• Starting Control Kit
• Using Control Kit
• Closed Loop responses
• Impulse Response
• Step Response
• Ramp Response
• Arbitrary Input
• Sinusiodal Input
• Closed loop Frequency Response (Bode Plot)
• Sensitivity Plot
• Open Loop Responses  
• Nyquist Plot
• Nichols Chart
• Editing Plants
• Changing Default Settings
• Online Help
• Quit

1. Starting Control Kit:
load the rltool library as per instructions in the README file. If the library loads properly the following message is displayed on Scilab prompt:
                                                                                                              mode(-1);

Type kit() to start this programme.

2. Using Control Kit:
It is intended to make Control Kit very user friendly and as such most features should be obvious. However, these are given below for the sake of completness.

• Impulse Response  of the system g*k/(1+gk) i.e. with unity feedback. This is available only in Root Locus mode. Click on "Response->Closed Loop" and the programme will prompt you to select a point on the rootlocus. A popup window will ask for the choice of closed loop responses. Click on "Impulse" to view the impulse response
• Step Response of the system g*k/(1+gk) i.e. with unity feedback. This is available only in Root Locus mode. Click on "Response->Closed Loop" and the programme will prompt you to select a point on the rootlocus. The Step response of the closed loop system is displayed along with value of gain and location of closed loop poles. You can also view details like percent peak overshoot, settling time, peak time etc.
• Ramp Response of the system g*k/(1+gk) i.e. with unity feedback. This is available only in Root Locus mode. Click on "Response->Closed loop" and the programme will prompt you to select a point on the rootlocus. The Ramp response of the closed loop system is displayed along with value of gain and location of closed loop poles.
• Arbitrary Input : Control Kit allows you to simulate your system  g*k/(1+gk) i.e. with unity feedback  with arbitrary inputs which are PIECEWISE LINEAR and SINGLE VALUED. Click on "Response->Closed loop" and the programme will prompt you to select a point on the rootlocus. A popup window will ask for the choice of closed loop responses. Click on "Arbitrary"  to view an interface for drawing the input. You can do the following
• Resize the plot in Edit->Size
• Undo changes in Edit->Undo
• Replot/Abort
• Click on Edit->OK after you have finished drawing the input
You will now see the response along with the input which you defined. Note that the input should be single valued, you will receive an error message if the input is not single-valued.
 
•  Sinusoidal input: Plots the dynamic response for the system  g*k/(1+gk) i.e. with unity feedback  with input as    Input=Asin(wt) where A is the amplitude and w is the frequency in rad/sec. Click on "Response->Closed loop"  and the programme will prompt you to select a point on the root locus. A popup window will ask for the choice of closed loop responses. Select "sinusoidal". The default input is sin(t) i.e. amplitude=1 and frequency=1 rad/sec. These can be changed by clicking on "settings" button in the window. Close the window to return.
• Sensitivity plot: Sensitivity Response of g*k/(1+gk).

•  Frequency Response of the system g*k/(1+gk). Available in rootlocus mode only. Use is same as above. Click on "Response->Closed Loop" for closed loop frequency response.
•  Nyquist plot: Available in Root locus and Frequency modes. Nyquist plot of the open loop plant is displayed. Click on "Response->Nyquist".
• Nichols Plot: Nichols(Blacks) diagram of g

1.  Undo: You can undo one change of transfer function. Click on "Edit-> Undo" to cancel your last change. You will have to select a working directory where you have write permission to use this feature. The working directory can be set in "Settings->PWD".
2.  Add pole: Available in Rootlocus mode. Click on "Edit->Add Pole". Click on any point in the complex plane. If you clicked at a real valued point it is selected. If you clicked at a complex valued point then both the point and its complex conjugate are selected.
3.  Add zero: Available in Rootlocus mode. Click on "Edit->Add Zero". Click on any point in the complex plane. If you clicked at a real valued point it is selected. If you clicked at a complex valued point then both the point and its complex conjugate are selected.
4.  Remove pole: Available in Rootlocus mode. Click on "Edit->Remove Pole". Click on any point in the complex plane. If you clicked at a real valued point it is selected. If you clicked at a complex valued point then both the point and its complex conjugate are selected.
5.  Remove zero: Available in Rootlocus mode. Click on "Edit->Remove Zero". Click on any point in the complex plane. If you clicked at a real valued point it is selected. If you clicked at a complex valued point then both the point and its complex conjugate are selected.
6.  Add Cascade stage: Available in all modes. Click on "Edit->Add Cascade". You will be prompted to enter a transfer function. This gets multiplied with your current open loop transfer function.
7. Remove Cascade stage: Available in all modes. Click on "Edit->Remove Cascade". You will be prompted to enter a transfer function. This divides your current open loop transfer function.
8.  Edit Plant: Available in all modes. Click on "Edit->Edit Plant" to directly edit your current plant.

4. Settings:

Control Kit allows users to set parameters for plots and simulations. Click on "Settings" to edit these settings. Press OK to load these new settigs. Press CANCEL to return. This loads the Default settings. You have the following settings

• Dynamic Response Settings (time-step and maximum time)
• Frequency Response Settings (min frequency, frequency step and maximum frequency)
• Maximum gain for Rootlocus
• Graphics attributes
• Present working directory

5. Help:

Short online help is provided on many topics.

6. Quit:

Click on "Quit" to quit rltool programme. If you don't see this button on your graphics panel, pull down your graphics window a bit. You can do this by dragging down a small black square on the top right corner of the graphics window. Alternately, close Control Kit by clicking the "X" mark on your window.