase margin is      	 degrees.                	-FreqMenu                	F4-Cursor                error !                  Breakaway points:          No breakaway points    	Kc-gain                              real roots       Controller gain Kc = -MainMen                 -Rootlocus Menu          -Zoom                    -NoZoom                  -OptionsMenu             
LockCursor               	-FreeCur                 Cursor                   -Change                  -Input                   Number of states :       -NoCurs                  Y                        
Analog system            Discrete system          	-Continu                 REACHABILITY MATRIX      CONTROLLABILITY MATRIX   Rank                     	NEW POLES                OBSERVABILITY MATRIX     OBSERVER POLES             SYSTEM                   Input N :              Title :                  -View pages              
-Activate                
Active page -             Pag.number               Max pags:               
-StateMenu               StateEqu                 
-TimerespMenu            , Imaginary part :       	z-plane:                 
 Magnitude :             ,   Phase  (rad) :       
less than                 or more than            DC  gain  =              HF  gain  =              Pole =                        Zero =              
more than                
less than                 and less than            or between 0 and         or between              positive or more than     and 0                   
   Optimizing            No convergence.          
 not found               -return to program       -Help                    T                        
ime response"            or                       return to main menu.     cornerfreq  damping        Systemname :           -Delete                  no name                  Del                      	-No input                -Save                    Warning                  y or n                   	Attention                Current observer         Prediction observer      Coefficients :           (maximum is              Phase                    ZEROS MATRIX             	NEW ZEROS                	 for N =                 -Data                      old :                    new :                  No data                  Select H                 	NoMenu                    Help                    Number of poles (maximum is                                                     "Input all complex specimen first !                                                   Gain factor K :                                                                 Gain factor Kpz :                                                          !Largest power of the denominator                                                Largest power of the numerator                                                  *Coefficients start with the largest power.                                      ?   Laguerre method does not converge - Results are unreliable !                 ,            ERROR ! Number of poles exceeds                                     3              Press any key to continue.                                        *              Input different parameters !                                      FNumber of corner frequ.s in denominator -2nd order counts double-(max           single(s) or double(d)                                                          damping coefficient zta =                                                      DNumber of corner frequ.s in numerator -2nd order counts double-(max             - CHANGE SYSTEM PARAMETERS Ŀ                                   =Poles to feedback block                               <Enter>                   =Zeros to feedback block                               <Enter>                   KClosing the control-loop changes the active system data !      Close y/n  ?     3            The loop of this system is not closed !                             6                      Try again with another Kc-gain.                           "Discrete system  -  Sample period                                               version 4.3, March 27, 1995                                                     all graphic cards                                                               %     * * * * M A I N  M E N U * * * *                                           (S Y S tems  A N alysis of linear systems                                        8Analog system  -  Change to discrete system ?    (y/n) n                        (Sampled data system with zero-order hold                                        #(less or equal the number of poles)                                             Klargest numerator power must be less or equal the largest denominator power           A P P E N D  S Y S T E M                                                  Number of poles to be added:                                                    Number of zeros to be added:                                                    6        * * * * * * B U I L D  S Y S T E M * * * * * *                          J* * * * * * S Y S T E M  D A T A  T O  A N D  F R O M  D I S K * * * * * *      You overwrite an existing file                                                            Continue ?                                                            !             New data file name :                                               !           System data saved in :                                                  No legal file name                                                              Wrong directory                                                              Directory change                                                                Make changes                                                                    Input new data                                                                  Select data file                                                                Delete file                                                                     !               - File not found -                                               ;"Ill-conditioned" polynomial - different parameters needed.                           I N P U T  S I G N A L                                                    %Number of poles of the input signal:                                            %Number of zeros of the input signal:                                            FIf no "input signal" is provided, then the input signal is a unit step          >            * * * * * *  T I M E  R E S P O N S E  * * * * * *                  E poles, the input signal is not a unit step, but an impuls function !           ,  T I M E  R E S P O N S E  -  L A P L A C E                                    &Continued on next page - press any key                                          0T I M E  R E S P O N S E  -  E X P R E S S I O N                                &T I M E  R E S P O N S E  -  T A B L E                                             Time lapse in seconds :                                                      ERROR ! Input time lapse again                                                  '   T I M E  R E S P O N S E  -  P L O T                                         calculation of the graphics                                                     ****    TIME RESPONSE    ****                                                         Z  -  T R A N S F O R M                                                   Sampling period (sec) :                                                         B                Activate G(z), including zero-order hold ?   (y/n)              2   O P T I O N S  T I M E R E S P O N S E  P L O T                              M  Frequency    Real part    Imag.part   Magnitude  Magnitude dB Phase degrees   Analog gain,                                                                    C       * * * * * *  F R E Q U E N C Y  R E S P O N S E  * * * * * *             !                        T A B L E                                               %                    F R E Q U E N C Y                                           Frequency in rad/s =                                                            1     ERROR ! Input frequency again.                                             (                  P H A S E  M A R G I N                                        "        Controller gain Kc (dB) ?                                               9  No convergence - not sufficient gain for phase margin ?                       /           G A I N  A T  P H A S E  M A R G I N                                 '                   G A I N  M A R G I N                                           Phase margin (degrees) ?                                                      The phase does not reach                                                             The gain margin is                                                         '  The required controller gain is Kc =                                            G R A P H I C S                                                               Menu of Frequency Program                                                       =  M E N U  O F  F R E Q U E N C Y  R E S P O N S E  P L O T S                    **** BODE: FREQUENCY - GAIN ****                                                !**** BODE: FREQUENCY - PHASE ****                                               ****  POLAR PLOT  ****                                                          **** LOG GAIN - PHASE ****                                                      A-Asym R-Real C-Clr                                                             #             P L O T  O P T I O N S                                             ;                * * * * * *  R O O T   L O C I  * * * * * *                     B R E A K A W A Y  P O I N T S                                                  #   required gain factor is infinite                                                required gain factor Kc  =                                                      required gain factor Kpz =                                                   2  CALCULATION OF BREAKAWAY POINTS IS NOT POSSIBLE.                                 number of branches       =                                                   R O O T   L O C U S - T A B L E                                                 $            complex roots                                                       $   real   j  imag     mod  arg(rad)                                                  ERROR ! Input K again.                                                        R O O T   L O C U S - P L O T                                                Calculating the roots.                                                          ****    ROOT LOCI    ****                                                       +R O O T   L O C U S  P L O T  O P T I O N S                                     @      IDENT.FIL unavailable, bad or unconnected - program halted                H            Printer not ready  -  Press any key to continue                     $        System matrices stored in :                                             <Matrix multiply: Columns A unequal rows B - program aborted.                    +Trace: Matrix not square - program aborted.                                     ,* * * * S Y S T E M  M A T R I C E S * * * *                                    -      I N P U T  S Y S T E M  M A T R I C E S                                   9O B S E R V E R - C O N T R O L L E R  W I T H  P L A N T                       2Sum: Matrices not of equal size - program aborted.                              4  M A T R I C E S  O F  E X I S T I N G  S Y S T E M                             cannot be read.                                                                'Prediction or Current observer P/C/ ? P                                         (Input filename or select other directory                                        CONTROLLABLE CANONICAL FORM                                                     OBSERVABLE CANONICAL FORM                                                       0T I M E  R E S P O N S E  -  Z-T R A N S F O R M                                0No convergence - Leave this part of the program.                                P O L E  P L A C E M E N T                                                      System is not reachable                                                         System is not controllable                                                      SYSTEM WITH FEEDBACK                                                            O B S E R V E R                                                                 OBSERVER POLES                                                                  "Feedback system matrix is singular                                              Static gain =                                                                     Caption for graphics :                                                        "C O M P E N S A T O R  D E S I G N                                              ,Desired pole equivalent in s-plane ? (y/n) y                                    Give desired pole  :                                                            s-plane : Real part :                                                           This pole is not possible !                                                     Zero/pole ratio                                                                 DC gain/HF gain ratio :                                                         
Gain ratio =                                                                    Add compensator ? (y/n) n                                                       -other shown compensator                                                        Zero/pole ratio outside limits.                                                      DC Gain                                                                    .Gain for compensator pole inside unit circle :                                  6Gain for compensator pole and zero in left halfplane :                          DC gain/HF gain ratio (<1) =                                                    Zero/pole ratio (<1) =                                                          Ratio not less than 1 !                                                         (Result determined by sampling frequency.                                        Other compensator ? (y/n) n                                                     *To change to sampled data system, select "                                      (Gain to feedback block,            Kh =                                         !       Delete this page ? (y/n) n                                               JNumber of zeros exceeds or equals number of poles - This part not possible      CNumber of zeros exceeds number of poles - This part is not possible             %O B S E R V E R - C O N T R O L L E R                                           )C O N T R O L L E R   W I T H   I N P U T                                       Choose controller zeros:                                                        Zero shifting is not possible                                                   *F E E D B A C K   S T A T E    M A T R I X                                      R E D U C E D   O B S E R V E R                                                 !M A T R I X   C O N T R O L L E R                                               .Input the index of the x that must equal the y                                  y does NOT depend of this x !                                                   (Input indexes of available variables x:                                         Altered index assignment                                                        )Back to main menu - Illegal system data !                                       Mouse + driver                                                                  KpzKc KfbJanFebMarAprMayJunJulAugSepOctNovDec 