File name 
Chapter 
Brief description 
amenl.mdl 
Chap. 19 
SIMULINK schematic to evaluate the
performance of a linear design on a particular nonlinear plant. 
apinv.mdl 
Chap. 2 
SIMULINK schematic to evaluate
approximate
inverses for a nonlinear plant. 
awu.mat 
Chap. 26 
MATLAB data file  it contains the data
required to use SIMULINK schematics in file mmawu.mdl. This
file must
be previously loaded to run the simulation. 
awup.m 
Chap. 11 
MATLAB program to decompose a biproper
controller in a form suitable to implement an antiwindup
strategy  requires the function p_elcero.m. 
c2del.m 
Chap. 3 
MATLAB function to transform a transfer
function for a continuoustime system with zeroorder hold into a
discretetransfer function in delta form. 
cint.mdl 
Chap. 22 
SIMULINK schematic to evaluate the
performance of a MIMO control loop
in which the controller is based on state estimate feedback. 
css.m 
Chap. 7 
MATLAB function to compute a oned.o.f.
controller for an n^{th}order SISO, strictly proper plant
(continuous or discrete) described in state space form. The user
must supply the desired observer poles and the desired control
poles.
This program requires the function p_elcero.m. 
data_newss.m 
Chap. 11 
MATLAB program to generate the data required for newss.mdl 
this program requires lambor.m. 
dcc4.mdl 
Chap. 10 
SIMULINK schematic to evaluate the
performance of a cascade architecture in the control of a plant
with time delay and
generalised disturbance. 
dcpa.mdl 
Chap. 13 
SIMULINK schematic to evaluate the
performance of the digital
control for a linear, continuoustime plant. 
dead1.mdl 
Chap. 19 
SIMULINK schematic to study a compensation strategy for deadzones. 
del2z.m 
Chap. 13 
MATLAB function to transform a
discretetime transfer function in delta form to its Ztransform
equivalent. 
dff3.mdl 
Chap. 10 
SIMULINK schematic to evaluate the
performance of disturbance feedforward in the control of a plant
with time delay and
generalised disturbance. 
distff.mdl 
Chap. 10 
SIMULINK schematic to compare a one
d.o.f. control against a twod.o.f.
control in the control of a plant with time delay. 
distffun.mdl 
Chap. 10 
SIMULINK schematic to evaluate
the performance of disturbance feedforward in the control of an
unstable plant and
generalised disturbance. 
fig6_12.mdl 
Chap. 6 
SIMULINK schematic to closely produce the trace as shown in
Figure 6.12. 
lambor.m 
Chap. 11 
MATLAB program to synthesise an
observer  this routine can be easily modified to deal
with different plants. 
lcodi.mdl 
Chap. 13 
SIMULINK schematic to compare
discretetime and continuoustime PID controllers for the control
of an unstable plant. 
linnl.mat 
Chap. 19 
MATLAB data file, with the linear
design data used in solved problem. 
mimo1.mdl 
Chap. 21 
SIMULINK schematic with a motivating
example for the control of MIMO systems. 
mimo2.mdl 
Chap. 22 
SIMULINK schematic to simulate a MIMO design based on an observer plus state estimate feedback. 
mimo2.mat 
Chap. 22 
MATLAB data file for mimo2.mdl. 
mimo3.mdl 
Chap. 25 
SIMULINK schematic for the
triangular control of a MIMO stable and nonminimum phase plant, by using
an IMC architecture. 
mimo4.mdl 
Chap. 26 
SIMULINK schematic for the decoupled
control of a MIMO stable and minimum phase plant plant, using an
IMC architecture. 
minv.m 
Chap. 25 
MATLAB function to obtain the inverse
(in state space form) of a
biproper MIMO system in state space form. 
mmawe.mdl 
Chap. 26 
SIMULINK schematic for the
(dynamically decoupled) control of a MIMO system with input
saturation  an antiwindup mechanism is used, and directionality is
(partially) recovered by scaling the control error. 
mmawu.mdl 
Chap. 26 
SIMULINK schematic for the
(dynamically decoupled) control of a MIMO system with input
saturation  an antiwindup mechanism is used, and directionality is
(partially) recovered by scaling the controller output. 
newss.mdl 
Chap. 11 
SIMULINK schematic to study a
(weighted) switching strategy to deal with statesaturation
constraints. 
nmpq.mdl 
Chap. 15 
SIMULINK schematic to evaluate
disturbance compensation and robustness in the IMC control of a NMP
plant. . 
oph2.m 
Chap. 16 
MATLAB function to perform H2
minimization to solve the
modelmatching problem. 
p_elcero.m 
Chap. 7 
MATLAB function to eliminate
leading
zeros in a polynomial. 
paq.m 
Chap. 7 
MATLAB function to solve the pole
assignment equation: The problem can be set either for Laplace
transfer functions or by using the Deltatransform. This program requires
the
function p_elcero.m. 
phloop.mdl 
Chap. 19 
SIMULINK schematic to evaluate the
IMC control of a pH neutralisation plant by using approximate
nonlinear inversion. 
phloop.mat 
Chap. 19 
MATLAB data file associated
phloop.mdl 
piawup.mdl 
Chap. 11 
SIMULINK schematic to evaluate an
antiwindup strategy in linear controllers, by freezing the
integral action when its output saturates. 
pid1.mdl 
Chap. 6 
SIMULINK schematic to analyze the
performance of a PID control that uses empirical tuning methods. 
pidemp.mdl 
Chap. 6 
SIMULINK schematic to use the
ZieglerNichols tuning method based on closedloop oscillation: The
plant is linear, but of high order, with input saturation and noisy
measurements. 
pmimo3.m 
Chap. 25 
MATLAB program to compute the Q
controller for solved
problem. 
qaff1.mdl 
Chap. 15 
SIMULINK schematic to analyze the
loop performance of an IMC control loop of a NMP plant. 
qaff2.mdl 
Chap. 15 
SIMULINK schematic to analyze the
loop performance of the Smith
controller in Q form. 
qawup.mdl 
Chap. 11 
SIMULINK schematic to implement an
antiwindup mechanism in the IMC architecture  the decomposition
of Q(s) was done by using MATLAB function awup.m. 
sat_uns.mdl 
Chap. 15 
SIMULINK schematic to study
saturation in unstable plants with disturbances of variable
duration. 
slew1.mdl 
Chap. 11 
SIMULINK schematic to evaluate the
performance of a PI controller with antiwindup mechanism to
control a plant with slewrate limitation. 
smax.m 
Chap. 9 
MATLAB function to compute a lower bound
for the peak of the nominal sensitivity
S_{o}  the plant model has a
number of unstable poles, and the effect of one particular zero in
the open RHP is examined. 
softloop1.mdl 
Chap. 19 
SIMULINK schematic to compare
the performances of linear and nonlinear controllers for a
particular
nonlinear plant. 
softpl1.mdl 
Chap. 19 
SIMULINK schematic of a nonlinear
plant. 
sugdd.mat 
Chap. 24 
MATLAB data file:  it contains the
controller required to do dynamically decoupled control of the
sugar mill. 
sugmill.mdl 
Chap. 24 
SIMULINK schematic for the
multivariable control of a sugar mill station. 
sugpid.mdl 
Chap. 24 
SIMULINK schematic for the PID
control of a sugar mill station  the design for the multivariable
plant is based on a SISO approach. 
sugtr.mat 
Chap. 24 
MATLAB data file  it contains the
controller required to do triangularly decoupled control of the
sugar mill. 
tank1.mdl 
Chap. 2 
SIMULINK schematic to illustrate the
idea
of inversion of a nonlinear plant. 
tmax.m 
Chap. 9 
MATLAB function to compute a lower bound
for the peak of the nominal complementary sensitivity T_{o}.
The
plant model has a number of NMP zeros, and the effect of one
particular pole in the open RHP is examined. 
z2del.m 
Chap. 13 
MATLAB routine to transform a discretetime
transfer function in Ztransform form to
its Deltatransform equivalent. 


