dll (Windows x86) R.M.

mexglx (Linux x86) A.R.

mexmac (osX G4) A.R.

CACT

3/28/05

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