[comp.realtime] Summary of Control System Software

minard@extro.ucc.su.oz.au (Robert Minard) (06/18/90)

This is summary of the responses to the request
>	I am looking for software to perform design, analysis and
>	simulation of digital and analog control systems.
>	
>	If you are aware of any such software please email me and
>	I will summarize to the net.  Ideally I should like
>	to find software which
>	
>		1) runs on an IBM PC/AT under Microsoft Windows,
>		2) is written in C and
>		3) is in the public domain.
>	

Thanks to the following who contributed:

	gt0687d@prism.gatech.edu (fortin, samuel t.)
	mike caldwell <uunet!pmafire!mike@munnari.oz>
	dale@NCoast.ORG (Dale Smith)
	"C. D. Covington" <cdc@uafhcx.uark.edu>
	reilly@motcid.UUCP (Patrick L. Reilly)
	nhuang@vela.acs.oakland.edu (Ningjian Huang)
	Nancy Sliwa <sliwa@ptolemy.arc.nasa.gov>
	sono!bier@Sun.COM (Jeffrey Bier)
	ftrue@jarthur.Claremont.edu
	R.Crawford@massey.ac.nz
	nichols@eola.UCF.EDU
	mwette@csi.JPL.NASA.GOV (Matt Wette)
	moler@bravery.Stanford.EDU (Cleve Moler)

actually a couple of these people didn't reply specifically to my
request but posted relevant information to the net which I have
included in this summary.

The general consensus of opinion is that 
	- there is very little good PD software
	- a good fraction of the software is written in Basic
	- almost no MS-Windows software is available.

The most promising packages available, from the point of
view of the original request, are the Mat/C package and
the ASME package (after passage through a Basic to C translator).
The Mat/C package has Mac GUI support which is structurally
similary to the Windows API, and we will look at porting
it to the MS-Window environment.  Other possibilities which
we do not have the resources to follow up at the present time
are the porting of the ASME basic program to WinWord's internal
Basic interpreter.
 
Program:          PSPICE
Info provider:    gt0687d@prism.gatech.edu
OS:               MS-DOS
Language:         -
Source available: -   
Distributor:      -
Cost:             ~$25 for manual and 5.25" disks
Capability:       -
Allows simulation of analog circuitry, 
including the generation of Frequency and 	Phase response
of systems (also sensitivity and noise analysis I think).
Typical components including OPAMPs and FETs, BJTs 
Can macro-model s and z domain xfer-fcts directly.

Program:          - various
Info provider:    - mike@pmafire.UUCP or mike@inel.gov
OS:               - MS-DOS
Language:         - BASIC
Source available: - yes
Distributor:      - ASME bulletin board
Cost:             - PD
Capability:       - 
	The files are:
	
	armasim.bas  -- auto-regressive simulation
	compsyn.bas  -- find compensator transfer function
	comptran.bas -- find compensator transfer function
	condtran.bas -- finds discrete version of continous system
	diconsim.bas -- digital control simulation
	dopt-est.bas -- estimator synthesis
	dopt-reg.bas -- regulator synthesis
	freqresp.bas -- frequency response plots
	linear.bas   -- linear equation solver
	modalcom.bas -- modal form of compensator
	modalsys.bas -- find model from of conntinuous system
	opt-est.bas  -- optimal estimator synthesis
	opt-reg.bas  -- optimal regulator synthesis
	rmsresp.bas  -- find rms values of x, u, & y
	rootloc.bas  -- find roots
	setpoint.bas -- find equilibrium
	smith.bas    -- digital smith chart
	specdens.bas -- plots spectral density
	systran.bas  -- finds ples, zeros, gains
	timeresp.bas -- plots time response
	unicir.bas   -- calculate discrete system frequency response.

Program:          - tutsim
Info provider:    - dale@NCoast.ORG
OS:               - MS-DOS
Language:         - interface to Turbo C and Microsoft C
Source available: -
Distributor:      -
	Tutsim Products
	200 California Ave., #212
	Palo Alto, CA  94306
	Phone: 415-325-4800
Cost:             -
Capability:       - modelling,
Can create custom I/O routines so you can feed live 
signals in from an A/D board,
Primitive user interface
File converter for OrCAD that allows you to
enter your simulation from OrCAD and then convert it to a tutsim .SIM
file.

Program:          - Graphic Oriented Signal Processing
Language (GOSPL)
Info provider:    - cdc@uafhcx.uark.edu
OS:               - requires 4 TMS32020 processors
Language:         - Lisp
Source available: -
Distributor:      - cdc@uafhcx.uark.edu?
Cost:             -
Capability:       - 
Takes a graphically described signal flow graph on the screen
and executes it in real time at 8000 samples per second.

Program:          - Gabriel
Info provider:    - cdc@uafhcx.uark.edu, sono!bier@Sun.COM
OS:               - 
Language:         - 
Source available: -
Distributor:      - Berkeley
Cost:             -
Capability:       - 
High-level software development  and simulation environment for digital signal 
processing applications.  It was developed by Professor Edward Lee's
research group at the University of California, Berkeley.

To the best of my knowledge, Gabriel has not been applied to control
systems work.  To work efficiently, it relies on a number of optimizations
which are valid for DSP but which may not hold for control systems.
My best recommendation is to read up on it and judge for yourself.
An overview article was published recently in the IEEE Transactions 
on ASSP:

E. A. Lee,
W.-H. Ho,
E. Goei,
J. Bier, and
S. Bhattacharyya,
"Gabriel: A Design Environment for DSP," IEEE Trans. on ASSP, 
November, 1989.

Program:          - PC-MATLAB
Info provider:    - reilly@motcid.UUCP, R.Crawford@massey.ac.nz,
	moler@na-net.stanford.edu
OS:               - MS-DOS, (Mac-MATLAB for Mac etc)
Language:         - C
Source available: -
Distributor:      - na.mathworks@na-net.stanford.edu
	The MathWorks, Inc.
	21 Eliot Street
	South Natick, MA 01760
	508-653-1415
Cost:             - couple of thousand on workstation, 
	$US200 a copy for universities
Capability:       - user friendly

Program:          - MATLAB
Info provider:    - nichols@eola.ucf.edu
OS:               - 
Language:         - 
Source available: -
Distributor:      - Public Brand Software
	1-800-426-3475,
	P.O. Box 51315, Indianapolis, Indiana  46251
Cost:             - $5
Capability:       - 

Program:          - SYSLAB
Info provider:    - R.Crawford@massey.ac.nz
OS:               - 
Language:         - FORTRAN
Source available: - 
Distributor:      - 
	P. Hr. Petkov 
	Institute of Engineeing Cybernetics and Robotics,
	Akad. G. bonchev Str., Bl. 2, 
	1113 Sofia, 
	Bulgaria.
Cost:             - FREE
Capability:       - 
SYSLAB has a large number of control tools such as poleplacement and
optimal controller design, it is possible to simulate a linear system
very easily using it. 

Program:          - Mat/C
Info provider:    - mwette@csi.JPL.NASA.GOV
OS:               - Mac, SunOS (soon)
Language:         - C
Source available: - yes
Distributor:      - 
	Anonymous ftp from peabody.llnl.gov (128.115.53.1)
	Source is copyrighted by the Regents of the University of 
California and can be redistributed under certain restrictions
	To get the source on peabody.llnl.gov
	% ftp peabody.llnl.gov
	login: anonymous
	password: <your iternet address>
	ftp> cd matc/sun             (or cd matc/mac)
	ftp> get AAREADME
Cost:             - FREE
Capability:       - 

Program:          - Cart-Pole System RTSA 
Info provider:    - nhuang@vela.acs.oakland.edu
OS:               - MS-DOS
Language:         - Turbo Pascal
Source available: - yes
Distributor:      - nhuang@vela.acs.oakland.edu
Cost:             - US$25
Capability:       - Graphical simulation of a Pole on a Cart.
User specifies controller equations.

Program:          - Matrix-X
Info provider:    - sliwa@ptolemy.arc.nasa.gov, nichols@eola.UCF.EDU
OS:               - various
Language:         - 
Source available: - 
Distributor:      - Integrated Systems Incorporated,
	 Santa Clara. (408)980-1500
Cost:             - PC version about $500
Capability:       - 

Program:          - Program CC (Comprehensive Control)
Info provider:    - ftrue@jarthur.Claremont.edu, nichols@eola.ucf.edu
OS:               - MS-DOS
Language:         - QuickBasic4.x
Source available: - 
Distributor:      - Systems Technology, Inc.
	Hawthorne, CA
	213-679-2281
	written by Richard Thompson from Caltech.
Cost:             - 
	$500 for the "student version" and 
	$1500 for the full-blown industry version
Capability:       - 
Many design plots (root-locus, bode, siggy, 
nichols, nyquist), stability analysis, state space analysis, filter
design, transfer function and matrix manipulation, time-domain analysis,
and many other classical systems analysis tools.

Program:          - InTouch
Info provider:    - minard@extro.ucc.su.oz.au
OS:               - MS-DOS + MS-Windows
Language:         - 
Source available: - 
Distributor:      - 
	Wonderware Software Development Corporation
	18 Technology Drive, Suite 116, Irvine CAL 92718
	Phone (714) 727-3200
Cost:             - $5000 and up
Capability:       - 
Application generator for control system user interfaces.
--
Dr Robert Minard			      Telephone: +61 2 692 3679
Chatterton Astronomy Department,	      Facsimile: +61 2 660 2903
School of Physics A28,			      Telex: AA 26169 UNISYD
University of Sydney, NSW 2006, AUSTRALIA.    ACSnet: minard@extro.ucc.su.oz.au