MIMOtool Help : Menus

FILE MENU

New Model *	Opens the relative subsection
Load Model *	Displays the Open Model dialog box from the default folder …/model/modelli
*Save Model as...*	Displays the Save Model as… dialog box to the default folder …/model/modelli
Load Controller *	Displays the Open Controller dialog box from the default folder …/model/control (an error message appears if the selected controller is not relative to the current model)
*Save Controller as...*	Displays the Save Controller… dialog box to the default folder …/model/control (Refer to the data structure help page for details on the variables that are saved by this command)
*View on Matlab*	Displays on the Matlab window the coefficients of a matrix (It's enabled only when a matrix is visualized on the MIMOtool window)
*Home*	Goes back to the starting (home) window and reinitializes the variable in the workspace
*Exit*	Closes the program MIMOtool, clears the variable and restores the workspace and the working directory before the calling of MIMOtool

* They are enabled only in the main Modeling window

TOOLS MENU

The Tools menu, available only in the Modeling section, opens a new window and allows computing and visualizing the balanced or the reduced form of the current model; it's possible to select the computing function and also replace the model in memory with his new state space form.

Balanced Realization

Computes the Balanced Form of the current model with the functions Sysbal.m, Balreal.m or S2S.m

Model Reduction

Computes the Reduced Form of the current model with the function Minreal.m or from Ctrb/Obsv or Hankel singular values

(The reduction from Ctrb/Obsv and Hankel singular values only reduces the STABLE part of the system)

Set C = I and D = 0

Modifies the matrix C and D of the current model and replaces it in memory with the new model named Untitled.mat

For details on the functions used to compute the selected model form, type "help function_name" at the Matlab prompt.

VIEW MENU

This menu is available only in the Analysis section and its commands allow computing and visualizing the most important forms of representation for the current model: each menu command computes the new state space realization and opens a new window in which it's possible to visualize, by means of the relative buttons, the matrices Aform, Bform, Cform, Dform and the transformation matrix Tform.

System matrices

Opens a new window in which it's possible to visualize the matrices A, B, C and D of the current model

Controllability form

Observability form

Modal form

Companion form*

Jordan form**

Kalman form

Balanced realization

Brunowsky form***

Computes the relative state space realization and opens a new window in which the relative matrices can be visualized.

* This command is enabled only if the model is controllable with its first input

**The algorithm used to compute the Jordan form becomes very unstable for systems with many poles, so this command is disabled if the poles of the matrix A are more than 7

***In some particular cases this command may be disabled, because of the algorithm used to compute the relative form cannot find a correct transformation matrix Tform

ANALYSIS MENU

Through this menu, available only in the Analysis section, it's possible to examine the current model's properties (stability, controllability, observability, ...) and its behavior in time and frequency (step and impulse responses, Bode's and Nyquist's diagrams, …) [3], [4]; every command opens a new subsection made up of one or more different windows in which the user can move using the general buttons BACK, NEXT, CLOSE or other specific buttons depending on the selected functionality.

*System general info*	Main Analysis window
*Singular values*	Graphic of the singular values; inside it's possible to analyze all the singular vectors and the graphic of the norm (G( jw ))
*Poles and Zeros*	Open loop system map of the poles and transmission zeros; in addition it's available the analysis of the zeros and of the entire eigenstructure
*Controllability of...*	Controllability gramian of the states and of the poles; (*) inside it's possible to analyze the plant controllability with ... different selections of the inputs
*Observability of...*	Observability gramian of the states and of the poles; (*) inside it's possible to analyze the plant observability from ... different selections of the plant outputs
*Relative degree*	Relative degree for each output
*Root locus*	Root locus, poles, zeros and gain of the selected channel
*Step response* *Impulse response* *Bode diagrams* *Nyquist diagram*	Step and impulse response or Bode's and Nyquist's diagrams of the selected channel; inside it's available a button ALL to display simultaneously the responses or the diagrams of all the channels

(*) The plots that display ctrb/obsv of states/poles use a pseudoinverse algorithm that may not give reliable results if the ctrb/obsv of some state/pole is exactly zero. In this case, you should trust mainly the rank of the ctrb/obsv matrix.

Note: all the graphics in MIMOtool are associated with a popup menu that can be activated pressing the right mouse button over them.

SYNTHESIS MENU

This menu is enabled only in the Synthesis section and allows starting the design of a controller for the current model. The different kinds of control laws implemented in MIMOtool are: H-INFINITY, H-2, H-MIX, MU, LQG, LQG/LTR, PID, LQR, IMFC, EMFC; EIG/ASSIGN and LQ-SERVO.

OPTIMIZATION MENU

This menu is enabled only in the Synthesis section and allows the search of an optimal controller, for the current model, that minimizes a cost function defined on the closed loop system behavior; the Optimization is available only for the following kind of controllers: H-INFINITY, H-2, H-MIX, MU and LQG.

EVALUATION MENU

The last command of this menu opens the window relative to the Evaluation section: it's available either in the Modeling main window (after a controller loading), or in the last window of a Synthesis or Optimization stroke (after a controller computation); the other commands are enabled only inside the Evaluation section and allow to visualize several graphic and textual information about the closed loop system (current model + controller).

( For more details on this menu, see the relative section )

SIMULATION MENU

This menu is made up of only one command that creates and opens the Simulink window for the Simulation of the closed loop system: it's available either in the Modeling main window (after a controller loading), or in the last window of a Synthesis or Optimization stroke (after a controller computation).