Simulink Files

A block library, simulations, and compiled S-functions for Matlab 7.0
dll (Windows x86) R.M.
mexglx (Linux x86) A.R.
mexmac (osX G4) A.R.
CACT
3/28/05

linux zipped files
aadrc_linux.zip  290.19 kB
03/29/05 (04:28:48 PM)
All of the adrc starter kit files included in one zip file for the linux x86 operating system.

osX zipped files
aadrc_osx.zip  268.40 kB
03/29/05 (04:28:07 PM)
All of the adrc starter kit files included in one zip file for the osX G4 operating system.

Windows zipped files
aadrc_windows.zip  219.51 kB
03/29/05 (04:28:29 PM)
All of the adrc starter kit files included in one zip file for the Windows x86 operating system.

Library of Simulink blocks
adrc_blocklib.mdl  48.55 kB
03/23/05
Rob Miklosovic
Block library includes a servomotor plant, a disturbance block, and masked S-functions of a polynomial profile, CDESO, and various controllers. Always be sure to download the appropriate .dll files into the same directory as the Simulink model before running it.

Closed loop simulation in Simulink. This is a good starter kit.
adrc_closedloop.mdl  39.02 kB
03/23/05
Rob Miklosovic
Simulation is composed of a servomotor controlled by adrc. Always be sure to download the appropriate .dll files (ladrc2b.dll and polyfile.dll) into the same directory as the Simulink model (adrc_closedloop.mdl) before running it.

Open loop simulation in Simulink.
adrc_openloop.mdl  43.27 kB
03/23/05
Rob Miklosovic
Simulation is composed of a CDESO to estimate the states of a servomotor. Always be sure to download the appropriate .dll files (cdeso2.dll and polyfile.dll) into the same directory as the Simulink model (adrc_openloop.mdl) before running it.

Nonlinear ADRC For a 2nd Order Plant Using Backward Euler Integration
adrc2.dll  15.36 kB
adrc2.mexglx  18.08 kB
adrc2.mexmac  19.00 kB
10/20/03
Rob Miklosovic
There are 2 inputs, R and Y. There are 4 outputs, u, z1, z2,and z3. There is 1 parameter vector, [B1, aplha1, delta1, B2, alpha2, delta2, B3, alpha3, delta3, Kp, alpha4, delta4, Kd, alpha5, delta5, T], where the alpha's and delta's are fal function parameters for each gain and T is the step size.

Bilinear C2D Block for a First Order Transfer Function
c2d1B.dll  14.85 kB
c2d1B.mexglx  17.80 kB
c2d1B.mexmac  19.08 kB
10/21/03
Rob Miklosovic
There is 1 parameter vector, [b1,b0,a1,a0,T], where the a's and b's are denominator and numerator coefficients and T is the sample time.

Bilinear C2D Block for a Second Order Transfer Function
c2d2B.dll  15.36 kB
c2d2B.mexglx  18.13 kB
c2d2B.mexmac  19.14 kB
10/21/03
Rob Miklosovic
There is 1 parameter vector, [b2,b1,b0,a2,a1,a0,T], where the a's and b's are denominator and numerator coefficients and T is the sample time.

Bilinear C2D Block for a Third Order Transfer Function
c2d3B.dll  15.87 kB
c2d3B.mexglx  20.03 kB
c2d3B.mexmac  19.24 kB
10/21/03
Rob Miklosovic
There is 1 parameter vector, [b3,b2,b1,b0,a3,a2,a1,a0,T], where the a's and b's are denominator and numerator coefficients and T is the sample time.

Bilinear C2D Block for a Forth Order Transfer Function
c2d4B.dll  16.38 kB
c2d4B.mexglx  20.06 kB
c2d4B.mexmac  23.36 kB
10/21/03
Rob Miklosovic
There is 1 parameter vector, [b4,b3,b2,b1,b0,a4,a3,a2,a1,a0,T], where the a's and b's are denominator and numerator coefficients and T is the sample time.

Bilinear C2D Block for a Fifth Order Transfer Function
c2d5B.dll  16.90 kB
c2d5B.mexglx  20.17 kB
c2d5B.mexmac  23.43 kB
10/21/03
Rob Miklosovic
There is 1 parameter vector, [b5,b4,b3,b2,b1,b0,a5,a4,a3,a2,a1,a0,T], where the a's and b's are denominator and numerator coefficients and T is the sample time.

Bilinear C2D Block for a Sixth Order Transfer Function
c2d6B.dll  16.90 kB
c2d6B.mexglx  19.77 kB
c2d6B.mexmac  19.05 kB
10/21/03
Rob Miklosovic
There is 1 parameter vector, [b6,b5,b4,b3,b2,b1,b0,a6,a5,a4,a3,a2,a1,a0,T], where the a's and b's are denominator and numerator coefficients and T is the sample time.

Current Discrete Extended State Observer for a 1st Order Unity Gain Plant (normalized by 1/b0)
cdeso1.dll  14.34 kB
cdeso1.mexglx  17.85 kB
cdeso1.mexmac  19.10 kB
03/10/05
Rob Miklosovic
There are 2 inputs, Y and U. There are 2 outputs, z1 and z2. There is 1 parameter vector, [wo, T], where wo is the observer's bandwidth and T is the step size.

Current Discrete Extended State Observer for a 2nd Order Plant Unity Gain Plant (normalized by 1/b0)
cdeso2.dll  15.36 kB
cdeso2.mexglx  18.05 kB
cdeso2.mexmac  19.13 kB
03/04/05
Rob Miklosovic
There are 2 inputs, Y and U. There are 3 outputs, z1, z2 and z3. There is 1 parameter vector, [wo, T], where wo is the observer's bandwidth and T is the step size.

Dynamics Estimation Filter for a 2nd Order Unity Gain Plant (normalized by 1/b0) Using Bilinear Filters
def2c.dll  21.50 kB
def2c.mexglx  24.17 kB
def2c.mexmac  27.48 kB
10/01/03
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output, U. There is 1 parameter vector, [wc,wo,T], where wc and wo are the controller and observer bandwidths, and T is the step size.

Discrte Time-Optimal Controller for a 2nd Order Unity Gain Plant (normalized by 1/b0)
dtoc2.dll  14.34 kB
dtoc2.mexglx  17.85 kB
dtoc2.mexmac  19.05 kB
2/19/05
Rob Miklosovic
There are 2 inputs, E and -Ydot. There is 1 output, U. There is 1 parameter vector, [r,kh,T], where r is the maximum acceleration, kh*T is the algorithm step size, and T is the step size.

Discrte Time-Optimal Controller for a 2nd Order Unity Gain Plant (normalized by 1/b0) Configured as a Single Degree-of-Freedom Controller
dtoc2a.dll  14.34 kB
dtoc2a.mexglx  18.03 kB
dtoc2a.mexmac  19.09 kB
2/19/05
Rob Miklosovic
There is one Error input. There is 1 output, U. There is 1 parameter vector, [r,kh,T], where r is the maximum acceleration, kh*T is the algorithm step size, and T is the step size.

Discrte Time-Optimal Controller for a 2nd Order Unity Gain Plant (normalized by 1/b0) Configured as a Nonlinear Tracking Controller with Optional Feedback of the Extended State from a CDESO
dtoc2b.dll  15.87 kB
dtoc2b.mexglx  20.24 kB
dtoc2b.mexmac  23.38 kB
03/18/05
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output U. There is 1 parameter vector, [r, kh, T, wo, kz3], where r is the maximum acceleration, kh*T is the algorithm step size, T is the step size, wo is the CDESO bandwidth, and kz3 (0-1) is the extended state's scaler.

Discrte Time-Optimal Controller for a 2nd Order Unity Gain Plant (normalized by 1/b0) Configured as Nonlinear Tracking Controller With Integral Control
dtoc2c.dll  14.85 kB
dtoc2c.mexglx  18.21 kB
dtoc2c.mexmac  19.10 kB
2/19/05
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output, U. There is 1 parameter vector, [r,kh,T,ki], where r is the maximum acceleration, kh*T is the algorithm step size, T is the step size, and ki is the integrator gain..

Nonlinear Extended State Observer for a 2nd Order Plant Unity Gain Plant (normalized by 1/b0) Using backward Euler Integration
eso2.dll  14.85 kB
eso2.mexglx  19.99 kB
eso2.mexmac  19.14 kB
5/23/02
Rob Miklosovic
There are 2 inputs, Y and U. There are 3 outputs, z1, z2 and z3. There is 1 parameter vector, [B1, aplha1, delta1, B2, alpha2, delta2, B3, alpha3, delta3, T], where the alpha's and delta's are fal function parameters for each gain, and T is the step size.

Generalized PID for a 2nd Order Unity Gain Plant (normalized by 1/b0) Using Backward Euler Integration
gpid2.dll  14.85 kB
gpid2.mexglx  17.83 kB
gpid2.mexmac  19.08 kB
10/20/03
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output, U. There is 1 parameter vector, [wc,wo,T], where T is the step size.

Generalized PID for a 2nd Order Unity Gain Plant (normalized by 1/b0) Using a Current Discrete Estimator
gpid2a.dll  15.36 kB
gpid2a.mexglx  18.21 kB
gpid2a.mexmac  19.16 kB
03/21/05
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output, U. There is 1 parameter vector, [wc,wo,T], where T is the step size.

Generalized PID for a 2nd Order Unity Gain Plant (normalized by 1/b0) Configured as a Tracking Controller and using a Current Discrete Estimator
gpid2b.dll  15.36 kB
gpid2b.mexglx  18.27 kB
gpid2b.mexmac  19.16 kB
03/21/05
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output, U. There is 1 parameter vector, [wc,wo,T], where T is the step size.

Linear ADRC for a 1st Order Unity Gain Plant (normalized by 1/b0) Using Backward Euler Integration
ladrc1.dll  14.34 kB
ladrc1.mexglx  17.74 kB
ladrc1.mexmac  19.08 kB
10/20/03
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output, U. There is 1 parameter vector, [wc,wo,T], where T is the step size.

Linear ADRC for a 1st Order Unity Gain Plant (normalized by 1/b0) Using a Current Discrete Exteneded State Observer
ladrc1a.dll  15.36 kB
ladrc1a.mexglx  18.01 kB
ladrc1a.mexmac  19.13 kB
02/23/05
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output, U. There is 1 parameter vector, [wc,wo,T], where T is the step size.

Linear ADRC for a 1st Order Unity Gain Plant (normalized by 1/b0) Configured as a Tracking Controller and using a Current Discrete Exteneded State Observer
ladrc1b.dll  15.36 kB
ladrc1b.mexglx  18.08 kB
ladrc1b.mexmac  19.13 kB
02/23/05
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output, U. There is 1 parameter vector, [wc,wo,T], where T is the step size.

Linear ADRC for a 2nd Order Unity Gain Plant (normalized by 1/b0) Using Backward Euler Integration
ladrc2.dll  14.85 kB
ladrc2.mexglx  17.86 kB
ladrc2.mexmac  19.08 kB
10/20/03
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output, U. There is 1 parameter vector, [wc,wo,T], where T is the step size.

Linear ADRC for a 2nd Order Unity Gain Plant (normalized by 1/b0) Using a Current Discrete Exteneded State Observer
ladrc2a.dll  15.36 kB
ladrc2a.mexglx  18.33 kB
ladrc2a.mexmac  19.18 kB
02/23/05
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output, U. There is 1 parameter vector, [wc,wo,T], where T is the step size.

Linear ADRC for a 2nd Order Unity Gain Plant (normalized by 1/b0) Configured as a Tracking Controller and using a Current Discrete Exteneded State Observer
ladrc2b.dll  15.36 kB
ladrc2b.mexglx  19.99 kB
ladrc2b.mexmac  19.18 kB
02/23/05
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output, U. There is 1 parameter vector, [wc,wo,T], where T is the step size.

Linear ADRC for a 2nd Order Unity Gain Plant (normalized by 1/b0) Configured as a 4-input Tracking Controller and using a Current Discrete Exteneded State Observer
ladrc2c.dll  15.36 kB
ladrc2c.mexglx  18.33 kB
ladrc2c.mexmac  19.18 kB
02/23/05
Rob Miklosovic
There are 4 inputs, R, Rdot, Rdoubledot, and Y. There is 1 output, U. There is 1 parameter vector, [wc,wo,T], where T is the step size.

Linear Extended State Observer for a 1st Order Unity Gain Plant (normalized by 1/b0) Using backward Euler Integration
leso1.dll  14.34 kB
leso1.mexglx  17.52 kB
leso1.mexmac  19.03 kB
10/24/03
Rob Miklosovic
There are 2 inputs, Y and U. There are 3 outputs, z1, z2 and z3. There is 1 parameter vector, [wo, T], where wo is the observer's bandwidth and T is the step size.

Linear Extended State Observer for a 2nd Order Unity Gain Plant (normalized by 1/b0) Using backward Euler Integration
leso2.dll  14.34 kB
leso2.mexglx  17.58 kB
leso2.mexmac  19.03 kB
10/24/03
Rob Miklosovic
There are 2 inputs, Y and U. There are 3 outputs, z1, z2 and z3. There is 1 parameter vector, [wo, T], where wo is the observer's bandwidth and T is the step size.

Predictive Discrete Extended State Observer For a 1st Order Unity Gain Plant (normalized by 1/b0)
pdeso1.dll  14.34 kB
pdeso1.mexglx  17.74 kB
pdeso1.mexmac  19.06 kB
03/10/05
Rob Miklosovic
There are 2 inputs, Y and U. There are 2 outputs, z1 and z2. There is 1 parameter vector, [wo, T], where wo is the observer's bandwidth and T is the step size.

Predictive Discrete Extended State Observer For a 2nd Order Plant Unity Gain Plant (normalized by 1/b0)
pdeso2.dll  14.34 kB
pdeso2.mexglx  17.86 kB
pdeso2.mexmac  19.08 kB
03/04/05
Rob Miklosovic
There are 2 inputs, Y and U. There are 3 outputs, z1, z2 and z3. There is 1 parameter vector, [wo, T], where wo is the observer's bandwidth and T is the step size.

Polynomial Motion Profile
polyfile.dll  14.85 kB
polyfile.mexglx  17.88 kB
polyfile.mexmac  18.97 kB
5/23/02
Rob Miklosovic
There is 1 ramp input of time. There is 1 parameter vector, [Ts,Sp,T], where Ts is the settling time, Sp is the set point, and T is the step size.

Time-Optimal ADRC for a 2nd Order Unity Gain Plant (normalized by 1/b0) using a Current Discrete Exteneded State Observer
toadrc2.dll  15.87 kB
toadrc2.mexglx  20.24 kB
toadrc2.mexmac  23.38 kB
03/18/05
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output U. There is 1 parameter vector, [r, kh, T, wo, kz3], where r is the maximum acceleration, kh*T is the algorithm step size, T is the step size, wo is the observer's bandwidth, and kz3 (0-1) is the extended state's scaler.

Time-Optimal ADRC for a 2nd Order Unity Gain Plant (normalized by 1/b0) using a Current Discrete Exteneded State Observer and Integral Control
toadrc2a.dll  15.87 kB
toadrc2a.mexglx  20.29 kB
toadrc2a.mexmac  23.40 kB
03/18/05
Rob Miklosovic
There are 2 inputs, R and Y. There is 1 output U. There is 1 parameter vector, [r, kh, T, wo, kz3, ki], where r is the maximum acceleration, kh*T is the algorithm step size, T is the step size, wo is the observer's bandwidth, kz3 (0-1) is the extended state's scaler, and ki is the integral gain.


Indexed 03/29/05 (05:03:11 PM) by simpleindex from lifesend.com or aaron.homeunix.com