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Control System Toolbox™
User's Guide

R2020a
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Control System Toolbox™ User's Guide
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 Contents

Linear System Modeling

Linear System Model Objects

1
What Are Model Objects? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Model Objects Represent Linear Systems . . . . . . . . . . . . . . . . . . . . . 1-2
About Model Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Control System Modeling with Model Objects . . . . . . . . . . . . . . . . . . 1-3

Types of Model Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Dynamic System Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

Static Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

Numeric Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

Numeric Linear Time Invariant (LTI) Models . . . . . . . . . . . . . . . . . . 1-10
Identified LTI Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
Identified Nonlinear Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

Generalized Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

Generalized and Uncertain LTI Models . . . . . . . . . . . . . . . . . . . . . . 1-12
Control Design Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
Generalized Matrices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

Models with Tunable Coefficients . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

Tunable Generalized LTI Models . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
Modeling Tunable Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
Modeling Control Systems with Tunable Components . . . . . . . . . . . 1-15
Internal Structure of Generalized Models . . . . . . . . . . . . . . . . . . . . 1-16

Using Model Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19

v
 Model Creation
2
Transfer Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Transfer Function Representations . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Commands for Creating Transfer Functions . . . . . . . . . . . . . . . . . . . 2-2
Create Transfer Function Using Numerator and Denominator
Coefficients . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Create Transfer Function Model Using Zeros, Poles, and Gain . . . . . 2-3

State-Space Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

State-Space Model Representations . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Explicit State-Space Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Descriptor (Implicit) State-Space Models . . . . . . . . . . . . . . . . . . . . . 2-5
Commands for Creating State-Space Models . . . . . . . . . . . . . . . . . . . 2-5
Create State-Space Model From Matrices . . . . . . . . . . . . . . . . . . . . . 2-6

Frequency Response Data (FRD) Models . . . . . . . . . . . . . . . . . . . . . . . 2-8

Frequency Response Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Commands for Creating FRD Models . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Create Frequency-Response Model from Data . . . . . . . . . . . . . . . . . . 2-8

Proportional-Integral-Derivative (PID) Controllers . . . . . . . . . . . . . 2-10

Continuous-Time PID Controller Representations . . . . . . . . . . . . . . 2-10
Create Continuous-Time Parallel-Form PID Controller . . . . . . . . . . . 2-10
Create Continuous-Time Standard-Form PID Controller . . . . . . . . . 2-11

Two-Degree-of-Freedom PID Controllers . . . . . . . . . . . . . . . . . . . . . . 2-12

Continuous-Time 2-DOF PID Controller Representations . . . . . . . . . 2-12
2-DOF Control Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

Discrete-Time Numeric Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17

Create Discrete-Time Transfer Function Model . . . . . . . . . . . . . . . . 2-17
Other Model Types in Discrete Time Representations . . . . . . . . . . . 2-17

Discrete-Time Proportional-Integral-Derivative (PID) Controllers

..................................................... 2-18
Discrete-Time PID Controller Representations . . . . . . . . . . . . . . . . 2-18
Create Discrete-Time Standard-Form PID Controller . . . . . . . . . . . . 2-19
Discrete-Time 2-DOF PI Controller in Standard Form . . . . . . . . . . . 2-19

MIMO Transfer Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21

Concatenation of SISO Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Using the tf Function with Cell Arrays . . . . . . . . . . . . . . . . . . . . . . 2-21

MIMO State-Space Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23

MIMO Explicit State-Space Models . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
MIMO Descriptor State-Space Models . . . . . . . . . . . . . . . . . . . . . . 2-24
State-Space Model of Jet Transport Aircraft . . . . . . . . . . . . . . . . . . 2-25

MIMO Frequency Response Data Models . . . . . . . . . . . . . . . . . . . . . 2-27

Select Input/Output Pairs in MIMO Models . . . . . . . . . . . . . . . . . . . 2-29

vi Contents
Time Delays in Linear Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-30
First Order Plus Dead Time Model . . . . . . . . . . . . . . . . . . . . . . . . . 2-30
Input and Output Delay in State-Space Model . . . . . . . . . . . . . . . . . 2-31
Transport Delay in MIMO Transfer Function . . . . . . . . . . . . . . . . . . 2-32
Discrete-Time Transfer Function with Time Delay . . . . . . . . . . . . . . 2-32

Closing Feedback Loops with Time Delays . . . . . . . . . . . . . . . . . . . . 2-34

Time-Delay Approximation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-36

Time-Delay Approximation in Discrete-Time Models . . . . . . . . . . . . 2-36

Time-Delay Approximation in Continuous-Time Open-Loop Model

..................................................... 2-38

Time-Delay Approximation in Continuous-Time Closed-Loop Model

..................................................... 2-42

Approximate Different Delays with Different Approximation Orders

..................................................... 2-46

Convert Time Delay in Discrete-Time Model to Factors of 1/z . . . . . 2-49

Frequency Response Data (FRD) Model with Time Delay . . . . . . . . 2-52

Internal Delays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-54

Why Internal Delays Are Necessary . . . . . . . . . . . . . . . . . . . . . . . . 2-54
Behavior of Models With Internal Delays . . . . . . . . . . . . . . . . . . . . 2-55
Inside Time Delay Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-55
Functions That Support Internal Time Delays . . . . . . . . . . . . . . . . . 2-56
Functions That Do Not Support Internal Time Delays . . . . . . . . . . . 2-56
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-57

Tunable Low-Pass Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-58

Create Tunable Second-Order Filter . . . . . . . . . . . . . . . . . . . . . . . . . 2-59

Create State-Space Model with Both Fixed and Tunable Parameters

..................................................... 2-61

Control System with Tunable Components . . . . . . . . . . . . . . . . . . . . 2-62

Control System with Multichannel Analysis Points . . . . . . . . . . . . . 2-64

Mark Signals of Interest for Control System Analysis and Design

..................................................... 2-67
Analysis Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-67
Specify Analysis Points for MATLAB Models . . . . . . . . . . . . . . . . . . 2-68
Specify Analysis Points for Simulink Models . . . . . . . . . . . . . . . . . . 2-68
Refer to Analysis Points for Analysis and Tuning . . . . . . . . . . . . . . . 2-71

Model Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-75

What Are Model Arrays? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-75
Uses of Model Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-75
Visualizing Model Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-75
Visualizing Selection of Models From Model Arrays . . . . . . . . . . . . 2-76

vii
 Select Models from Array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-78

Query Array Size and Characteristics . . . . . . . . . . . . . . . . . . . . . . . . 2-80

Linear Parameter-Varying Models . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-82

What are Linear Parameter-Varying Models? . . . . . . . . . . . . . . . . . . 2-82
Regular vs. Irregular Grids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-84
Use Model Arrays to Create Linear Parameter-Varying Models . . . . 2-85
Approximate Nonlinear Systems using LPV Models . . . . . . . . . . . . . 2-85
Applications of Linear Parameter-Varying Models . . . . . . . . . . . . . . 2-86

Using LTI Arrays for Simulating Multi-Mode Dynamics . . . . . . . . . 2-88

Working with Linear Models

Data Manipulation
3
Store and Retrieve Model Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Model Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Specify Model Properties at Model Creation . . . . . . . . . . . . . . . . . . . 3-2
Examine and Change Properties of an Existing Model . . . . . . . . . . . . 3-2

Extract Model Coefficients . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Functions for Extracting Model Coefficients . . . . . . . . . . . . . . . . . . . 3-5
Extracting Coefficients of Different Model Type . . . . . . . . . . . . . . . . 3-5
Extract Numeric Model Data and Time Delay . . . . . . . . . . . . . . . . . . 3-5
Extract PID Gains from Transfer Function . . . . . . . . . . . . . . . . . . . . 3-6

Attach Metadata to Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Specify Model Time Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Interconnect Models with Different Time Units . . . . . . . . . . . . . . . . . 3-8
Specify Frequency Units of Frequency-Response Data Model . . . . . . 3-8
Extract Subsystems of Multi-Input, Multi-Output (MIMO) Models . . . 3-9
Specify and Select Input and Output Groups . . . . . . . . . . . . . . . . . . 3-10

Query Model Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

Customize Model Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

Configure Transfer Function Display Variable . . . . . . . . . . . . . . . . . 3-14
Configure Display Format of Transfer Function in Factorized Form
................................................. 3-15

viii Contents
 Model Interconnections
4
Why Interconnect Models? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Catalog of Model Interconnections . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

Model Interconnection Commands . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
Arithmetic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

Numeric Model of SISO Feedback Loop . . . . . . . . . . . . . . . . . . . . . . . 4-5

Control System Model With Both Numeric and Tunable Components

...................................................... 4-7

Multi-Loop Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

Mark Analysis Points in Closed-Loop Models . . . . . . . . . . . . . . . . . . 4-11

MIMO Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15

MIMO Feedback Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17

How the Software Determines Properties of Connected Models . . . 4-20

Rules That Determine Model Type . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21

Recommended Model Type for Building Block Diagrams . . . . . . . . 4-22

Model Transformation
5
Conversion Between Model Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
Explicit Conversion Between Model Types . . . . . . . . . . . . . . . . . . . . 5-2
Automatic Conversion Between Model Types . . . . . . . . . . . . . . . . . . 5-2
Recommended Working Representation . . . . . . . . . . . . . . . . . . . . . . 5-2

Convert From One Model Type to Another . . . . . . . . . . . . . . . . . . . . . 5-4

Get Current Value of Generalized Model by Model Conversion . . . . . 5-5

Decompose a 2-DOF PID Controller into SISO Components . . . . . . . 5-7

Discretize a Compensator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10

Improve Accuracy of Discretized System with Time Delay . . . . . . . 5-14

Convert Discrete-Time System to Continuous Time . . . . . . . . . . . . . 5-17

Continuous-Discrete Conversion Methods . . . . . . . . . . . . . . . . . . . . 5-19

Zero-Order Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19

ix
 First-Order Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
Impulse-Invariant Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
Tustin Approximation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
Zero-Pole Matching Equivalents . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Least Squares . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25

Upsample Discrete-Time System . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27

Choosing a Resampling Command . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30

Model Simplification
6
Model Reduction Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
When to Reduce Model Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Model Reduction Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Choosing a Model Reduction Method . . . . . . . . . . . . . . . . . . . . . . . . 6-3

Reduce Model Order Using the Model Reducer App . . . . . . . . . . . . . 6-5

Balanced Truncation Model Reduction . . . . . . . . . . . . . . . . . . . . . . . 6-13

Balanced Truncation in the Model Reducer App . . . . . . . . . . . . . . . 6-13
Balanced Truncation in Other Environments . . . . . . . . . . . . . . . . . . 6-18

Approximate Model by Balanced Truncation at the Command Line

..................................................... 6-20

Compare Truncated and DC Matched Low-Order Model

Approximations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23

Approximate Model with Unstable or Near-Unstable Pole . . . . . . . . 6-27

Frequency-Limited Balanced Truncation . . . . . . . . . . . . . . . . . . . . . . 6-31

Model Reduction in the Live Editor . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37

Pole-Zero Simplification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44

Pole-Zero Simplification in the Model Reducer App . . . . . . . . . . . . . 6-44
Pole-Zero Cancellation at the Command Line . . . . . . . . . . . . . . . . . 6-49

Mode-Selection Model Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-52

Mode Selection in the Model Reducer App . . . . . . . . . . . . . . . . . . . 6-52
Mode Selection at the Command Line . . . . . . . . . . . . . . . . . . . . . . . 6-56

Visualize Reduced-Order Models in the Model Reducer App . . . . . 6-60

Error Plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-60
Response Plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-61
Plot Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-63
Plot Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-64

x Contents
Linear Analysis

Time Domain Analysis

7
Plotting System Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

Time-Domain Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18

Time-Domain Response Data and Plots . . . . . . . . . . . . . . . . . . . . . . . 7-19

Time-Domain Characteristics on Response Plots . . . . . . . . . . . . . . . 7-21

Numeric Values of Time-Domain System Characteristics . . . . . . . . 7-24

Time-Domain Responses of Discrete-Time Model . . . . . . . . . . . . . . . 7-25

Time-Domain Responses of MIMO Model . . . . . . . . . . . . . . . . . . . . . 7-27

Time-Domain Responses of Multiple Models . . . . . . . . . . . . . . . . . . 7-29

Joint Time-Domain and Frequency-Domain Analysis . . . . . . . . . . . . 7-31

Response from Initial Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-35

Import LTI Model Objects into Simulink . . . . . . . . . . . . . . . . . . . . . . 7-38

Simulate LTI Model in Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-38
Import MIMO LTI Model into Simulink . . . . . . . . . . . . . . . . . . . . . . 7-39

Analysis of Systems with Time Delays . . . . . . . . . . . . . . . . . . . . . . . . 7-42

Considerations to Keep in Mind when Analyzing Systems with Internal
Time Delays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-44

Frequency Domain Analysis

8
Frequency-Domain Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

Frequency Response of a SISO System . . . . . . . . . . . . . . . . . . . . . . . . 8-3

Frequency Response of a MIMO System . . . . . . . . . . . . . . . . . . . . . . . 8-5

Frequency-Domain Characteristics on Response Plots . . . . . . . . . . . 8-8

Numeric Values of Frequency-Domain Characteristics of SISO Model

..................................................... 8-11

Pole and Zero Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-13

xi
 Assessing Gain and Phase Margins . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15

Analyzing Control Systems with Delays . . . . . . . . . . . . . . . . . . . . . . . 8-26

Analyzing the Response of an RLC Circuit . . . . . . . . . . . . . . . . . . . . 8-41

Sensitivity Analysis
9
Model Array with Single Parameter Variation . . . . . . . . . . . . . . . . . . . 9-2

Model Array with Variations in Two Parameters . . . . . . . . . . . . . . . . . 9-5

Study Parameter Variation by Sampling Tunable Model . . . . . . . . . . 9-7

Sensitivity of Control System to Time Delays . . . . . . . . . . . . . . . . . . . 9-9

Passivity and Conic Sectors

10
About Passivity and Passivity Indices . . . . . . . . . . . . . . . . . . . . . . . . 10-2

About Sector Bounds and Sector Indices . . . . . . . . . . . . . . . . . . . . . 10-7

Passivity Indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-14

Parallel Interconnection of Passive Systems . . . . . . . . . . . . . . . . . . 10-18

Series Interconnection of Passive Systems . . . . . . . . . . . . . . . . . . . 10-20

Feedback Interconnection of Passive Systems . . . . . . . . . . . . . . . . 10-23

Control Design

PID Controller Design

11
PID Controller Design at the Command Line . . . . . . . . . . . . . . . . . . 11-2

Designing Cascade Control System with PI Controllers . . . . . . . . . . 11-7

Tune 2-DOF PID Controller (Command Line) . . . . . . . . . . . . . . . . . 11-11

xii Contents
 Tune 2-DOF PID Controller (PID Tuner) . . . . . . . . . . . . . . . . . . . . . 11-16

PID Controller Types for Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-26

Specifying PID Controller Type . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-26
1-DOF Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-28
2-DOF Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-29
2-DOF Controllers with Fixed Setpoint Weights . . . . . . . . . . . . . . 11-30

PID Controller Tuning in Simulink . . . . . . . . . . . . . . . . . . . . . . . . . 11-33

Design PID Controller Using Estimated Frequency Response . . . . 11-42

Design Family of PID Controllers for Multiple Operating Points . 11-50

Design PID Controller Using Simulated I/O Data . . . . . . . . . . . . . . 11-56

PID Controller Design in the Live Editor . . . . . . . . . . . . . . . . . . . . . 11-72

Tune PID Controller from Measured Plant Data Using Live Editor
Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-79

Classical Control Design

12
Choosing a Control Design Approach . . . . . . . . . . . . . . . . . . . . . . . . 12-2

Control System Designer Tuning Methods . . . . . . . . . . . . . . . . . . . . 12-4

Graphical Tuning Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4
Automated Tuning Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4
Effective Plant for Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-5
Select a Tuning Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-6

Design Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-8

Add Design Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-8
Edit Design Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-11
Root Locus and Pole-Zero Plot Requirements . . . . . . . . . . . . . . . . 12-12
Open-Loop and Closed-Loop Bode Diagram Requirements . . . . . . 12-13
Open-Loop Nichols Plot Requirements . . . . . . . . . . . . . . . . . . . . . 12-13
Step and Impulse Response Requirements . . . . . . . . . . . . . . . . . . 12-14

Feedback Control Architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-16

Design Multiloop Control System . . . . . . . . . . . . . . . . . . . . . . . . . . 12-18

Multimodel Control Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-27

Control Design Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-27
Model Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-27
Nominal Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-29
Frequency Grid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-30
Design Controller for Multiple Plant Models . . . . . . . . . . . . . . . . . 12-31

xiii
 Bode Diagram Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-38
Tune Compensator For DC Motor Using Bode Diagram Graphical
Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-38

Root Locus Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-51

Tune Electrohydraulic Servomechanism Using Root Locus Graphical
Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-51

Nichols Plot Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-63

Tune Compensator For DC Motor Using Nichols Plot Graphical Design
................................................ 12-63

Edit Compensator Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-76

Compensator Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-76
Graphical Compensator Editing . . . . . . . . . . . . . . . . . . . . . . . . . . 12-78
Poles and Zeros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-79
Lead and Lag Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-79
Notch Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-80

Design Compensator Using Automated Tuning Methods . . . . . . . . 12-82

Select Tuning Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-82
Select Compensator and Loop to Tune . . . . . . . . . . . . . . . . . . . . . 12-83
PID Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-83
Optimization-Based Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-88
LQG Synthesis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-89
Loop Shaping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-90
Internal Model Control Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-92

Analyze Designs Using Response Plots . . . . . . . . . . . . . . . . . . . . . . 12-95

Analysis Plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-95
Editor Plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-97
Plot Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-98
Plot Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-100
Design Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-101

Compare Performance of Multiple Designs . . . . . . . . . . . . . . . . . 12-104

Design Hard-Disk Read/Write Head Controller . . . . . . . . . . . . . . 12-108

Design Compensator for Plant Model with Time Delays . . . . . . . 12-119

Design Compensator for Systems Represented by Frequency

Response Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-126

Design Internal Model Controller for Chemical Reactor Plant . . 12-130

Design LQG Tracker Using Control System Designer . . . . . . . . . 12-142

Export Design to MATLAB Workspace . . . . . . . . . . . . . . . . . . . . . . 12-150

Generate Simulink Model for Control Architecture . . . . . . . . . . . 12-152

Tune Simulink Blocks Using Compensator Editor . . . . . . . . . . . . 12-154

Single Loop Feedback/Prefilter Compensator Design . . . . . . . . . 12-161

xiv Contents
 Cascaded Multiloop Feedback Design . . . . . . . . . . . . . . . . . . . . . . 12-169

Reference Tracking of DC Motor with Parameter Variations . . . 12-179

State-Space Control Design

13
Extended and Unscented Kalman Filter Algorithms for Online State
Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-2
Extended Kalman Filter Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . 13-2
Unscented Kalman Filter Algorithm . . . . . . . . . . . . . . . . . . . . . . . . 13-4

Generate Code for Online State Estimation in MATLAB . . . . . . . . . 13-8

Tunable and Nontunable Object Properties . . . . . . . . . . . . . . . . . . . 13-9

Validate Online State Estimation at the Command Line . . . . . . . . 13-11

Examine Output Estimation Error . . . . . . . . . . . . . . . . . . . . . . . . . 13-11
Examine State Estimation Error for Simulated Data . . . . . . . . . . . 13-12

Validate Online State Estimation in Simulink . . . . . . . . . . . . . . . . . 13-13

Examine Residuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-13
Examine State Estimation Error for Simulated Data . . . . . . . . . . . 13-13
Compute Residuals and State Estimation Errors . . . . . . . . . . . . . . 13-14

Troubleshoot Online State Estimation . . . . . . . . . . . . . . . . . . . . . . . 13-16

Nonlinear State Estimation Using Unscented Kalman Filter and

Particle Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-17

Estimate States of Nonlinear System with Multiple, Multirate

Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-33

Regulate Pressure in Drum Boiler . . . . . . . . . . . . . . . . . . . . . . . . . . 13-43

Control System Tuning

Control System Tuning

14
Automated Tuning Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-3

Choosing an Automated Tuning Approach . . . . . . . . . . . . . . . . . . . . 14-4

Automated Tuning Workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-6

xv
 Specify Control Architecture in Control System Tuner . . . . . . . . . . 14-7
About Control Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-7
Predefined Feedback Architecture . . . . . . . . . . . . . . . . . . . . . . . . . 14-7
Arbitrary Feedback Control Architecture . . . . . . . . . . . . . . . . . . . . 14-8
Control System Architecture in Simulink . . . . . . . . . . . . . . . . . . . . 14-9

Open Control System Tuner for Tuning Simulink Model . . . . . . . . 14-10

Command-Line Equivalents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-10

Specify Operating Points for Tuning in Control System Tuner . . . 14-11

About Operating Points in Control System Tuner . . . . . . . . . . . . . 14-11
Linearize at Simulation Snapshot Times . . . . . . . . . . . . . . . . . . . . 14-11
Compute Operating Points at Simulation Snapshot Times . . . . . . . 14-13
Compute Steady-State Operating Points . . . . . . . . . . . . . . . . . . . . 14-15

Specify Blocks to Tune in Control System Tuner . . . . . . . . . . . . . . 14-17

View and Change Block Parameterization in Control System Tuner

.................................................... 14-19
View Block Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-19
Fix Parameter Values or Limit Tuning Range . . . . . . . . . . . . . . . . 14-21
Custom Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-22
Block Rate Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-23

Setup for Tuning Control System Modeled in MATLAB . . . . . . . . . 14-26

How Tuned Simulink Blocks Are Parameterized . . . . . . . . . . . . . . . 14-27

Blocks With Predefined Parameterization . . . . . . . . . . . . . . . . . . . 14-27
Blocks Without Predefined Parameterization . . . . . . . . . . . . . . . . . 14-28
View and Change Block Parameterization . . . . . . . . . . . . . . . . . . . 14-28

Specify Goals for Interactive Tuning . . . . . . . . . . . . . . . . . . . . . . . . 14-29

Quick Loop Tuning of Feedback Loops in Control System Tuner . 14-34

Quick Loop Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-42

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-42
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-42
Feedback Loop Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-42
Desired Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-43
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-44
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-44

Step Tracking Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-45

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-45
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-45
Step Response Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-45
Desired Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-46
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-47
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-48

Step Rejection Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-50

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-50
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-50
Step Disturbance Response Selection . . . . . . . . . . . . . . . . . . . . . . 14-51

xvi Contents
 Desired Response to Step Disturbance . . . . . . . . . . . . . . . . . . . . . 14-51
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-52
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-53

Transient Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-54

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-54
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-54
Response Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-54
Initial Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-55
Desired Transient Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-56
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-56
Tips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-57
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-57

LQR/LQG Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-59

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-59
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-59
Signal Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-59
LQG Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-60
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-61
Tips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-61
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-61

Gain Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-63

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-63
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-63
I/O Transfer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-64
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-64
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-65

Variance Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-67

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-67
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-67
I/O Transfer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-67
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-68
Tips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-69
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-69

Reference Tracking Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-71

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-71
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-71
Response Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-72
Tracking Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-72
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-73
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-74

Overshoot Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-76

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-76
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-76
Response Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-77
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-77
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-78

Disturbance Rejection Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-80

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-80

xvii
 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-80
Disturbance Scenario . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-81
Rejection Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-82
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-82
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-83

Sensitivity Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-85

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-85
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-85
Sensitivity Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-86
Sensitivity Bound . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-86
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-86
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-87

Weighted Gain Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-89

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-89
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-89
I/O Transfer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-89
Weights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-90
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-90
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-91

Weighted Variance Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-92

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-92
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-92
I/O Transfer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-92
Weights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-93
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-93
Tips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-94
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-94

Minimum Loop Gain Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-96

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-96
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-96
Open-Loop Response Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-97
Desired Loop Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-97
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-98
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-99

Maximum Loop Gain Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-101

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-101
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-101
Open-Loop Response Selection . . . . . . . . . . . . . . . . . . . . . . . . . . 14-102
Desired Loop Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-102
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-103
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-104

Loop Shape Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-106

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-106
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-106
Open-Loop Response Selection . . . . . . . . . . . . . . . . . . . . . . . . . . 14-107
Desired Loop Shape . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-108
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-108
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-109

xviii Contents
Margins Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-111
Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-111
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-111
Feedback Loop Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-112
Desired Margins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-112
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-112
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-113

Passivity Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-115

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-115
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-115
I/O Transfer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-116
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-116
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-117

Conic Sector Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-119

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-119
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-119
I/O Transfer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-120
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-120
Tips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-121
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-122

Weighted Passivity Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-124

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-124
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-124
I/O Transfer Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-125
Weights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-125
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-126
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-126

Poles Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-128

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-128
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-128
Feedback Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-129
Pole Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-129
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-130
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-130

Controller Poles Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-132

Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-132
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-132
Constrain Dynamics of Tuned Block . . . . . . . . . . . . . . . . . . . . . . 14-133
Keep Poles Inside the Following Region . . . . . . . . . . . . . . . . . . . 14-133
Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-133

Manage Tuning Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-135

Generate MATLAB Code from Control System Tuner for Command-

Line Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-136

Interpret Numeric Tuning Results . . . . . . . . . . . . . . . . . . . . . . . . . 14-139

Tuning-Goal Scalar Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-139
Tuning Results at the Command Line . . . . . . . . . . . . . . . . . . . . . 14-139
Tuning Results in Control System Tuner . . . . . . . . . . . . . . . . . . . 14-140

xix
 Improve Tuning Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-141

Visualize Tuning Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-143

Tuning-Goal Plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-143
Difference Between Dashed Line and Shaded Region . . . . . . . . . 14-144
Improve Tuning Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-148

Create Response Plots in Control System Tuner . . . . . . . . . . . . . 14-149

Examine Tuned Controller Parameters in Control System Tuner 14-155

Compare Performance of Multiple Tuned Controllers . . . . . . . . . 14-157

Create and Configure slTuner Interface to Simulink Model . . . . 14-161

Stability Margins in Control System Tuning . . . . . . . . . . . . . . . . . 14-165

Gain and Phase Margins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-165
Combined Gain and Phase Variations . . . . . . . . . . . . . . . . . . . . . 14-166
Interpreting the Gain and Phase Margin Plot . . . . . . . . . . . . . . . 14-167
Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-167

Tune Control System at the Command Line . . . . . . . . . . . . . . . . . 14-169

Speed Up Tuning with Parallel Computing Toolbox Software . . . 14-170

Validate Tuned Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-171

Extract and Plot System Responses . . . . . . . . . . . . . . . . . . . . . . 14-171
Validate Design in Simulink Model . . . . . . . . . . . . . . . . . . . . . . . 14-172

Extract Responses from Tuned MATLAB Model at the Command Line

................................................... 14-175

Loop-Shaping Design
15
Structure of Control System for Tuning With looptune . . . . . . . . . . 15-2

Set Up Your Control System for Tuning with looptune . . . . . . . . . . . 15-3

Set Up Your Control System for looptunein MATLAB . . . . . . . . . . . . 15-3
Set Up Your Control System for looptune in Simulink . . . . . . . . . . . 15-3

Tune MIMO Control System for Specified Bandwidth . . . . . . . . . . . 15-4

Tuning Feedback Loops with LOOPTUNE . . . . . . . . . . . . . . . . . . . . 15-10

Decoupling Controller for a Distillation Column . . . . . . . . . . . . . . 15-15

Tuning of a Digital Motion Control System . . . . . . . . . . . . . . . . . . . 15-26

xx Contents
 Gain-Scheduled Controllers
16
Gain Scheduling Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-2
Gain Scheduling in Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-2
Tune Gain Schedules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-2

Model Gain-Scheduled Control Systems in Simulink . . . . . . . . . . . . 16-4

Model Scheduled Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-4
Gain-Scheduled Equivalents for Commonly Used Control Elements
................................................. 16-6
Custom Gain-Scheduled Control Structures . . . . . . . . . . . . . . . . . . 16-9
Tunability of Gain Schedules . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-10

Tune Gain Schedules in Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . 16-12

Workflow for Tuning Gain Schedules . . . . . . . . . . . . . . . . . . . . . . 16-12

Plant Models for Gain-Scheduled Controller Tuning . . . . . . . . . . . 16-14

Obtaining the Family of Linear Models . . . . . . . . . . . . . . . . . . . . . 16-15
Set Up for Gain Scheduling by Linearizing at Design Points . . . . . 16-15
Sample System at Simulation Snapshots . . . . . . . . . . . . . . . . . . . . 16-18
Sample System at Varying Parameter Values . . . . . . . . . . . . . . . . . 16-18
Eliminate Samples at Unneeded Design Points . . . . . . . . . . . . . . . 16-19
LPV Plants in MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-19

Multiple Design Points in slTuner Interface . . . . . . . . . . . . . . . . . . 16-20

Block Substitution for Plant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-20
Multiple Block Substitutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-20
Substituting Blocks that Depend on the Scheduling Variables . . . . 16-21
Resolving Mismatches Between a Block and its Substitution . . . . . 16-22
Block Substitution for LPV Blocks . . . . . . . . . . . . . . . . . . . . . . . . . 16-23

Parameterize Gain Schedules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-24

Basis Function Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . 16-24
Tunable Gain Surfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-26
Tunable Gain with Two Independent Scheduling Variables . . . . . . 16-27
Tunable Surfaces in Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-29
Tunable Surfaces in MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-31

Change Requirements with Operating Condition . . . . . . . . . . . . . . 16-33

Define Variable Tuning Goal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-33
Enforce Tuning Goal at Subset of Design Points . . . . . . . . . . . . . . 16-35
Exclude Design Points from systune Run . . . . . . . . . . . . . . . . . . . 16-35

Validate Gain-Scheduled Control Systems . . . . . . . . . . . . . . . . . . . 16-36

Examine Tuned Gain Surfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-36
Visualize Tuning Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-36
Check Linear Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-39
Validate Gain Schedules in Nonlinear System . . . . . . . . . . . . . . . . 16-39

Gain-Scheduled Control of a Chemical Reactor . . . . . . . . . . . . . . . 16-41

Tuning of Gain-Scheduled Three-Loop Autopilot . . . . . . . . . . . . . . 16-55

xxi
 Trimming and Linearization of the HL-20 Airframe . . . . . . . . . . . . 16-68

Angular Rate Control in the HL-20 Autopilot . . . . . . . . . . . . . . . . . 16-75

Attitude Control in the HL-20 Autopilot - SISO Design . . . . . . . . . 16-81

Attitude Control in the HL-20 Autopilot - MIMO Design . . . . . . . . 16-91

MATLAB Workflow for Tuning the HL-20 Autopilot . . . . . . . . . . . . 16-99

Control System Tuning Examples - Generalized LTI Models

17
Tuning Control Systems with SYSTUNE . . . . . . . . . . . . . . . . . . . . . . 17-2

Building Tunable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-9

Active Vibration Control in Three-Story Building . . . . . . . . . . . . . 17-15

Vibration Control in Flexible Beam . . . . . . . . . . . . . . . . . . . . . . . . . 17-25

Passive Control with Communication Delays . . . . . . . . . . . . . . . . . 17-34

Control System Tuning Examples

18
Tuning Multiloop Control Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-2

PID Tuning for Setpoint Tracking vs. Disturbance Rejection . . . . 18-11

Time-Domain Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-20

Frequency-Domain Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 18-26

Loop Shape and Stability Margin Specifications . . . . . . . . . . . . . . 18-34

System Dynamics Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-40

Configuring Design Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . 18-42

Validating Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-43

Tune Control Systems in Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . 18-51

Tune a Control System Using Control System Tuner . . . . . . . . . . . 18-59

Using Parallel Computing to Accelerate Tuning . . . . . . . . . . . . . . . 18-75

xxii Contents
 Control of a Linear Electric Actuator . . . . . . . . . . . . . . . . . . . . . . . 18-79

Control of a Linear Electric Actuator Using Control System Tuner

.................................................... 18-89

Multi-Loop PI Control of a Robotic Arm . . . . . . . . . . . . . . . . . . . . 18-114

Control of an Inverted Pendulum on a Cart . . . . . . . . . . . . . . . . . 18-129

Digital Control of Power Stage Voltage . . . . . . . . . . . . . . . . . . . . . 18-136

MIMO Control of Diesel Engine . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-145

Tuning of a Two-Loop Autopilot . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-158

Multiloop Control of a Helicopter . . . . . . . . . . . . . . . . . . . . . . . . . 18-173

Fixed-Structure Autopilot for a Passenger Jet . . . . . . . . . . . . . . . 18-180

Fault-Tolerant Control of a Passenger Jet . . . . . . . . . . . . . . . . . . . 18-191

Passive Control of Water Tank Level . . . . . . . . . . . . . . . . . . . . . . . 18-200

Tuning for Multiple Values of Plant Parameters . . . . . . . . . . . . . . 18-213

Customization

Preliminaries
19
Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-2

Property and Preferences Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . 19-3

Ways to Customize Plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-4

Setting Toolbox Preferences

20
Toolbox Preferences Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-2
Overview of the Toolbox Preferences Editor . . . . . . . . . . . . . . . . . . 20-2
Opening the Toolbox Preferences Editor . . . . . . . . . . . . . . . . . . . . . 20-2
Units Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-2
Style Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-4
Options Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-5
SISO Tool Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-5

xxiii
 Setting Tool Preferences
21
Linear System Analyzer Preferences Editor . . . . . . . . . . . . . . . . . . . 21-2
Opening the Linear System Analyzer Preference Editor . . . . . . . . . 21-2
Units Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-2
Style Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-4
Options Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-4
Parameters Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-5

Customizing Response Plot Properties

22
Customize Response Plots Using the Response Plots Property Editor
..................................................... 22-2
Opening the Property Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-2
Overview of Response Plots Property Editor . . . . . . . . . . . . . . . . . . 22-3
Labels Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-4
Limits Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-4
Units Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-5
Style Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-12
Options Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-13
Editing Subplots Using the Property Editor . . . . . . . . . . . . . . . . . 22-16

Customizing Response Plots Using Plot Tools . . . . . . . . . . . . . . . . 22-17

Properties You Can Customize Using Plot Tools . . . . . . . . . . . . . . . 22-17
Opening and Working with Plot Tools . . . . . . . . . . . . . . . . . . . . . . 22-17
Example of Changing Line Color Using Plot Tools . . . . . . . . . . . . . 22-17

Customizing Response Plots from the Command Line . . . . . . . . . . 22-19

Overview of Customizing Plots from the Command Line . . . . . . . . 22-19
Obtaining Plot Handles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22-21
Obtaining Plot Options Handles . . . . . . . . . . . . . . . . . . . . . . . . . . 22-22
Examples of Customizing Plots from the Command Line . . . . . . . . 22-23
Properties and Values Reference . . . . . . . . . . . . . . . . . . . . . . . . . 22-26

Build GUI With Interactive Response-Plot Updates . . . . . . . . . . . . 22-36

Design Case Studies

23
Design Yaw Damper for Jet Transport . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-2
Overview of this Case Study . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-2
Creating the Jet Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-2
Computing Open-Loop Poles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-3
Open-Loop Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-4
Root Locus Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-7
Washout Filter Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-10

xxiv Contents
 LQG Regulation: Rolling Mill Case Study . . . . . . . . . . . . . . . . . . . . . . . . 23-14
Overview of this Case Study . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-14
Process and Disturbance Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-14
LQG Design for the x-Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-16
LQG Design for the y-Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-20
Cross-Coupling Between Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-21
MIMO LQG Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-24

Kalman Filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23-27

Canonical State-Space Realizations

24
Canonical State-Space Realizations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24-2
Modal Canonical Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24-2
Companion Canonical Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24-2
Observable Canonical Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24-3
Controllable Canonical Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24-3

Reliable Computations
25
Scaling State-Space Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-2
Why Scaling Is Important . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-2
When to Scale Your Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-2
Manually Scale Your Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25-2

Linear System Analyzer

26
Linear System Analyzer Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-2

Using the Right-Click Menu in the Linear System Analyzer . . . . . . . . . . 26-4

Overview of the Right-Click Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-4
Setting Characteristics of Response Plots . . . . . . . . . . . . . . . . . . . . . . . . 26-4

Importing, Exporting, and Deleting Models in the Linear System Analyzer

......................................................... 26-8
Importing Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-8
Exporting Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-8
Deleting Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-9

Selecting Response Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-11

Methods for Selecting Response Types . . . . . . . . . . . . . . . . . . . . . . . . . 26-11
Right Click Menu: Plot Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-11
Plot Configurations Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-11

xxv
 Line Styles Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-12

Analyzing MIMO Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-15

Overview of Analyzing MIMO Models . . . . . . . . . . . . . . . . . . . . . . . . . . 26-15
Array Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-15
I/O Grouping for MIMO Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-16
Selecting I/O Pairs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26-17

Customizing the Linear System Analyzer . . . . . . . . . . . . . . . . . . . . . . . . 26-19

Overview of Customizing the Linear System Analyzer . . . . . . . . . . . . . . 26-19
Linear System Analyzer Preferences Editor . . . . . . . . . . . . . . . . . . . . . 26-19

xxvi Contents
Linear System Modeling

27
 1

Linear System Model Objects

• “What Are Model Objects?” on page 1-2

• “Control System Modeling with Model Objects” on page 1-3
• “Types of Model Objects” on page 1-5
• “Dynamic System Models” on page 1-7
• “Static Models” on page 1-9
• “Numeric Models” on page 1-10
• “Generalized Models” on page 1-12
• “Models with Tunable Coefficients” on page 1-15
• “Using Model Objects” on page 1-18
• “References” on page 1-19
Discovering Diverse Content Through
Random Scribd Documents
 86. The Girls who married the Devil. [Note]

[Contents]

a. The Devil-husband.
William Forbes, Dry River, Cock-pit country.

There was two sister an they had a yawzy brudder who de two sister didn’t care about. They was
faderless and mudderless. An’ see a man come to court de two sister to carry dem away; an’ de man
tek dem into de boat to carry home, an’ de little yawzy boy tu’n a cockroach an’ get into de boat. An’
when deh get home, de house-maid tell de two girl, “Wha’ you follow dis man come heah now? He is
Devil!” An’ de Devil tell de house-maid dat she mus’ feed dem well, an’ de little boy come out of de
boat.

Well, deh had a big cock a de yard, an’ de house-maid said, “I gwine to sen’ you home into de boat.”
An’ t’row out a bag o’ corn gi’ de cock, say, “When him fe eat it done, de boat will catch home”. So de
cock commence to eat de corn—

“Hock kaluck kum ka tum swallow!

Hock kaluck kum ka tum swallow!”

knock him wing bap bap bap bap! After he knock him wing, he crow—

“Ko ko re ko!
Massa han’some wife gone!”

Devil didn’t hear him, crow again—

“Ko ko re ko!
Massa han’some wife gone!”

[106]

Devil hear now; as he hear, he come—

“Zin-ge-lay, wid dem run come,

Zin-ge-lay, wid dem jump come,
Zin-ge-lay, wid dem walk fas’!”

So de boat name “John Studee.” As he run into de yard, stamp him foot an’ said, “John Studee!” An’
stamp again, “John Studee-ee-e!” So de boat tu’n right back wid de two girl an’ de little boy. An’ as dey
mos’ come, de little boy tu’n cockroach again; go in garden. Devil didn’t see him.

Nex’ day mo’nin’, Devil go back in fiel’ put up de two girl again. De maid t’row out a bag o’ corn an’ a
bag o’ rice. Same t’ing happen. Las’ day when him gone, de maid t’row out a bag o’ corn, a bag o’ rice
an’ a bag o’ barley. An’ after him t’row, de cock commence to eat—

“Hock kaluck kum ka tum swallow!

Hock kaluck kum ka tum swallow!”

After dem bag o’ corn, tu’n upon rice now—

“Hock kaluck kum ka tum swallow!

Hock kaluck kum ka tum swallow!”

An’ de rice he eat now, tu’n upon de barley—

“Hock kaluck kum ka tum swallow!

Hock kaluck kum ka tum swallow!”

Eat off de t’ree bag, time de girl catch home; leave de boat at de shore-side. De cock clap him wing—

“Plop plop plop plop

Massa han’some wife gone!”

As Devil hear, him come—

“Zin-ge-lay, wid dem run come,

Zin-ge-lay, wid dem jump come,
Zin-ge-lay, wid dem walk fas’!”

As he come, ’tamp him foot an’ say, “John Studee-e!” De boat t’un right back come home. If it wasn’t
fo’ dat little yawzy boy, de Devil will kill ’em.

[Contents]

b. The Snake-husband.
Emilina Dodd, Lacovia.

A woman have a daughter, oftentimes engaged and wouldn’t marry, said that the gentlemen weren’t to
her sort; until one day [107]she see a well-dressed gentleman, came and proposed to her. But she has
a brother was an Old Witch, told her that man was a snake. She said the man was too well-dressed to
be a snake, but the brother was going home with them under the carriage as a lizard. The first place,
as he was going on, somebody ask, “Mr. Snake, I beg you give me my collar,” and the next, “Mr. Snake,
I beg you give me my jacket,” and so on until he show himself plain as a snake.

When they get home, he lock her up wanting to kill her, but couldn’t kill her without the thing called
“bump.” Go out in the yard looking for it. After them gone, the mother-in-law said, “Me daughter, dis
man you marry going to kill you because he is a bad man and he marry a wife already and kill her and
he gwine to kill you too. I would let you go, but him have one cock, him so chat!” So she threw a
barrel of wheat an’ a barrel of corn. When the cock was picking it up he say, “I don’ care a damn, I will
nyam an’ talk!” sing,—

“Ko ko re kom on do!

Girl gone, him no gone,
Ko ko re ko kom on do!”
Then they throw a double quantity. The cock pick it up an’ sing,

“Ko ko re ko kom on do!

Girl gone, him no gone,
Ko ko re ko kom on do!”

Then Snake come from the wood while the brother was taking her on the water. Snake overtake her,
take her home again and lock her in, go back in the wood again in search of “bump.” And mother-in-
law throw a double quantity of wheat and corn. Cock say again, “I don’t care a damn, I will nyam an’
talk!” The cock eatey all and sing,—

“Ko ko re kom on do!

Girl gone, him no gone,
Ko ko re ko kom on do!”

So when Snake come out from the wood, he couldn’t get her again because she was near on land. So
he went back home an’ tek a stick an’ lick the mother-in-law on the head, kill her.

(The following songs are taken from other versions of the Snake-husband story.)

[MP3 ↗️ | MusicXML ↗️]

♩ = 76

I will lick you so fine, I will lick you so sweet, yo’

[108] fadder an’ mudder will never fin’ de hair ob yo’ bone.

[MP3 ↗️ | MusicXML ↗️]

♩ = 76

Poor me Lydie gal, oh, poor me Lydie gal, oh,

han’some man sinake undone me.
 [MP3 ↗️ | MusicXML ↗️]

♩ = 76

1. Variant.

Carlie, oh, me Carlie, oh. If a no been Carlie come heah,

yallow snake could’ a’ swallow me whole.

[MP3 ↗️ | MusicXML ↗️]

♩ = 108

Mu-ma, mu-ma, snake a swallow me. You lie, you lie, me

dis I put ma han’ ’pon you, you cum come tell yo’ lie on me, you
cum come tell yo’ lie on me.

2. Variant.

cum come tell yo’ lie on me.

[Contents]
 87. Bull as Bridegroom. [Note]

[Contents]

a. Nancy.
Richard Morgan, Santa Cruz Mountains.

Deh is one woman get a daughter. One day in de yard ’he saw a man, big stout man. He put co’tin’ship
to her. De woman said yes. When de man come to de yard breakfas’ time, he didn’t eat; always went
away where some clean grass is. ’he got a brudder watchin’ him all ’e time. When he go, de man begin
to sing,

“See me, Nancy, a wind,

T’ink a me, Nancy, me come.”

[109]

De man tu’n bull an’ eat his belly full o’ grass. When he eat done, he sing again,

“See me, Nancy, a wind,

T’ink a me, Nancy, me gone.”

Den he tu’n de shape a de man back.

When day of de wedding, de boy said, “Sister, you know wha’ dat man coming here is? Dat man a
bull.” His sister said, “O bwoy, go ’way! Where you ever hear cow can tu’n a living soul?” Dey come
home from church, sit roun’ de table, everybody giving toast. Dey call upon de woman brudder to give
toast. De brudder said, “I won’ give toas’, but I wi’ sing.” De man said, “No, give toas’ better ’an de
sing!” De guest said dat dey would like to hear de sing as much as toast; so de little boy commence to
sing,

“See me, Nancy, a wind,

T’ink a me, Nancy, me come.”

De man begin to bawl out an’ knock his head, call out fe toast. De boy begun to sing again,

“See me, Nancy, a wind,

T’ink a me, Nancy, me come.”

De ha’r of de cow grow, an’ de four foot, an’ de big bull begun to jump an’ buck down all de people in
de house, an’ he gallop an’ dey never see him no more again. 1

[Contents]

b. The Play-song.
 George Parkes, Mandeville.

Deh was an ol’ woman who had a daughter an’ a son. De son was an Ol’ Witch, an’ de girl was well
kep’ up by de ol’ woman. Deh were several gentlemen who make application fo’ de girl to marry, but
de mudder refuse dem. At las’ de debbil dress himself nicely an’ went, an’ he was accepted by de ol’
lady, an’ begun to co’t de girl. [110]

De boy, being an ol’ witch, know dat it was de debbil. He tol’ de mudder not to allow his sister to
marry to de man, for de man is de debbil. De mudder said, “Go ’way, sah! what you know? You can
call a gentleman like dat de debbil?” So when de debbil walking, his knee sing a song like ringing a
bell. It go like dis:

“Dirt i’ room a yerry, double bing, double bing,

Dirt i’ room a yerry, double bing, double bing,
Dirt i’ room a yerry, double bing, double bing,
Belling belling beng, bell i’ leng beng.”

De boy overhear de debbil knee singing. But, now, anybody else sing de song, de debbil clo’es will
drop off, a horn grow on head, an’ tail grow out on him too. So one night while he was in de house
talking, de little boy was underneat’ de table singing de song quietly:

“Dirt i’ room a yerry, double bing, double bing.”

When de debbil hear dat he say, “Look heah, mistress, stop dat bwoy from singing dat song! I don’ like
it.” De ol’ woman say, “Massah, me kyan’ stop him singing, because it mus’ of been his little play-song 2
what he have singing.” So de debbil say, “Well, I don’ like to hear it!”

De boy now sing de song much louder, an’ de debbil knee begin to sing it very loud—

“Dirt i’ room a yerry, double bing, double bing!”

an’ de clo’es drop off an’ de tail an’ horns grow out. So de boy say to de mudder, “Didn’t I tell you dat
man was a debbil, an’ you would not believe it!”

[Contents]

c. Gracie and Miles.

Florence Thomlinson, Lacovia.

There was once a girl by the name of Gracie and a man Miles. They were engaged. And Miles always
came to see Gracie most every evening, and he would always sing for her. Song was about Gracie;
says that Gracie is a fine girl, but he is going to kill her.
 [MP3 ↗️ | MusicXML ↗️]

Me a Miles a moo me a Miles a moo Fe me Gracie is a

[111]fine gal Fe me Gra-cie have a kill her. Pong, me la-dy, pong moo!
Pong, me la-dy, pong moo! Me a Miles a moo me a Miles a moo. Fe me
Gra-cie is a fine gal Fe me Gra-cie have a kill her.

She didn’t know he would kill her fe true.

She has a little brother stop in the yard with her. (Miles) worked in the field every day; they would
send his breakfast by the little boy to him. When (the boy) nearly got to him, he wasn’t a man; he was
a bull. When he see the boy coming, he turn a man. The boy tell his sister, “You know that man is not
a man, he’s a bull!” and she said, “Oh, cho! nonsense! How you could expect that?” The little boy said,
“If you think it is not true, you go with me, stop back.” Next day she went after the boy and stay far
back and see it was a bull eating grass, not a man. He sing,

“Me a Miles a moo, me Gracie is a fine girl,

Me Gracie me wi’ kill her.”

She know it is a bull now. When he come, the sister say tomorrow evening must have a ball now. So
he says he will come. So she get up a lot of men with ropes and have music and all in the house. So
the little boy begin to sing the song now:

“Me a Miles a moo, me Gracie is a fine girl,

Me Gracie me wi’ kill her.”

Miles said, “Oh, where that little boy come from? Turn him out!” Hoof begin to grow, horn begin to
grow, tail begin to grow and he get a big bull, and they toss him and rope him and pole him, turn him
out.

1 Thomas White’s version of this song is as follows:

 [MP3 ↗️ | MusicXML ↗️]

♩ = 86 1st.
Pon, pon, me dearie. Pon, pon, me dearie. Ah, me Nancy, me dear, dear.
2nd
Oh, oh, you, oh, oh, you, da me Nancy, da me Nancy, What a fine gal!

↑
2 Jamaica children compose a “secret song” which they amuse themselves with at play or sing when they are walking
alone. ↑

[Contents]
 88. The Two Bulls. [Note]

Alexander Foster, Maroon Town, Cock-pit country.

One time there is a bull range the common,—call the pen “Garshen pen.” That bull wouldn’t ’low no
bull-calf to born an’ to raise in that pen barring out him one; but every heifer born, [112]him nurse
them, go about lick them, nourish them, make them grow fine! Until one time cow was heavy, climb up
into a high mountain an’ have a calf, an’ when the calf born he is a bull calf. Now that ol’ bull we call
him “Ol’ Moody,” an’ the young bull name ‘Tep’y-tep’y to-day.’

The mother stay until the calf grow a tremendous bull, carry down that bull come to de river to drink
water. Every time the father come to drink water, him go away, so then when the son come, the son
try to put foot in the father track, an’ the bull mamma say to him, “No, me son, de track no fit fo’ you
fader yet,” make her carry him back a couple of days more. Now at twelve o’clock in the day, mother
carry down the bull again, try foot for him father again. Now he feel to himself that he come a man,
an’ he stan’ up same place an’ say to him mother, “Mus’ see me father to-day.”—“Massy, me son, yo’
pa so cruel, have a dread to carry son go!” He stan’ up holla, “Ma, I gwine go! I gwine try to see me
father!” an’ he raise a sing now,—

“Santy Moody o, Tep’y-tep’y deh!

Santy Moody o, Tep’y-tep-y deh!”

De ol’ bull gwine answer him now,—

“Hum-um-m, wha’ you say?

Me jus’ a go a brudder Dickey an’ Sandy,
Moody say me mustn’t go.”

Coming up the common to meet him father, (like) when a pretty man coming up, you see all de young
girl for dat gentleman; an’ he sing coming,

“Santy Moody o, Tep’y-tep’y deh!”

De ol’ bull answer him,

“Hum-um-m, wha’ you say?

Me jus’ a go a brudder Dickey an’ Santy,
Moody say me mustn’t go.”

Meet to fight now, an’ de ol’ toss up him son into the air an’ he drop on four feet. An’ the son lif’ him
up in de air now; when de fader coming down, one foot break. An’ he ’tamp on de t’ree foot an’ lif’
him son higher again. An’ him son lif’ him up again in de air, an’ when he coming again, break one of
de other foot. An’ all de cow now running to the river for water wouldn’t bother with the ol’ bull at all,
everybody for the young one. An’ lif’ up de young bull again deh ’pon him two foot, lif up in de air, an’
de young bull drop on him four foot back. An’ de young bull lif’ him up again; when he drop, he break
de udder [113]foot. Lif’ up de son again, but he couldn’t go too far wid him; an’ his son lif’ him up in de
air again break de udder foot. An’ he lay down on him belly fe fight an’ lif’ up him son, but him couldn’t
go too far wid him foot. An’ him son lif’ him up de las’, now, lif’ him up in de air; an’ when him come
down, break him neck. An’ from dat day, all young bull grow in pen; not’ing to destroy dem.
[Contents]
 89. Ballinder Bull. [Note]

Richard Morgan, Santa Cruz Mountains.

Der is a bull de name of Ballinder Bull, but dem right name King Bymandorum. It is a wicked bull. De
king said whoever kill Ballinder Bull, he will get his two daughter to marry to. All de men in de worl’ try,
an’ couldn’t kill him. One day, an’ ol’ lady stood by an’ a woman was breedin’ go to de horsepon’ to tek
water. De bull buck out de baby out of her an’ went away. De ol’ lady tek de baby an’ rear him. When
him come a good-sized boy, he send him to school. Every twelve o’clock when dey play marble, he
lucky to win. De res’ a chil’ tell him said, “A da you mek so!” Four o’clock when him coming home, him
say, “Ma, why de reason when I win doz odder chil’ sai, “A da you mek so?” Him ma tell him tomorrow
twelve o’clock get one switch play wid de least one an’ after you win him tell you “A da you mek so!”
gi’ him two good lick an’ you will come to know why dey use de word. So twelve o’clock he play an’
win, an’ tell him “A da you mek so!” He gi’ him de two lick, an’ after he give him de lick he said, “Hit let
Ballinder Bull buck you out of you mudder belly.” When de boy return home he said, “O mudder, you is
not me right mudder!” De ol’ lady said no, begun to tell him all dese t’ings were happen. De boy said,
“Anywhere Ballinder Bull, a gwine kill him!”

Dis bull got gol’en tongue an’ gol’en teet’. When de boy gwine along, him meet some noblemen and
said, “My little boy, where am you goin’?” An’ said, “I gwine a fight Ballinder Bull.” De men said, “Boy,
we after Ballinder Bull fe dis many year an’ kyan’t ketch him; what you t’ink upon you?” De boy said,
“Never min’, I gwine fight him!” De boy went where him feedin’. Bull never see him, go drink water. De
boy go to de cotton-tree an’ say, “Bear down, me good cotton-tree, bear down!” De cotton-tree bear
down. Said, “Bear up, me good cotton-tree, bear up!” When de bull was coming, he hear de singin’,
[114]

“Anywhere Ballinder Bull,

De’ will kill him to-day!”

Ballinder Bull say, “What little boy up in de air jeering me as dis?” When he come, he fire bow an’
arrow; de boy catch it. Him fire anodder one, an’ he fire out de seven; de boy caught every one. De
boy look on him an’ sen’ one of de bow an’ arrow, peg down one of de han’. An’ tek de odder one an’
sen it t’ru de odder han’. He sen’ anodder an’ peg down one of de foot. He sen’ anodder an’ peg down
de odder foot. He sen’ anodder, he peg down one of de ears. He sen’ anodder an’ peg down de odder
ear. De las’ one, he sen it t’ru de head. An’ he say, “Bear down, me good cotton-tree, bear down!”
When de cotton-tree bear down, he catch de ears an’ pinch it an’ fin’ dat de bull was dead. An’ he
came off an’ say, “Bear up, me good cotton-tree, bear up!” an’ de cotton-tree bear up. An’ tek a knife
an’ tek out de teet’, tek out de tongue an’ travel.

De same day, he never went to de king yard. Hanansi goin’ to ground an’ saw de bull an’ said, “Buck,
Ballinder Bull! buck, Ballinder Bull!” De bull don’ shake. Hanansi said, “You damned son of a bitch, you
won’ get me fe kill to-day!” an’ tek up de stone an’ stone him an’ fin’ out dat de bull dead. De gladness
in Hanansi! He went up chop off de bull head, bear it on to de king. When he go he said, “I kill
Ballinder Bull, Sir!” De king say, “Oh, yes! you shall be my son-in-law tomorrow morning.” Now der is a
bell, every gate has a bell. So Hanansi gettin’ ready to go to church, dey hear de bell ringin’ at de gate
an’ dey sing,

“A who a knock a Nana gate, bing beng beng?

A who a knock a Nana gate, bing beng beng?” 1

When de boy come, de king say “What you want?” An’ say, “I kill Ballinder Bull, Sir.” Hanansi come out.
(King says) “You’s a little liar! Little boy like you couldn’t fight Ballinder Bull!” An’ [115]Hanansi run in,
said, “Der is de head!” De boy put his han’ in his pocket said, “Der de tongue an’ de teet’!”

Dey ketch Hanansi an’ ’tretch him out on a ladder, an’ beat him. After dat, dey sen’ him to look wood
fe de weddin’. Dey sen’ Dog to watch him. Hanansi carried de wood, carry about ten bundle. Ev’ry trip,
Dog go wid him. When him come back, ’im say, “Brar Dog, you love meat? I hear one hog over
yonder; run go see if we kyan’ get little!” By time Dog return back, Hanansi gwine under wood ’kin an’
hide, an’ all de hunt Dog hunt, kyan’t fin’ him till dis day.

1 In a Brownstown version of the same story, the song is as follows:—

[MP3 ↗️ | MusicXML ↗️]

♩ = 69
Gashawnee, oh, Gashawnee, oh, Gashawnee, Look how little bit a
Sammy call yo’ name, why.

[Contents]
 90. Bird Arinto. [Note]

Mrs. Ramtalli, Maggotty.

There was a bird Arinto; it used to feed on human flesh. In the district there was a little boy by the
name of David Lawrence who was lame in both feet. When the boy heard the bird fly, he asked his
sister to take him; but she refused, saying if she remained Arinto would eat her too. The boy, having
no other resource, dug a hole in the ground where he lived for some time. When the bird came and
perched on the house-top, he said, “Smell flesh; somebody about here!” Then David Lawrence sang,

[MP3 ↗️ | MusicXML ↗️]

♩ = 108

You Arintoe, You Arintoe, Shake, shake, come down to David Lawrence.

Then the bird pitched off the house to the spot where he heard the singing. As it was an underground
passage, the boy would move along and the bird would follow him up and down. As he went to the
foot (of the passage), the bird would go there; as he went above, the bird would go there,—all day like
that. At night the bird would go to rest,—couldn’t eat he was so tired. But the boy cooked at night and
had his rest.

It went on for some weeks until the bird got tired an’ weary and one night fell off the roost. David
Lawrence came out, cut out the tongue, and took it to the king, who had promised whoever killed
Arinto would get his daughter’s hand in marriage. Anansi, passing the nex’ day, saw the dead bird, cut
off the head and hurried with it to the king. A wedding feast was made to have Anansi married to (the
king’s) daughter. Just as that was going on, a ragged boy called at the gate, but Anansi told the king to
have nothing to do with him. But he appealed so loudly that the king after all went out, and the boy
said to him, “Anansi [116]is a usurper, because, king, have you ever seen a head without a tongue?”
Anansi, on hearing that, ran under the table and from there into the house-top. David Lawrence was
taken in, dressed, married to the king’s daughter, and lived happily.

Jack man dora!

[Contents]
 91. Tiger Softens his Voice. [Note]

George Parkes, Mandeville.

Once upon a time a woman had one daughter, an’ that daughter was the prettiest girl in an’ around
that country. Every man want the girl to marry, but the mother refuse them as they come. Tiger, too,
wanted the girl, an’ demands the girl, an’ the mother says no. Tiger said if he don’t get the girl he will
kill her. So they remove from that part of the country and go to another part, into a thick wild wood
where no one live. And she made a house with a hundred doors and a hundred windows and a large
staircase; and the house is an upstairs, an’ there both of them live.

Tiger hear of it, always loafing aroun’ the house to see if he can catch the girl, but the girl never come
out. During the day, the mother went to her work, leaving the girl at home. When going out, the
mother fasten all the doors an’ windows; coming home in the evening, at a certain spot where she can
see the house an’ notice that all the windows an’ doors are close as she leave it, then now she have a
song to sing, go like this,—

“Tom Jones, Tom Jones, Tom Jones!”

(that’s the name of the girl). Girl now—

“Deh lo, madame!”

Woman said to her now,

“Fare you well, fare you well, fare you well,

Fare you well, me dear; fare you well, me love!
A no Tiger, deh la, ho, deh la, ho?
Me jus’ come, ho!”

Then the door open, so—

“Checky checky knock umbar,

Checky checky knock umbar,
Checky checky knock umbar.”

The door don’t open without that song now, and when it open, the mamma go into the house.

At that time, Tiger in the bush listening to the song. So one day while she was away, hear time for her
to come home, Tiger approach the spot where she always sing. He now in a very coarse voice sings
the song,—

“Tom Jones, Tom Jones, Tom Jones!”

[117]

The girl look from the window, said, “Tiger, a who no know sa’ a you!” So now Tiger go ’way an’ hide
till mamma come. When she come, he listen good. Next day, Tiger go to a blacksmith an’ ask de
blacksmith what he t’ink can give him, Tiger, a clear v’ice. De blacksmit’ say he must hot a long iron
an’ when it hot, mus’ take it push down his t’roat. An’ de blacksmit’ give him a bit of meat to eat after
he burn the throat an’ that will give him a clear v’ice. So Tiger go away eat de meat first an’ den burn
de t’roat after. Nex’ day he went to the spot where the woman always sing from. An’ that make his
v’ice more coarser. He sing now—

“Tom Jones, Tom Jones, Tom Jones!”

The girl look thru the window an’ say, “Cho! a who no know sa’ a you!” So Tiger got vex’ now, an’ he
went home, burn the throat first and afterward eat the meat, and that give him a clearer v’ice than the
woman. The nex’ day, when most time for the woman to come home from her work, Tiger went to the
spot where he can see the house. He begin to sing,

“Tom Jones, Tom Jones, Tom Jones!”

The girl answer (tho’t it was her mother now)—

“Deh la, madame!”

Then Tiger say,

“Fare you well, fare you well, fare you well,

Fare you well, me dear; fare you well, me love!
A no Tiger deh lo o-o-o
Me jus’ come, h-o-o-o!”

The door commence to open now,—

“Checky checky checky knock umbar,

Checky checky checky knock umbar,
Checky checky checky knock umbar!”

And as the door open, Tiger step up an’ caught the girl an’ swallow her.

And when the mother coming home, reach to the spot and saw the doors and windows open, she
throw down what she carry and run to the house. And she saw Tiger lay down. And the mother then
went away an’ get some strong men come an’ tie Tiger, kill him, an’ open de belly an’ take out de
daughter. At that time, little life left in her an’ they get back the life in her. The woman then leave the
house an’ go off away far into another country, and that is why you always fin’ lot of old houses
unoccupied that no one live in. [118]

[Contents]
 92. Hidden Names. [Note]

[Contents]

a. Anansi and Mosquito.

George Parkes, Mandeville.

An ol’ lady have a daughter which no one know the name, an she never call the name at all make no
one hear it. So she offered a hundred pound to anyone who could tell the girl name. Anansi say he
mus’ get that money. Now he went an’ mak a bargain with Mosquito that Mosquito mus’ go in the girl
room, as he’s a small man an’ can go thru crevices, an’ he, Anansi will go underneath the mother
room. In the night while the girl was sleeping, Mosquito went an’ sing at her ear; an’ the girl then
knock her han’ up on Mosquito an’ say, “Go ’way!” At that time the mother stop into her room an’ hear.
After a little time, Mosquito went back to the girl ear an’ sing again. The girl knock after him an’ say,
“Go ’way!” again. Anansi underneath the mother’s room give a clear listening. A little time after,
Mosquito went back to the girl an’ sing at her ear. She then knock after him again an’ say, “Go ’way!”
The mother then called to the girl, said, “Zegrady, Zegrady, what’s the matter?” The daughter said, “It
is something worrying me in my sleep, mum.” Anansi never wait now for Mosquito, run right to his
house, take up his fiddle an’ begin to play,—

“Zegrady, Zegrady, Zegra, Zegrady,

Come shake up Anansi hand,
My dear!”

The next morning he start for the house and play. So the girl hear her name and say, “Mother, I heard
someone call my name!” So the old woman invite Anansi to come in an’ Anansi get the money, never
give Mosquito none. So from that day is why Mosquito flying at people ear making noise, because
Anansi rob him out of the money.

[Contents]

b. Anansi plays Baby. (1)

Eliza Barrett, Harmony Hall, Cock-pit country.

There was t’ree sister living to a house. Nobody was to know their names. An’ Anansi want to hear
them an’ he couldn’t get them. An’ he have a young man an’ turn the young man into a baby (an’ turn
himself the baby mother), an’ he carry the baby go an’ ask them if they min’ the baby for her; tell ’em
say, when part of the day the baby crying they mus’ bathe the baby for her. [119]An’ one of the sister
name Santa Cruka. Santa Cruka take the baby an’ ’trip him an’ put him into a bowl, an’ Santa Cruka
said, “Run come a sister Aminty! ever see such a little baby have such a big man place?” An’ Aminta
say, “Run come, Sister Amata! ever see such a little baby have such a big man place?” So when de
baby mother come now an’ carry the baby under a tree, the baby tell the mother, “That one name
Santa Cruka, an’ the other one name Aminta, an’ the other one name Amata.” An’ he put down the
baby an’ he turn a big tall man before him. An’ he go up to de t’ree lady an’ said, “Missus, is not you
name Mistress Santa Cruka? An’ she go into her room an’ drop down dead. An’ go back to Aminta an’
say, “Sister, is not you right name Sister Aminta?” An’ she drop down die. An’ go back to Sister Amata
an’ say, “Is not you right name Sister Amata?” An’ (she) drop down dead. An’ (Anansi) take all the
richness of the three sisters an’ never care to go home.

[Contents]

b. Anansi plays baby. (2)

Henry Spence, Bog, Westmoreland.

Anansi go to a groun’. Nobody know dose two sister name, not from dem born. So he come bet dat
him will fin’ out dem two sister name. When he come home, he said to his wife him going to fawn
himself a baby an’ de wife mus tek job grass-weeding at de groun’ fe dem two women, when him
gwine, mus’ put him quite unter de shady tree as a baby. An’ de wife did so. So when de two woman
go under de tree, mek much of de baby, nice baby! So as dem woman play wid de baby, de baby
laugh, mout’ full of teeth. Two sisters frighten to see young baby have so much teeth. So one of de
sister say, “Sister Agumma, run see Anansi baby mout’ full of teet’!” Sister Agumma run come an’ see.
Anansi catch dat name. Sister Agumma come say, “O sister Agumma, a-a-ah! Anansi baby mout’ full of
teet’ fe true!” Anansi catchy bot’ name an’ win de money.

[Contents]

b. Anansi plays baby. (3)

Richard Morgan, Santa Cruz Mountains.

Der is a man livin’ at a town for eight years, nobody know his name. Hanansi say, “Ma tek off me
trousers, put on me long shirt, kyar’ me go a man yard, let him nurse me till you come home from
ground.” De baby stay good all de while. When he see h’ mudder comin’ home, de baby creep, cryin’,
go to his mudder. [120]De man went to tek him back, said, “What kind of baby dis count fe, he see he
mudder he start to cry?” Meanwhile he go to tek de baby an’ saw de shirt jump up in de back. Him
’toop down, him peep, him knock him han’. “Mercy, me Lord! what kind of a baby got such long hair on
him so, poor me, Tom Goody!” Den de baby gwine to his mudder cryin’ “Tommy Goody!” So from dat
day, de whole town fin’ out de man dat he name Tommy Goody.

[Contents]
 93. Anansi and Mr. Able. [Note]

Thomas White, Maroon Town.

Able have two daughter an’ dey was pretty young women. Anansi hear about dese two women, did
want dem for wife, didn’t know what way he was to get dem. Able is a man couldn’t bear to hear no
one call him name; for jus’ as he hear him name call, him get disturb all to kill himself. So Anansi get
two ripe plantain an’ give de young women de two ripe plantain, an’ dey tek de two ripe plantain from
Anansi an’ dey eat de two ripe plantain. Das de only way Anansi can get dese two young women.

An’ Able nebber know ’bout it until one day Mr. Able deh at him house an’ him hear de voice of a
singin’,—

“Brar Able o, me ruin 1 o

Me plant gone!”

[MP3 ↗️ | MusicXML ↗️]

♩ = 192

Brar Able, oh, me ruin, oh, Brar Able,

oh, me ruin, oh, Brar Able, oh, me ruin,
oh, Brar Able, oh, me plantain gone.

Brar Able say, “Well, from since I born I never know man speak my name in such way!” So he couldn’t
stay in de house, an’ come out an’ went to plant sucker-root. Anansi go out,—

“Brar Able o, me ruin o,

Me plant gone.”

[121]

Mr. Able went out from de sucker-root an’ he climb breadfruit tree. Anansi go just under de breadfruit
tree, sing,

“Brar Able o, me ruin o,

Me plant gone.”
Mr. Able went up in a cotton-tree. Anansi went up to de cotton-tree root, give out—

“Brar Able o, me ruin o,

Me plant gone.”

An’ Mr. Able tek up himself off de cotton-tree an’ break him neck an’ Mr. Anansi tek charge Mr. Able
house an’ two daughters.

Jack man dory, choose one!

1 Pronounced “roon”. ↑

[Contents]
 94. The King’s Three Daughters. [Note]

Vincent Morrison, Mandeville.

Once a king had three daughters and the king die and some young fellows go up to the fence, but as
they come they run them. The fellows meet Brar Nansi one day and they said to Anansi, “I bet you
never go to that house!” Mr. Anansi said, “I bet you I go up there!”

Anansi went an’ got some horse-mane and get a cotton-tree spar an’ dig out a fiddle. An’ he come out
de road de evening, an’ he start to play de fiddle say,

“Tom body tom ting,

Tweety tweety tweety tweety tweety twee
Linga linga loo
Nobody never go deh yet,
Linga linga ling
Anansi go deh t’-night
A go linga linga ling.”

The ladies call out and ask who is it playing that sweet music. Anansi say, “It’s me, missus!” And the
ladies ask who. He says, “Me, Mr. Anansi, missus.” The ladies carry him up to the house and he play
for two hours and come away. So the fellows who did bet him, he win them.

Jack man dora!

[Contents]
 95. The Dumb Child. [Note]

George Parkes, Mandeville.

There was once a little child born into a country, born with golden tongue an’ golden teet’, an’ from de
day she born, nobody [122]see de teet’ excep’ de mother an’ de father; she never talk for no one to
hear her nor to see neither the teeth nor the tongue. Now the king of the country hear of it, an’ he
offer a gran’ reward for anyone who would get to make the chil’ talk, because he, the king, never seen
a golden tongue an’ teet’ yet. So lot of men went to the house an’ try all sort of mechanic; the chil’
wouldn’t talk.

So Anansi heard off it, went to the king an’ tol’ the king that he would make the chil’ talk; an’ the king
say if Anansi make the chil’ talk before him, he will make the reward much larger, but if he don’t make
the chil’ talk before him, he, the king, will kill Anansi. So Anansi went away, got his fiddle, cord it up,
an’ went to the place of the little chil’; an’ he played on his fiddle to make the chil’ hear,—

“Poly don ya sin do,

Poly don ya sin do,
Poly don ya sin do,
Merry day t’-day ya,
Merry day t’-day ya,
Sin do, sin do-o!”

The chil’ look upon Anansi an’ smile; Anansi shake his head. He play the tune again—

“Poly don ya sin do,

Poly don ya sin do.”

The chil’ laugh; Anansi get to see de teet’. Now Anansi play stronger again de same t’ing,—

“Poly don ya sin do,

Poly don ya sin do.”

The chil’ begin hum it now,—

“Poly don ya sin do,

Poly don ya sin do.”

Anansi play again harder now,

“Poly don ya sin do,

Poly don ya sin do,
Poly don ya sin do,
Merry day t’-day ya,
Merry day t’-day ya,
Sin do, sin do-o!”

The chil’ make,

“Poly don ya sin do,

Merry day t’-day ya.”

Anansi shake de head an’ laugh an’ he play much stronger now,

“Poly don ya sin do,

Poly don ya sin do.”

[123]

The chil’ now sing louder,

“Poly don ya sin do!

Poly don ya sin do!”

As the chil’ sing that time, Anansi pick up the chil’, run right away to the king palace, call for the king,
put the chil’ in the chair, tol’ the king he make the chil’ sing, see tongue an’ teet’. The king wouldn’t
believe him. Anansi play him fiddle before the king, play the same tune,—

“Poly don ya sin do,

Poly don ya sin do,
Poly don ya sin do,
Merry day t’-day ya,
Merry day t’-day ya,
Merry day t’-day ya,
Sin do, sin do-o!”

Chil’ begin now,

“Poly don ya sin do,

Merry day t’-day ya!”

And the king was very glad, an’ Anansi was nicely rewarded and the king took the child in his own
home, an’ dere she live wid de king forever.

[Contents]
 96. The Dumb Wife. [Note]

Thomas White, Maroon Town.

Deh was a man name of Goolin. He had a wife. He married him wife fe so many years dat de wife
turned dummy,—she couldn’t speak to nobody. An’ Mr. Goolin reward out a certain amount of money, if
anyone could make him wife talk, he would pay dem dat amount of money. Anansi hear about it an’ go
to take up de job from Mr. Goolin. Anansi says if he had a mountain groun’, an’ Mr. Goolin says yes. An’
Mr. Anansi an’ Mr. Goolin go up to de mountain groun’ an’ Mr. Anansi tell Mr. Goolin he mus’ get a coffin
made an’ send get up some men to carry de coffin. An’ Mr. Anansi sen’ tell de wife dat Mr. Goolin dead;
an’ when de message reach Mrs. Goolin dat her husband dead, Mrs. Goolin commence to cry; an’
when she look an’ see de amount of men goin’ up to de mountain fe gwine carry down Mr. Goolin, de
wife was crying but she couldn’t talk. An’ Anansi come down wid Mr. Goolin, an’ dey hev’ to come
down a high hill, an’ de house was upon a flat before de hill. Well, Mrs. Goolin da in de house, she
hear de great noise was coming down de hill an’ come jus’ at de [124]house door, she come an’ stan’ up
an’ look out an’ see de majority of men comin’. Anansi gi’ out,

“Goolin gone, t’de-e-e,

Goolin gone, Goolin gone,
Goolin gone home t’de-e-e!”

An’ when de wife hear dat mournful singin’ de wife sing now very faintly,

“Goolin gone, t’de-e-e,

Goolin gone, Goolin gone,
Goolin gone home t’de-e-e!”

An’ when Goolin hear he say, “Sing up, man!” Anansi sing,

“Goolin gone t’de-e-e,

Goolin gone, Goolin gone,
Goolin gone home t’de-e-e!”

An’ wife sing now,

“Goolin gone, t’de-e-e,

Goolin gone, Goolin gone,
Goolin gone home t’dee-e-e!”

So Mr. Anansi tek out Mr. Goolin out of de coffin as a live man, an’ Mr. Goolin an’ him wife was talking
up to t’-day.

[Contents]
 97. Leap, Timber, Leap. [Note]

[Contents]

a. Old Conch.
Emanuel Johnson, Brownstown, St. Anne.

There was a king have a lumber to bring into the palace, an’ that lumber was one mile in length and
there was not one man could carry it except one old man name of Old Conch. The king sen’ for him;
him tek five days to do one mile. Anansi hear, an’ he can walk a little faster than him, an’ went to the
king an’ say he will go an’ the king say if he can carry it quicker than Old Conch, he can go. Anansi
mek a cotta an’ travel for the lumber, an’ when Old Conch ketch up the five days, fin’ Anansi beside the
lumber trying to lift it up and couldn’t lift it. Old Conch were beside the timber an’ commence a song,—

[MP3 ↗️ | MusicXML ↗️]

♩ = 96 ♩ = 78

Fol-low, timber, follow, fol-low ’long road, timber follow. Leap, timber, leap,
leap tim-ber, leap. Follow, timber, ’long road fol-low, fol-low, timber, follow. [125]

♩ = 76 ♩ = 96

Leap, tim-ber, leap, leap, tim-ber, leap.

♩ = 76

Fol-low, ’long road, timber fol-low,

fol-low, ’long road, tim-ber, fol-low. Leap, tim-ber, leap, leap tim-ber, leap.

Timber pick up himself an’ mek a leap in two mile.

Anansi went on before an’ stood beside the timber trying to help it on again. Now when Old Conch
went up and see Anansi by the timber again, Old Conch go beside the timber an’ say,

“Follow long road, timber, follow!

Follow long road, timber, follow!
Follow long road, timber, follow!
Leap, timber, leap! leap, timber, leap!
Leap, me timber, leap! leap, timber, leap!”

Timber pick up himself mek one jump two more mile; that’s four miles timber gone now. Now go on,
an’ fin’ Anansi beside it again, an’ start him song say,

“Follow long road, timber, follow!

Follow long road, timber, follow!
Follow long road, timber, follow!
Leap; timber, leap! leap, timber, leap!
Leap, me timber, leap! leap, timber, leap!”

The timber pick up himself two more miles an’ drop in the king yard now.

Then Old Conch go on, an’ Anansi run ahead an’ say, “King, I brought de timber!” King were very glad
to see the timber come an’ say, “You done well, Anansi!” an’ say, “I wan’ de timber in dat corner.”
Anansi go beside the timber an’ couldn’t fix it in; were trying an’ frying an’ couldn’t fix it in. Now Old
Conch come, says, “King, I brought de timber.” King says, “No! Anansi brought it; but, however, I wan’
de timber to go in dat corner, an’ I’ll prove out of de two of you which bring it!” Anansi first go to the
timber, an’ couldn’t manage it. Now Old Conch start an’ say,

“Follow long road, timber, follow!

Follow long road, timber, follow!
Follow long road, timber, follow!
Leap, timber, leap! leap, timber, leap!
Leap, me timber, leap! leap, timber, leap!”

The timber pick up himself an’ fall in the corner. Now the king [126]tek after Anansi was to kill him,
couldn’t catch him, run under a stone an’ by the time they get up the stone, slip beneath the door
crevice!

Jack man dora!

[Contents]

b. Grass-quit (fragment).
Howard Robinson, Retirement, Cock-pit country.

Grass-quit went to the bottom place an’ he haul a little grass-straw an’ tak a knife an’ slit the timber-
head like this an’ he fix the grass-straw into it, an’ he say, 1
 [MP3 ↗️ | MusicXML ↗️]

♩ = 88

a) Come, lit-tle tim-ber, fol-low me, hur-rah me a lay.

♩ = 88

b) Come, lit-tle tim-ber, fol-low me, hur-rah me a lay,

Big tim-ber, fol-low me, hur-rah me a lay. Lit-tle tim-ber,
fol-low me, hur-rah me a lay. Big tim-ber, fol-low me.

An’ the timber follow him right into man yard, an’ as it catch into the yard, the daughter marry Grass-
quit same time. An’ he sen’ for a police an’ tak up Anansi same time. When Anansi come out of prison,
he make Grass-quit ride grass-straw until to-day.

1 The song appears twice in the story, the first time only four measures; it was explained that the second time the song
must stop as given because that is how the Anansi Story ends. ↑

[Contents]
 98. The Boy fools Anansi. [Note]

Richard Morgan, Santa Cruz Mountains.

One boy went to Hanansi yard, an’ Hanansi an’ he mudder made up to kill de boy. Me’while, de boy
hear what dem say. Hanansi went away fe one of his country-men help him to kill de boy. As Hanansi
gone, de boy kill Hanansi mamma, tek off de coat an’ de sucker, put it on an’ cook up de ol’ lady.
When Hanansi come, de ol’ lady gi’ dem deh dinner. An’ he say, “Ma, [127]wha yo’ got stren’t te kill a
big big boy?” De boy said, “Yes, me pickney.”—“Ma, a wan’ water.” De ol’ lady gi’ him de water. An’
said, “Lawd, dis fellah fat!” De boy tek time an’ tek off de coat an’ de sucker, t’row it down an’ run,
went away. Hanansi tumbled down,—“Lawd! a me mamma been nyam!” An’ run after de boy but
couldn’t catch him. So it’s only de boy ever fool Hanansi!

[Contents]
 99. The Water Crayfish. [Note]

Moses Hendricks, Mandeville.

There was a wealthy woman, but she had no children. She was always wishful of adopting a child. So
she went down to the river to bathe one morning as usual and she saw a pretty baby. She was so glad
she took it home and she made a pet of it. She employed a girl called Tamanty to care for the child,
and Anansi to be the watchman to watch and see if the girl cared for the child.

So it happened one day she had to go out, so she left them to take care of the child. Anansi wanted all
along to get rid of this girl Tamanty. Tamanty was sweeping the house and the little child was playing
with the broom. Anansi winked to the girl and said, “Lick him wi’ the broomstick! lick him wi’ the
broomstick!” The girl took the broomstick and hit the child. The child started running for the river.
Anansi and Tamanty started after her, calling out, “Come back, Miss Nancy, come back!” The child said,

“No na no, Tamanty! no na no, Anansi!

Me a river craw-fish, me no have a mu-ma,
Poor me, river craw-fish! river a me mu-ma.”

The child ran right into the river and became a cray-fish.

[129]
 MODERN EUROPEAN STORIES.

[Contents]
 100. Ali Baba and Kissem. [Note]

Alexander Townsend, Flamstead, St. Andrew.

Ali Baba was the brother of Kissem, but Ali Baba was a poor man and
Kissem was a rich man. Ali Baba had two donkeys and an ox,—all his
living. Ali Baba was cutting wood one day, he heard a company of
horse coming afar. Took his donkeys and hid them in the bush, hid
himself in a tree. Forty men were coming on; the head man came right
to the cave where he was. Name of the cave was “Sesame.” This cave
was shut, would open by the word “Open, Sesame.” And they brought
forty bags of gold an’ put in. Shut without word. Ali Baba saw them
from the tree-top. When gone, Ali Baba came down to the cave, said,
“Open, Sesame, open!” Ali Baba took all the money he could, loaded it
on the donkey.

Must measure the money, but didn’t have any measure. Brother said,
“What Ali Baba got to measure?” Took stuck the measure. Ali Baba
measure, measure, measure, measure thousands of dollars. One piece
stuck on the bottom. Brother aska; Ali Baba tells all about it, teaches
brother, “Open, Sesame, open.” Next day, Kissem took wagon, oxen,
servants, went to the place, said, “Open, Sesame, open!”. When he
went inside, cave shut. When he went on, saw all the money, he forgot
the word, said, “Open, kem! Open, wem! Open, rim! Open, sim!”
Forgot that word entirely, can’t get out. The men came back; “Open,
Sesame, open!” Find Kissem. “How came you here?” No answer. Cut
Kissem up in five pieces, hung them up in the cave.

Kissem’s wife went to Ali Baba, said, “Kissem no come here yet!” Ali
Baba went next day to the place. “Open, Sesame, open!” Finds the five
pieces, takes them down, gets a cobbler to sew the five pieces up into
a body. Robber comes back, finds body gone. Who took away that
body, signifies some one knows the place; must find out who that is.
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