Features

Time-Domain Response Analyses

• Provides symbolic analysis capabilities for solving state equations
• Simulates system behavior numerically
• Includes step, impulse, and ramp response-function examples

Collection of Classical Methods

• Handles arbitrary transfer functions and rational polynomial transfer functions with frequency response plotting routines
• Generates Bode, Nyquist, and Nichols plots
• Reduces complexity for MIMO systems with singular value plot
• Plots and animates the root loci, providing information on their direction and evolution

Wide Range of System Interconnections

• Includes elementary serial (cascade), parallel, and feedback interconnections
• Constructs arbitrary complex composite systems from building blocks

Controllability and Observability

• Determines and computes controllability and observability
• Computes the controllability and observability matrices and Gramians
• Solves the continuous and discrete matrix Lyapunov equations
• Computes the dual to the input system

Realizations Construction and Conversion

• Selects controllable and observable subsystems; finds the minimal realizations
• Computes the Kalman and Jordan canonical forms
• Constructs internally balanced realizations
• Cancels common zero-pole pairs in transfer functions
• Converts between equivalent realizations with similarity transforms

Feedback Control Systems Design

• Computes the feedback for the eigenvalue assignment using Ackermann's formula or the robust algorithm
• Finds the estimator for state reconstruction

Optimal Control Systems Design

• Designs the optimal feedback for linear system and quadratic cost functions (i.e., solves continuous and discrete linear-quadratic optimal control problems)
• Finds the optimal solution to the output regulator problem
• Solves the continuous and discrete algebraic Riccati equations
• Finds the discrete equivalent to the continuous regulator
• Finds the Kalman estimator and filter for stochastic systems

Nonlinear Control Systems

• Provides a linearization tool for constructing linear models of nonlinear systems
• Makes rational polynomial approximations of nonlinear systems