******************************************************************** *                                                                  * *                            Announcing                            * *                                                                  * *                            COSY_PAK                              *  *                                                                  *                            *              (A symbolic COntrol SYstems analysis PAcKage)       *             *                                                                  * *                           Version 0.9                            *  *                            		                           *     *                      (NO USER FEE RELEASE)                       *              *                                                                  * *                               for                                * *                                                                  * *                      Mathematica Version 2.0 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 : 129.22.40.23)   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.: (216) 368-6219 Systems Engg., Crawford Hall         FAX: (216) 368-3123 Case Western Reserve Univ. Cleveland OH 44106-7070    ========================= Begin README file =========================                            (NO USER FEE RELEASE)  			     COSY_PAK  			      	       (A symbolic COntrol SYstems analysis PAcKage) 			     			    Version 0.9                 		  	                        for 				                   	Mathematica Version 2.0 or higher                                  by                 C.K.Chen 		N. Sreenath 		 	     	         Systems Engineering 		     Case School of Engineering 	     	   Case Western Reserve University		 	     	      Cleveland, OH, 44106-7070		        		      e-mail: sree@mishna.cwru.edu 			 --> Copyright     :Copyright: Copyright 1992 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. 129.22.40.23). A sample ftp session  is given at the end of this file.  **********************************************************************  --> Changes in Version 0.9 (update from v0.81 to v0.9)  	In this version, we have revised COSY_PAK to take advantage of  the more robust signal processing functions available in Mathematica v2.1.   Since Mathematica 2.1 provides a better  and  working  LaplaceTransform and InverseLaplaceTransform functions than  Mathematica v2.0 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 v0.81 are no longer needed directly by COSY_PAK v0.9. 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 # 130.207.226.24).  On   the  downside, the disadvantage of this update  can be that Mathematica 2.1 requires more runtime resources than its  previous version.    ***********************************************************************	 --> For Mathematica 2.0 users 	 	We have included the LaplaceTransform package from Mathematica 2.1 in   the directory `For_2.0'. Please move all files and directory under For_2.0 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 2.1. 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 [1991], Phillips and Harbor [1991]) 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: 01_Introduction.ma  CHAPTER 1: 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: 02_Math_Models.ma  CHAPTER 2: 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: 03_*_Transient_Response.ma  CHAPTER 3: Transient-Response Analysis               (Chapter split into three sub notebooks because of file 	     size)  	 NOTEBOOK FILE NAME: 03_1_Transient_Response.ma              	    Sections :        	      Time Response Analysis   	      First order System   	      Second Order System   	      Third Order and Higher Order Systems 	                NOTEBOOK FILE NAME: 03_2_Transient_Response.ma              	    Sections  :        	       	      First Order System (Step Response vs. Time Const)   	       	                NOTEBOOK FILE NAME: 03_3_Transient_Response.ma              	    Sections  : 	      Second Order System (Step Response vs. Damping Ratio)   	       	              -----------   NOTEBOOK FILE NAME: 04_Steady_State_Response.ma  CHAPTER 4: Steady-State Response            Sections:	       	      Routh's Stability   	      Steady-State Error Analysis                   ----------- 		  NOTEBOOK FILE NAME: 05_Root_Locus.ma  CHAPTER 5: Root-Locus Analysis   -----------    NOTEBOOK FILE NAME: 06_Freq_Response.ma  CHAPTER 6: Frequency-Response Analysis           Sections: 	      Bode Plot Analysis   	      Magnitude vs. Phase Plot (Nichols Plot) 	      Polar Plot   	      Nyquist Plot   	      Combined Example 	        -----------    NOTEBOOK FILE NAME: 07_State_Space.ma  CHAPTER 7: 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 v0.9 packages and Notebooks for Mathematica are:   COSY_PAK_09.tar.Z     		compressed tar file for Unix systems 	  COSY_PAK_09.sit.hqx     	compressed sit file for Macintosh   				systems and encoded by BinHex 4.0  				format (requires the   shareware 				 Stuffit file v 1.5.1 or higher).  	  COSY_PAK_IBM_09.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_09.tar.Z | tar xvf -   o In Macintosh open the .sit.hqx file using the shareware     Stuffit v 1.5.1 or higher.     o In IBM Command line type the following command:        pkunzip -o -d COSY_PAK_IBM_09.zip  NOTE: This .zip file was zipped by zip utility v2.0. You must use  pkunzip version 2.0 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_09.zip file on any  Unix machine if you have unzip utility on it.        Uncompressing and untarring "COSY_PAK_09.tar.Z" or unzipping  "COSY_PAK_IBM_09.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_2.0    - contains Laplace transform package from Mathematica 2.1   		For Mathematica 2.0 users.	      		 FILES in directory "COSYPAK":   chap1.m   chap2.m   chap3.m  chap4.m  chap5.m   chap6.m  chap7.m 	 FILES in directory "COSY_Notes": 	01_Introduction.ma	   	02_Math_Model.ma 	03_1_Transient_Response.ma    	03_2_Transient_Response.ma    	03_3_Transient_Response.ma    	04_Steady_State_Response.ma 	05_Root_Locus.ma	   	06_Freq_Response.ma  	07_State_Space.ma          	 FILES in directory "For_2.0": 	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 2.0 users 	 	We include the LaplaceTransform package from Mathematica 2.1 in  the directory For_2.0. Please move all files and directory under For_2.0  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.: (216) 368-6219 Systems Engg., Crawford Hall         FAX: (216) 368-3123 Case Western Reserve Univ. Cleveland OH 44106-7070    ***************************************************************   --> 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 2.0 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, 1992.  Fortmann, T. E., and Hitz, K. L., "An Introduction to Linear Control  Systems", Marcel Dekker, 1977.  Franklin, G. F., Powell, D. J., and Emami-Naeini, A., "Feedback  Control of Dynamic Systems", Second Edition, Addison Wesley, New  York, 1991.  Kuo, B. C., "Automatic Control Systems", Sixth Edition, Prentice Hall,  New Jersey, 1990.  Ogata, K., "Modern Control Engineering", Second Edition, Prentice   Hall, New Jersey, 1991.  Phillips, C. L., and Harbor, R. D., "Feedback Control Systems",  Second Edition, Prentice Hall, New Jersey, 1991.   ========================= End README file =========================  TYPICAL `ftp' session : -----------------------  %ftp mishna.esys.cwru.edu Connected to mishna. 220 mishna FTP server (Version 5.20 (NeXT 1.0) Sun Nov 11, 1990) ready.  Name (mishna.esys.cwru.edu:sree): anonymous  Password:  ftp> cd /pub  ftp> binary  ftp> ls 200 PORT command successful. 150 Opening ASCII mode data connection for file list. COSY_PAK_09.tar.Z COSY_PAK_IBM_09.zip Index README places.wmd COSY_PAK_untar 226 Transfer complete. 78 bytes received in 0 seconds (15.35 Kbytes/s)  ftp> get COSY_PAK_09.tar.Z 200 PORT command successful. 150 Opening BINARY mode data connection for COSY_PAK_09.tar.Z (460822 bytes). 226 Transfer complete. local: COSY_PAK_09.tar.Z remote: COSY_PAK_09.tar.Z 460822 bytes received in 1.33 seconds (3.38e+02 Kbytes/s)  ftp> quit 221 Goodbye.