control systems analysis package cosy pak v updated for mathematica announcing cosy pak a symbolic control systems analysis package version no user fee release for mathematica version or higher introduction cosy pak is set of packages and notebooks for classical control and some modern state space control analysis and design methods the notebooks in cosy pak follow a typical control engineering i course taught at many universities around the world for the junior senior level undergraduates there is no fee to use cosy pak but certain responsibilities are expected of the user see copyright notice in the readme file included below for starters e mail fax mail post the registration form included in the readme file cosy pak is available via anonymous ftp from mishna esys cwru edu internet no in the pub directory p s a typical ftp session in unix is given after the readme file future releases if you would like to receive updates and newer versions of cosy pak please send e mail fax mail to the address below in addition your comments and suggestions are appreciated and are invaluable to us we will do our best to fix any reported bugs however we cannot fix those bugs that have not been reported to us and those we do not know of we would very much appreciate you taking a few minutes to communicate to us via e mail us mail telephone fax this will help us to release bug free versions in the future comments are welcome n sreenath systems engineering department case school of engineering case western reserve university e mail sree mishna cwru edu u s mail prof n sreenath tel systems engg crawford hall fax case western reserve univ cleveland oh begin readme file no user fee release cosy pak a symbolic control systems analysis package version for mathematica version or higher by c k chen n sreenath systems engineering case school of engineering case western reserve university cleveland oh e mail sree mishna cwru edu copyright copyright copyright by c k chen and n sreenath case western reserve university permission to use copy modify and distribute this software and its documentation for any purpose and without fee is hereby granted provided that the above copyright notice appear in supporting documentation and the name of the case western reserve university case school of engineering not be used in advertising or publicity pertaining to distribution of the software without specific without prior permission case western reserve university makes no representations about the suitability of this software for any purpose it is provided as is with out express or implied warranty acknowledgements support from cwru information and network services dr ray neff case alumni association the lilly foundation and the systems engineering department of case western reserve university is gratefully acknowledged special thanks to brian evans of georgia tech for all the help ftp cosy pak is available by anonymous ftp from mishna esys cwru edu internet no a sample ftp session is given at the end of this file changes in version update from v to v in this version we have revised cosy pak to take advantage of the more robust signal processing functions available in mathematica v since mathematica provides a better and working laplacetransform and inverselaplacetransform functions than mathematica v did we adopted them this has made cosy pak smaller thus brian evans signal processing packages that supported the laplacetransform and inverselaplacetransform functions in the cosy pak v are no longer needed directly by cosy pak v for power users who use signal processing we still recommend the use of the very fine brian evans package on signal processing available at the anonymous ftp site gauss eedsp gatech edu or ip on the downside the disadvantage of this update can be that mathematica requires more runtime resources than its previous version for mathematica users we have included the laplacetransform package from mathematica in the directory for please move all files and directory under for into the calculus directory under mathematica packages directory introduction this is an unsupported release of cosy pak a control systems analysis package for symbolic control systems analysis using mathematica classical control systems analysis and design methods and some modern control systems methods have been implemented in this package this package and the attendant notebooks were developed on a next tm computer a unix based workstation they have been used as a supplementary teaching aid along with standard control engineering texts ogata phillips and harbor for undergraduate courses in control engineering i taught at the systems engineering department of cwru in addition to the next they have also been tested successfully on apple macintosh computers tm and ibm pc s tm running ms windows tm we would be very much interested to hear from you if you or anybody you know uses this software on platforms not mentioned above ibm users however will have to evaluate the notebooks first to visualize the graphics once installed see below for instructions this collection of mathematica packages can be loaded by any user bundled with the packages are many notebooks cosy notes which demonstrate the functionality of these packages the notebooks follow a plan of many fine standard undergraduate control engineering text books listed in the references examples used in these notebooks have been collected from the various references given at the end of this file the contents of the notebooks in the cosy notes directory are given below begin cosy notes contents notebook file name introduction ma chapter introduction to control systems sections analyticity poles and zeros signals forward laplace transforms inverse laplace transforms differential equation with zero valued initial conditions differential equation with initial conditions notebook file name math models ma chapter mathematical modeling of dynamic systems sections ode to state space linearization of a nonlinear system of equations state space to transfer function notebook file name transient response ma chapter transient response analysis chapter split into three sub notebooks because of file size notebook file name transient response ma sections time response analysis first order system second order system third order and higher order systems notebook file name transient response ma sections first order system step response vs time const notebook file name transient response ma sections second order system step response vs damping ratio notebook file name steady state response ma chapter steady state response sections routh s stability steady state error analysis notebook file name root locus ma chapter root locus analysis notebook file name freq response ma chapter frequency response analysis sections bode plot analysis magnitude vs phase plot nichols plot polar plot nyquist plot combined example notebook file name state space ma chapter state space methods sections introduction state transition matrix controllability observability output controllability pole placement design observer design time response using state space methods end notebook contents compressed files the files that contain a complete set of the cosy pak v packages and notebooks for mathematica are cosy pak tar z compressed tar file for unix systems cosy pak sit hqx compressed sit file for macintosh systems and encoded by binhex format requires the shareware stuffit file v or higher cosy pak ibm zip zip file for the ibm pc running ms dos once expanded the mathematica files can also be used on macintosh ibm pc unix systems also installation of cosy pak o in unix command line type the following command zcat cosy pak tar z tar xvf o in macintosh open the sit hqx file using the shareware stuffit v or higher o in ibm command line type the following command pkunzip o d cosy pak ibm zip note this zip file was zipped by zip utility v you must use pkunzip version or higher to unzip it ibm pc s may limit the directory name characters to eight in that event type pkunzip o d cosy pak zip you can also unzip the cosy pak ibm zip file on any unix machine if you have unzip utility on it uncompressing and untarring cosy pak tar z or unzipping cosy pak ibm zip will create a directory called cosy pak once the files are expanded you should see a single directory cosy pak containing the following three files four sub directories and their contents sub directories in cosy pak cosypak contains control tool box packages manual cosy pak manual in ps rtf txt and wn formats cosy notes contains notebooks for contains laplace transform package from mathematica for mathematica users files in directory cosypak chap m chap m chap m chap m chap m chap m chap m files in directory cosy notes introduction ma math model ma transient response ma transient response ma transient response ma steady state response ma root locus ma freq response ma state space ma files in directory for laplacetransform m diracdelta m sub directories in cosy pak common files in directory common support m important the notebook example files ma files will be under the cosy notes directory to use the notebooks move the directory cosypak to a directory that mathematica can recognize locallibrary mathematica packages on a unix machine my harddisk mathematica packages on an apple macintosh c winmath packages on an ibm pc at the beginning of the initialization cell of each notebook in cosy notes directory we list the example about how to make mathematica identify the directory initialization of path example for a unix machine default path join path locallibrary mathematica packages example for an apple macintosh path join path my harddisk mathematica packages example for ibm pc path join path c winmath packages change the pathname according to your machine by removing the mathematica comment sign and before and after path setting this command makes mathematica recognize the directory locallibrary mathematica packages on a unix machine my harddisk mathematica packages on a apple macintosh c winmath packages on an ibm pc mathematica users we include the laplacetransform package from mathematica in the directory for please move all files and directory under for into the calculus directory under mathematica packages directory getting started after installation start mathematica and open the notebooks in the cosy notes directory all notebooks load their own packages navigate in the notebooks and enjoy ibm users however will have to evaluate the notebooks to visualize the graphics user responsibilities we request you to take a few minutes and fill out the information below and mail it to us by e mail fax u s mail this will help us to keep your abreast of the improvements and release new versions of cosy pak suggestions for improvements are welcome cut here your name organization title e mail postal address comments suggestions cut here mail this information to e mail fax u s mail internet sree mishna cwru edu u s mail prof n sreenath tel systems engg crawford hall fax case western reserve univ cleveland oh report bugs please report bugs and leave comments to the address above any suggestion for improvements and criticism are welcome we will do our best to fix any reported bugs however we cannot fix those bugs that have not been reported to us and those we do not know of we would very much appreciate you taking a few minutes to communicate to us via e mail us mail telephone fax this will help us to release bug free versions in the future disclaimer and future releases this software is the property of the case western reserve university use this software at your own risk we make no express or implied warranty the packages and the notebooks can also be made to run under mathematica versions or lower with modification we do not guarantee the outcome documentation cosy pak functions are indexed in the files in the manual directory according the chapters usage is illustrated in notebooks residing in cosy notes directory if your computer does not support notebooks find a macintosh computer and acquire mathreader which is a public domain notebook reader mathreader will at least allow you to peruse notebooks but you will not be able to evaluate any code fragments references dorf r c modern control systems sixth edition addison wesley new york fortmann t e and hitz k l an introduction to linear control systems marcel dekker franklin g f powell d j and emami naeini a feedback control of dynamic systems second edition addison wesley new york kuo b c automatic control systems sixth edition prentice hall new jersey ogata k modern control engineering second edition prentice hall new jersey phillips c l and harbor r d feedback control systems second edition prentice hall new jersey end readme file typical ftp session ftp mishna esys cwru edu connected to mishna mishna ftp server version next sun nov ready name mishna esys cwru edu sree anonymous password ftp cd pub ftp binary ftp ls port command successful opening ascii mode data connection for file list cosy pak tar z cosy pak ibm zip index readme places wmd cosy pak untar transfer complete bytes received in seconds kbytes s ftp get cosy pak tar z port command successful opening binary mode data connection for cosy pak tar z bytes transfer complete local cosy pak tar z remote cosy pak tar z bytes received in seconds e kbytes s ftp quit goodbye
