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Ch Control System Toolkit
System Requirements
Web-based Control
Ch versus MATLAB
A Sample Courseware
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Ch Control System Toolkit is free for academic use, subject to the license agreement in the license. It can be downloaded here. It costs $199 for personal or commercial use. It is included in Ch Professional Edition for ARM (Raspberry Pi)

"I am a control systems PhD, with 15 years of Matlab experience, who spends most of his time doing software engineering. Ch is a dream comes true."

--- Matt Wheeler

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Ch Control System Toolkit can be conveniently used for modeling, design, and analysis of continuous-time or discrete-time linear time invariant (LTI) control systems. A control system can be modeled in the form of transfer functions as shown in a block diagram below, zero-pole-gain, or state-space.

Ch Control System Toolkit is developed in Ch Professional Edition, with user-friendly high-level numerical and graphical plotting capabilities.

Ch Control System Toolkit supports most classical and modern control techniques through object-oriented programming based on a control class. It can seamlessly interface existing C/C++ code in either source code or binary static/dynamical libraries without re-compilation. It can even be embedded in other application programs. The software comes with sample code for each member function of the control class.

If you are familiar with MATLAB® Control System Toolbox, you may find the following link helpful in understanding the capabilities of Ch Control System Toolkit.

A Web-based control system design and analysis, as a module of the Ch Control System Toolkit, is available for teaching and learning control theorem and practical engineering applications. The source code for this Web-based module is included in the distribution of Ch Control System Toolkit. The users can extend it to solve many Web-based applications. For example, a Web-based Compensator Design including source code can be found here.

Major Features of Ch Control System Toolkit:

  • C/C++ Compatible
    Different from other similar control software packages, programs written in Ch Control System Toolkit can work with existing C/C++ programs and libraries seamlessly.

  • Object-Oriented
    Implemented as a C++ class, Ch Control System Toolkit is object-oriented.

  • Cross-Platform
    Developed in Ch, applications using Ch Control System Toolkit can run across different platforms.

  • Embeddable
    With Embedded Ch, Ch programs using Control System Toolkit can be embedded in other C/C++ application programs.

  • Web-Based
    Using the Web-based control design and analysis system in the Ch Control System Toolkit, design and analysis of control systems can be performed through the Web using a Web browser over the internet without any software installation, system configuration and programming.

  • Model Building
    Support multiple model representations such as state-space models, transfer function, and zero-pole-gain models both for continuous-time and discrete-time linear time invariant (LTI) systems. When a system is created using one of these three models, the Ch Control System Toolkit automatically converts it to other two models internally and keeps the information of these three models for user to retrieve.

  • Continuous/Discrete Systems Conversions
    Provide the capability of converting from continuous to discrete, discrete to continuous, and discrete to discrete system.

  • System Interconnecting and Reduction
    Construct arbitrary complex system models given in a block diagram form by using interconnecting member functions.

  • Time Domain Analysis
    Compute the time responses to arbitrary inputs and initial conditions for both SISO and MIMO systems. The typical inputs are step and impulse inputs. The output responses can be displayed by either a plot or a data set.

  • Frequency Domain Analysis
    Generate commonly used frequency response plots of Bode, Nyquist and Nichols plots. Calculates the bandwidth, DC gain, gain and phase margins of a SISO system for system dynamics and stability analysis.

  • Root Locus Design
    Calculate and plots the root locus of a SISO system.

  • Controllability and Observability
    Construct the controllability and observability matrices. Determines the controllability and observability of systems. Calculates the controllability and observability grammians of a state-space model.

  • State-Space Design
    Find the control-law and estimator that will allow the user to select a set of pole locations for a satisfactory system dynamic response.

  • Optimal Control System Design and Equation Solvers
    Calculate LQ-optimal gain for both continuous and discrete systems. Solves continuous and discrete-time Lyapunov equations.

  • Plotting Utilities
    Provide many plotting functions to allow output visually displayed or exported as external files with a variety of different file formats including postscript file, PNG, LaTeX, etc. They can also readily be copied and pasted in other applications such as Word in Windows.