********************************************************************
*                                                                  *
*                            Announcing                            *
*                                                                  *
*                            COSY_PAK                              * 
*                                                                  *                           
*              (A symbolic COntrol SYstems analysis PAcKage)       *            
*                                                                  *
*                           Version 0.9                            * 
*                            		                           *    
*                      (NO USER FEE RELEASE)                       *             
*                                                                  *
*                               for                                *
*                                                                  *
*                      Mathematica Version 2.0 or higher           *
*                                                                  *
********************************************************************

==> INTRODUCTION

  COSY_PAK is set of packages and notebooks for classical control and 
(some) modern (state space) control analysis and design methods. The
notebooks in COSY_PAK follow a typical `Control Engineering I' course
taught at many universities around the world for the junior/senior 
level undergraduates. There is NO FEE to use COSY_PAK but certain 
responsibilities are expected of the user (see Copyright notice in the 
README file included below). For starters e-mail / FAX / Mail (Post) 
the registration form included in the README file.

COSY_PAK is available via `anonymous ftp' from

          mishna.esys.cwru.edu (INTERNET No : 129.22.40.23) 

in the /pub directory. 

P.S.: A typical ftp session in UNIX is given after the README file. 


==> FUTURE RELEASES

   If you would like to receive updates and newer versions of
COSY_PAK please send e-mail/FAX/mail to the address
below. In addition, your  comments and suggestions are
appreciated and are invaluable to us. We will do our  best
to  fix any reported bugs. However, we cannot fix those
bugs that  have not been  reported to us and those we do not
know of. We would  very much appreciate you taking  a few
minutes to communicate to us  via e-mail / US Mail / 
Telephone / FAX. This will help us to release  bug-free
versions in the future. Comments are welcome. 

N. Sreenath
Systems Engineering Department
Case School of Engineering
Case Western Reserve University

******************
e-mail: sree@mishna.cwru.edu

U.S. Mail:

Prof. N. Sreenath                    Tel.: (216) 368-6219
Systems Engg., Crawford Hall         FAX: (216) 368-3123
Case Western Reserve Univ.
Cleveland OH 44106-7070
  
========================= Begin README file =========================




                       (NO USER FEE RELEASE)

			     COSY_PAK 
			     
	       (A symbolic COntrol SYstems analysis PAcKage)
			    
			    Version 0.9                
		 
	                        for
				
                  	Mathematica Version 2.0 or higher

                                by

               C.K.Chen 		N. Sreenath
		
	     	         Systems Engineering
		     Case School of Engineering
	     	   Case Western Reserve University		
	     	      Cleveland, OH, 44106-7070		       
		      e-mail: sree@mishna.cwru.edu
			
--> Copyright
    :Copyright: Copyright 1992 by C. K. Chen and N. Sreenath, Case 
Western Reserve University. 
        
    Permission to use, copy, modify and distribute this software and 
its documentation for any purpose and without fee is hereby granted, 
provided that the above copyright notice appear in supporting 
documentation, and the name of the Case Western Reserve University,
Case School of Engineering not be used in advertising or publicity 
pertaining to distribution of the software without specific, without 
prior permission. Case Western Reserve University makes no 
representations about the suitability of this software for any 
purpose. It is provided "as is" with out express or implied warranty.
    		
--> Acknowledgements

    Support from CWRU Information and Network Services - Dr. Ray Neff,
Case Alumni Association, The Lilly Foundation and the Systems 
Engineering Department of Case Western Reserve University is 
gratefully acknowledged. Special thanks to Brian Evans of Georgia Tech  
for all the help.  

--> FTP

     COSY_PAK is available by anonymous `ftp' from 
mishna.esys.cwru.edu (Internet No. 129.22.40.23). A sample ftp session 
is given at the end of this file.

**********************************************************************

--> Changes in Version 0.9 (update from v0.81 to v0.9)

	In this version, we have revised COSY_PAK to take advantage of 
the more robust signal processing functions available in Mathematica v2.1.  
Since Mathematica 2.1 provides a better  and  working 
LaplaceTransform and InverseLaplaceTransform functions than 
Mathematica v2.0 did, we adopted them. This has made COSY_PAK 
smaller. Thus Brian Evans' Signal Processing packages that supported 
the LaplaceTransform  and InverseLaplaceTransform functions in the 
COSY_PAK v0.81 are no longer needed directly by COSY_PAK v0.9. For 
power users who  use Signal Processing we still recommend the use of the very  
fine  Brian Evans package on Signal Processing (available at 
the anonymous  ftp site gauss.eedsp.gatech.edu  or  IP # 130.207.226.24).  On  
the  downside, the disadvantage of this update 
can be that Mathematica 2.1 requires more runtime resources than its 
previous version. 


***********************************************************************	
--> For Mathematica 2.0 users
	
	We have included the LaplaceTransform package from Mathematica 2.1 in  
the directory `For_2.0'. Please move all files and directory under For_2.0 into  
the Calculus directory under Mathematica Packages directory. 

**************************************************************************
	    
--> Introduction
   
    This is an unsupported release of COSY_PAK - a COntrol SYstems 
analysis PAcKage for symbolic control systems analysis using 
Mathematica 2.1. Classical control systems analysis and design methods and some  
modern control systems methods have been implemented in this package. 
    
    This package and the attendant notebooks were developed on a 
NeXT (TM) computer (a UNIX based workstation). They have been 
used as a supplementary teaching aid along with  standard control 
engineering texts (Ogata [1991], Phillips and Harbor [1991]) for 
undergraduate courses in `Control Engineering I' taught at the Systems 
Engineering Department of CWRU. In addition to the NeXT, they have 
also been tested successfully on Apple Macintosh computers (TM), and, 
IBM PC's (TM) running MS Windows(TM). We would be very much interested 
to hear from you if you or anybody you know uses this software on 
platforms not mentioned above. IBM users however will have to 
evaluate the notebooks first to visualize the graphics.

    Once installed (see below for instructions), this  collection  of  
Mathematica  packages  can be loaded by any user. Bundled with the 
packages are many notebooks ("COSY_Notes") which demonstrate  
the functionality of these packages. The notebooks follow a plan of 
many fine, standard, undergraduate Control Engineering text books 
listed in the references. Examples used in these notebooks have 
been collected from the various references given at the end of this 
file. The contents of the notebooks in the "COSY_Notes" directory are 
given below.
   
 ----------- Begin "COSY_Notes" Contents -----------
 
 NOTEBOOK FILE NAME: 01_Introduction.ma
 CHAPTER 1: Introduction to Control Systems
	
	Sections:  
	     Analyticity
	     Poles and Zeros
	     Signals
	     Forward Laplace Transforms
	     Inverse Laplace Transforms
	     Differential Equation With Zero-Valued Initial Conditions
	     Differential Equation With Initial Conditions
	     	     
 -----------
 
 NOTEBOOK FILE NAME: 02_Math_Models.ma
 CHAPTER 2: Mathematical Modeling of Dynamic Systems

 	 Sections:  
	      ODE to State Space  
	      Linearization of a Nonlinear System of Equations  
	      State Space to Transfer Function
		     
 -----------
 
 NOTEBOOK FILE NAME: 03_*_Transient_Response.ma
 CHAPTER 3: Transient-Response Analysis  
            (Chapter split into three sub notebooks because of file
	     size)

	 NOTEBOOK FILE NAME: 03_1_Transient_Response.ma
            
	    Sections :       
	      Time Response Analysis  
	      First order System  
	      Second Order System  
	      Third Order and Higher Order Systems
	      
         NOTEBOOK FILE NAME: 03_2_Transient_Response.ma
            
	    Sections  :        	      
	      First Order System (Step Response vs. Time Const)  
	      
	      
         NOTEBOOK FILE NAME: 03_3_Transient_Response.ma
            
	    Sections  :
	      Second Order System (Step Response vs. Damping Ratio)  
	      
	            
 -----------

 NOTEBOOK FILE NAME: 04_Steady_State_Response.ma
 CHAPTER 4: Steady-State Response
 
         Sections:	      
	      Routh's Stability 
 	      Steady-State Error Analysis
                
 -----------
		
 NOTEBOOK FILE NAME: 05_Root_Locus.ma
 CHAPTER 5: Root-Locus Analysis

 -----------
 
 NOTEBOOK FILE NAME: 06_Freq_Response.ma
 CHAPTER 6: Frequency-Response Analysis

         Sections:
	      Bode Plot Analysis  
	      Magnitude vs. Phase Plot (Nichols Plot)
	      Polar Plot  
	      Nyquist Plot  
	      Combined Example
	      
 -----------
 
 NOTEBOOK FILE NAME: 07_State_Space.ma
 CHAPTER 7: State Space Methods

         Sections:
	      Introduction
	      State Transition Matrix
	      Controllability
	      Observability
	      Output Controllability
	      Pole Placement Design 
	      Observer Design
	      Time Response Using State Space Methods

 
 ----------- End Notebook Contents -----------
 

--> Compressed Files

        The files that contain  a  complete set of the COSY_PAK v0.9
packages and Notebooks for Mathematica are:

 COSY_PAK_09.tar.Z     		compressed tar file for Unix systems
	
 COSY_PAK_09.sit.hqx     	compressed sit file for Macintosh 
 				systems and encoded by BinHex 4.0 
				format (requires the   shareware
				 Stuffit file v 1.5.1 or higher). 
	
 COSY_PAK_IBM_09.zip    	zip file for the IBM PC running MS-DOS
    
     Once expanded the Mathematica files can also be used on 
Macintosh / IBM PC / Unix systems also.


--> Installation of COSY_PAK

 o In UNIX Command line type the following command:

      zcat COSY_PAK_09.tar.Z | tar xvf -

 o In Macintosh open the .sit.hqx file using the shareware
    Stuffit v 1.5.1 or higher.
  
 o In IBM Command line type the following command:

      pkunzip -o -d COSY_PAK_IBM_09.zip

NOTE: This .zip file was zipped by zip utility v2.0. You must use 
pkunzip version 2.0 or  higher to unzip it.  IBM PC's may limit the 
directory name characters to eight. In that event type "pkunzip -o -d 
COSY_PAK.zip.  You can also unzip the COSY_PAK_IBM_09.zip file on any 
Unix machine if you have unzip utility on it.


     Uncompressing and untarring "COSY_PAK_09.tar.Z" or unzipping 
"COSY_PAK_IBM_09.zip" will create a directory called "COSY_PAK".
         	
Once the files are expanded you should see a single directory 
"COSY_PAK" containing the following three files, four 
sub-directories and their contents:

SUB-DIRECTORIES in "COSY_PAK":  
  COSYPAK    - contains control tool box packages 
  MANUAL     - COSY_PAK manual in .ps, .rtf, .txt, and .wn formats. 
  COSY_Notes - contains notebooks 
  For_2.0    - contains Laplace transform package from Mathematica 2.1
  		For Mathematica 2.0 users.	 
    		
FILES in directory "COSYPAK":
  chap1.m   chap2.m   chap3.m  chap4.m  chap5.m   chap6.m  chap7.m
	
FILES in directory "COSY_Notes":
	01_Introduction.ma	  
	02_Math_Model.ma
	03_1_Transient_Response.ma   
	03_2_Transient_Response.ma   
	03_3_Transient_Response.ma   
	04_Steady_State_Response.ma
	05_Root_Locus.ma	  
	06_Freq_Response.ma 
	07_State_Space.ma         
	
FILES in directory "For_2.0":
	LaplaceTransform.m     DiracDelta.m	
	SUB-DIRECTORIES in "COSY_PAK":	Common
	FILES in directory "Common":  Support.m

********************* Important ********************	

	The notebook example files(.ma files) will be under the 
"COSY_Notes" directory.  To use the notebooks, move the directory `COSYPAK' to  
a 
directory that  Mathematica can recognize :
	
        /LocalLibrary/Mathematica/Packages     	on a UNIX machine,
        MY_HardDisk:Mathematica:Packages   	on an Apple Macintosh,
        c:\winmath\packages                  	on an IBM PC.

	At the beginning of the "Initialization" cell of each notebook 
in  "COSY_Notes" directory, we list the example about how to make 
Mathematica identify the directory:

	(* Initialization of Path *)

	(* Example For a UNIX machine  (Default) *) 
	(*
	$Path=Join[$Path,
	{"/LocalLibrary/Mathematica/Packages"}];
	*)
	
	(* Example For an Apple Macintosh  *) 
	(*
	$Path=Join[$Path,
	{"MY_HardDisk:Mathematica:Packages"}];
	*)
	
	(* Example For IBM PC 	
	 *)
	(*
	$Path=Join[$Path,	
	 {"c:\winmath\packages"}];	
	*)	

Change the pathname according to your machine by removing the 
Mathematica comment sign `(*' and `)*' before and after `$Path' 
setting.

	This command makes Mathematica recognize the directory

        /LocalLibrary/Mathematica/Packages     	on a UNIX machine
        MY_HardDisk:Mathematica:Packages   	on a Apple Macintosh
        c:\winmath\packages                	on an IBM PC


--> Mathematica 2.0 users
	
	We include the LaplaceTransform package from Mathematica 2.1 in 
the directory For_2.0. Please move all files and directory under For_2.0 
into the Calculus directory under Mathematica Packages directory. 


--> Getting started

       After installation, start Mathematica and open the notebooks in 
the "COSY_Notes" directory. All notebooks load their own packages. 
Navigate in the notebooks and enjoy. IBM users however will have to 
evaluate the notebooks to visualize the graphics.
    
*************************************************************** 

--> USER RESPONSIBILITIES

      We request you to take a few minutes and fill out the 
information below and mail it to us by e-mail / FAX / U.S. Mail. This 
will help us to keep your abreast of the improvements and release new 
versions of COSY_PAK. Suggestions for improvements are welcome.

-------------------------------cut here-------------------------------
  
  YOUR NAME:     ________________________________________
 
  ORGANIZATION:  ________________________________________
  
  TITLE:         ________________________________________
  
  e-mail:        ________________________________________

  POSTAL ADDRESS:________________________________________
  
                 ________________________________________
		   
  Comments &     ________________________________________
  
  Suggestions:   ________________________________________
		 
                 ________________________________________
		 



-------------------------------cut here-------------------------------

Mail this information to (E-mail / FAX / U.S. Mail) :

INTERNET: sree@mishna.cwru.edu

U.S. Mail:

Prof. N. Sreenath                    Tel.: (216) 368-6219
Systems Engg., Crawford Hall         FAX: (216) 368-3123
Case Western Reserve Univ.
Cleveland OH 44106-7070
  
*************************************************************** 

--> REPORT BUGS

     Please report bugs and leave comments to the address above. 
Any suggestion for improvements and criticism are welcome.

     We will do our best to  fix any reported bugs. However, we cannot 
fix those bugs that have not been  reported to us and those we do not 
know of. We would very much appreciate you taking  a few minutes to 
communicate to us via e-mail / US Mail /  Telephone / FAX. This will 
help us to release bug-free versions in the future.
	
	
***************************************************************

--> Disclaimer and Future Releases

 	This software is the property of the Case Western Reserve 
University. Use this software at your own risk. We make no express or 
implied  warranty.

	The packages and the notebooks can also be made to run under 
Mathematica versions 2.0 or lower with modification. We do not 
guarantee the outcome.


--> Documentation

        COSY_PAK functions are indexed in the files in the 
`MANUAL' directory according the chapters. Usage is illustrated in 
notebooks residing in `COSY_Notes' directory.  If your computer does 
not support notebooks find a Macintosh computer and acquire MathReader 
which is a public domain notebook reader. MathReader will at least 
allow you to peruse notebooks but you will not be able to evaluate 
any code fragments.
	

--> References

Dorf, R. C., "Modern Control Systems", Sixth Edition, Addison 
Wesley, New York, 1992.

Fortmann, T. E., and Hitz, K. L., "An Introduction to Linear Control 
Systems", Marcel Dekker, 1977.

Franklin, G. F., Powell, D. J., and Emami-Naeini, A., "Feedback 
Control of Dynamic Systems", Second Edition, Addison Wesley, New 
York, 1991.

Kuo, B. C., "Automatic Control Systems", Sixth Edition, Prentice Hall, 
New Jersey, 1990.

Ogata, K., "Modern Control Engineering", Second Edition, Prentice 

Hall, New Jersey, 1991.

Phillips, C. L., and Harbor, R. D., "Feedback Control Systems", 
Second Edition, Prentice Hall, New Jersey, 1991.


========================= End README file =========================

TYPICAL `ftp' session :
-----------------------

%ftp mishna.esys.cwru.edu
Connected to mishna.
220 mishna FTP server (Version 5.20 (NeXT 1.0) Sun Nov 11, 1990) ready.

Name (mishna.esys.cwru.edu:sree): anonymous

Password:

ftp> cd /pub

ftp> binary

ftp> ls
200 PORT command successful.
150 Opening ASCII mode data connection for file list.
COSY_PAK_09.tar.Z
COSY_PAK_IBM_09.zip
Index
README
places.wmd
COSY_PAK_untar
226 Transfer complete.
78 bytes received in 0 seconds (15.35 Kbytes/s)

ftp> get COSY_PAK_09.tar.Z
200 PORT command successful.
150 Opening BINARY mode data connection for COSY_PAK_09.tar.Z (460822 bytes).
226 Transfer complete.
local: COSY_PAK_09.tar.Z remote: COSY_PAK_09.tar.Z
460822 bytes received in 1.33 seconds (3.38e+02 Kbytes/s)

ftp> quit
221 Goodbye.

