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<title>MvTools Help : Simulation</title>
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<div class=Section1>
<p align=center style='text-align:center'><span lang=EN-US><img width=371
height=53 id="_x0000_i1025" src="Immagini\logosim.jpg"></span></p>
<p align=center style='text-align:center'><span lang=EN-US><a
href="HelpDeskmvt.htm" title=" MVTOOLS HELP DESK "><b><i>MvTools Help Desk</i></b></a></span></p>
<p align=center style='text-align:center'><span lang=EN-US><img border=0
width=536 height=5 id="_x0000_i1026" src="Immagini\riga.gif"></span></p>
<p style='text-align:justify'><span lang=EN-US>This section, which can be
started by pressing the button <b>SIMULATION</b> or by selecting the command <b>Open</b>
<b>Simulink</b> <b>Model</b> from the Simulation menu, is dedicated to the time
simulation of the closed loop system built with the controller that has been
previously computed at the end of a synthesis or optimization section; the
closed loop simulation is performed through a Simulink scheme that is externally
independent from the model and that appears in a window separated from the
current one of MvTools.</span></p>
<p style='text-align:justify'><span lang=EN-US>In case of the output feedback
controls <a href="syn09.htm" title=" H-INFINITY & H-2 Synthesis help page ">H-INFINITY</a>,
<a href="syn09.htm" title=" H-INFINITY & H-2 Synthesis help page ">H-2</a>,
<a href="syn10.htm" title=" H-MIX Synthesis help page ">H-MIX</a>, <a
href="syn11.htm" title=" MU Synthesis help page ">MU</a>, <a href="syn06.htm"
title=" LQG Synthesis help page ">LQG</a>, <a href="syn07.htm"
title=" LQG-LTR Synthesis help page ">LQG \ LTR</a> and <a href="syn08.htm"
title=" PID Synthesis help page ">PID</a>, the closed loop scheme is always</span></p>
<p align=center style='text-align:center'><span lang=EN-US><img border=0
width=371 height=219 id="_x0000_i1027" src="Immagini\sim00.gif"></span></p>
<p style='text-align:justify'><span lang=EN-US>where the vector YR represents
the reference command for the plant output and the block <b>pinv(G(0))</b> aims
to cancel, when it's possible, the incidental static error.</span></p>
<p style='text-align:justify'><span lang=EN-US>In case of <a href="syn02.htm"
title=" LQR Synthesis help page ">LQR</a>, <a href="syn05.htm"
title=" EIG-ASSIGN Synthesis help page ">EIG \ ASSIGN</a> and <a
href="syn12.htm" title=" LQ-SERVO Synthesis help page ">LQ-SERVO</a>, the
simulation scheme varies in accordance with the possibility to compute the set
point: if the set point cannot exist (the dynamic matrix of the plant is not
maximum rank) the closed loop system is built as pointed out in the previous
picture, otherwise the following structure is used</span></p>
<p align=center style='text-align:center'><span lang=EN-US><img border=0
width=371 height=220 id="_x0000_i1039" src="Immagini\sim02.gif"></span></p>
<p style='text-align:justify'><span lang=EN-US>where the <b>COMMANDS</b> block
provides the desired output vector and the <b>Kpf</b> block contains a
subsystem that performs the computation of the set point.</span></p>
<p style='text-align:justify'><span lang=EN-US>In case of <a href="syn03.htm"
title=" IMFC CONTROL help page ">IMFC</a> and <a href="syn04.htm"
title=" EMFC CONTROL help page ">EMFC</a>, whose purpose is to find a closed
loop control law that lets the plant track the dynamics of the model, the
Simulink scheme is different from the general one because of the presence of
both the model and the new references for the plant output:</span></p>
<p align=center style='text-align:center'><span lang=EN-US><img border=0
width=371 height=219 id="_x0000_i1028" src="Immagini\sim01.gif"></span></p>
<p style='text-align:justify'><span lang=EN-US>In these cases, the <b>CONTROLLER</b>
block contains also the transfer function of the model, which is part of the control
loop only in the EMFC method, while the <b>Kpf</b> block contains a subsystem
that performs the computation of the set point.</span></p>
<p style='margin:0cm;margin-bottom:.0001pt;text-align:justify'><span
lang=EN-US>Anyway, the internal structure of both the <b>OUTPUTS</b> and <b>COMMANDS</b>
blocks depends on the number of plant outputs, and the internal structure of
the <b>CONTROLLER</b> block depends on the type of control. Each time the
simulation window is activated, the corresponding structure is built and the
blocks indicated above are conveniently copied from a library file.</span></p>
<p style='margin:0cm;margin-bottom:.0001pt;text-align:justify'><span
lang=EN-US>The <b>COMMANDS</b> block contains a step and a signal generator for
each reference command, while the <b>OUTPUTS</b> block contains a scope for
each couple output + reference command </span><span lang=EN-US
style='font-size:10.0pt'>(the library file includes the structures of every
block relative to systems with a </span><b><span lang=EN-US style='font-size:
10.0pt;color:red'>number of outputs less or equal to 15</span></b><span
lang=EN-US style='font-size:10.0pt'>)</span><span lang=EN-US>.</span></p>
<p style='text-align:justify'><span lang=EN-US>After the creation of the
window, all the functionalities of the Simulink interface are enabled and the
user can start the simulation with the <b>Start</b> command of the relative
menu <a href="biblo.htm#b7" title=" REFERENCES ">[7]</a>.</span></p>
<p style='text-align:justify'><span lang=EN-US>Note: </span><i><span
lang=EN-US style='font-size:10.0pt'>it's possible to access to the simulation
data and to export them to other application, by selecting the corresponding
property of the scopes.<o:p></o:p></span></i></p>
<p align=center style='text-align:center'><span lang=EN-US><img border=0
width=536 height=5 id="_x0000_i1043" src="Immagini\riga.gif"></span></p>
<p align=center style='text-align:center'><span lang=EN-US><img border=0
width=536 height=5 id="_x0000_i1030" src="Immagini\riga.gif"></span></p>
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