MATLAB Commands List

The following list of commands can be very useful for future reference. Use "help" in MATLAB for more
information on how to use the commands.
In these tutorials, we use commands both from MATLAB and from the Control Systems Toolbox, as well as
some commands/functions which we wrote ourselves. For those commands/functions which are not standard
in MATLAB, we give links to their descriptions. For more information on writing MATLAB functions, see the
function page.
Note: MATLAB commands from the control system toolbox are highlighted in red.
Non-standard MATLAB commands are highlighted in green.
Command
Description
abs

Absolute value

acker

Compute the K matrix to place the poles of A-BK, see also place

axis

Set the scale of the current plot, see also plot, figure

bode

Draw the Bode plot, see also logspace, margin, nyquist1

c2d

Continuous system to discrete system

clf

Clear figure

conv

Convolution (useful for multiplying polynomials), see also deconv

ctrb

The controllability matrix, see also obsv

deconv

Deconvolution and polynomial division, see also conv

det

Find the determinant of a matrix

dlqr

Linear-quadratic regulator design for discrete-time systems, see also lqr

eig

Compute the eigenvalues of a matrix

eps

MATLAB's numerical tolerance

feedback

Connect linear systems in a feedback loop

figure

Create a new figure or redefine the current figure, see also subplot, axis

for

For, next loop

format

Number format (significant digits, exponents)

function

Creates function m-files

grid

Draw the grid lines on the current plot

gtext

Add a piece of text to the current plot, see also text

help

HELP!

hold

Hold the current graph, see also figure

if

Conditionally execute statements

imag

Returns the imaginary part of a complex number, see also real

impulse

Impulse response of linear systems, see also step, lsim

input

Prompt for user input

inv

Find the inverse of a matrix

legend

Graph legend

length

Length of a vector, see also size

linspace

Returns a linearly spaced vector

lnyquist

Produce a Nyquist plot on a logarithmic scale, see also nyquist1

log

natural logarithm, also log10: common logarithm

loglog

Plot using log-log scale, also semilogx/semilogy

logspace

Returns a logarithmically spaced vector

lqr

Linear quadratic regulator design for continuous systems, see also dlqr

lsim

Simulate a linear system, see also step, impulse

margin

Returns the gain margin, phase margin, and crossover frequencies, see also bode

minreal

Produces a minimal realization of a system (forces pole/zero cancellations)

norm

Norm of a vector

nyquist1

Draw the Nyquist plot, see also lnyquist. Note this command was written to replace the
MATLAB standard command nyquist to get more accurate Nyquist plots.

obsv

The observability matrix, see also ctrb

ones

Returns a vector or matrix of ones, see also zeros

place

Compute the K matrix to place the poles of A-BK, see also acker

plot

Draw a plot, see also figure, axis, subplot.

poly

Returns the characteristic polynomial

polyval

Polynomial evaluation

print

Print the current plot (to a printer or postscript file)

pzmap

Pole-zero map of linear systems

rank

Find the number of linearly independent rows or columns of a matrix

real

Returns the real part of a complex number, see also imag

rlocfind

Find the value of k and the poles at the selected point

rlocus

Draw the root locus

roots

Find the roots of a polynomial

rscale

Find the scale factor for a full-state feedback system

set

Set(gca,'Xtick',xticks,'Ytick',yticks) to control the number and spacing of tick marks on the

axes

sgrid

Generate grid lines of constant damping ratio (zeta) and natural frequency (Wn), see also
sigrid, zgrid

sigrid

Generate grid lines of constant settling time (sigma), see also sgrid, zgrid

size

Gives the dimension of a vector or matrix, see also length

sqrt

Square root

ss

Create state-space models or convert LTI model to state space, see also tf

ssdata

Access to state-space data. See also tfdata

stairs

Stairstep plot for discrete response

step

Plot the step response, see also impulse, lsim

subplot

Divide the plot window up into pieces, see also plot, figure

text

Add a piece of text to the current plot, see also title, xlabel, ylabel, gtext

tf

Creation of transfer functions or conversion to transfer function, see also ss

tfdata

Access to transfer function data, see also ssdata

title

Add a title to the current plot

wbw

Returns the bandwidth frequency given the damping ratio and the rise or settling time.

xlabel/ylabel

Add a label to the horizontal/vertical axis of the current plot, see also title, text, gtext

zeros

Returns a vector or matrix of zeros

zgrid

Generates grid lines of constant damping ratio (zeta) and natural frequency (Wn), see also
sgrid, sigrid

Simulink Basics Tutorial - Block Libraries

Sources
Sinks
Discrete
Linear
Nonlinear
Connections
Simulink contains a large number of blocks from which models can be built. These blocks are arranged in
Block Libraries which are accessed in the main Simulink window shown below

Each icon in the main Simulink window can be double clicked to bring up the corresponding block library.
Blocks in each library can then be dragged into a model window to build a model.

Sources

Source Blocks are used to generate signals. Double-click on the Sources icon in the main Simulink window
to bring up the Sources window.

Notice that all of the source blocks have a single output and no inputs. While parameters in each of these
blocks in the library can be modified by double-clicking the block, it is best to not modify the blocks until
they have been copied into a model window.
In order to examine these blocks, create a new model window (select New from the File menu in the
Simulink window or hit Ctrl+N).

Constant
The Constant Source Block simply generates a constant signal. The constant output value is displayed in the
middle of the block, with a default value of 1.

To use this block, drag it from the Sources window into your new model window.

To change the constant output value, double-click on the block in your model window to bring up the
following dialog box.

Change the constant value field from 1 to some other value, say, 5, and close the dialog box. Your model
window will reflect the update by displaying a 5 in the middle of the constant block.
Signal Generator
The Signal Generator Source Block is a general-purpose source which encompasses some of the other
blocks' functions. It generates periodic waveforms such as sine, square, and sawtooth waves as well as a
random signal. Drag this block from the Sources window to your model window.

By default, the Signal Generator generates a sine wave with an amplitude of 1 and a frequency of 1 Hz. To
change this, double-click the Signal Generator in your model window to bring up the following dialog box.

The Amplitude and Frequency can be changed in this dialog box, as well as the type of waveform. To change
the waveform, click on the Waveform field to bring up a list of possible waveforms.

The desired waveform can be selected from this list.

Ramp
The Ramp Source Block generates a signal which is initially constant and begins to increase (or decrease) at
a constant rate at a specified time. The slope, start time, and initial output can be specified.
Sine Wave
The Sine Wave Source Block generates a sinusoidal signal. The Amplitude and Frequency can be specified,
as well as the Phase (unlike the Signal Generator). There is a fourth parameter, the Sample Time, which can
be used to force the Sine Wave Source to operate in discrete-time mode (more about Discrete Time systems
in Simulink later.)
Step
As described earlier, the Step Source Block generates a step function. The initial and final values can be
specified, as well as the step time.
Chirp Signal
The Chirp Signal Source Block generates a sinusoidal signal which scans over a range of frequencies. The
initial and final frequencies as well as the scan time can be specified. The amplitude is always 1, and the
chirp signal repeats itself after each frequency scan.

Pulse Generator
The Pulse Generator Source Block generates a pulse train of varying duty cycle. The signal switches
between 0 and the specified value starting at a particular time. The Period, Duty Cycle, Amplitude, and Start
Time can be specified.
Repeating Sequence
An arbitrary set of points (t,y) can be specified. These points are entered as a vector specifying the time
values, and a vector specifying the corresponding output values at those times. The output is linearly
interpolated between the specified time values. At the last time value, the output immediately starts over,
possibly with a discontinuous transition.
Clock
The Clock Source Block generates a signal equal to the current time in the simulation. This is useful when
the output of a simulation is exported to MATLAB but occurs at uneven time steps. The clock's output reflects
the times at which the other signals outputs occur.
Digital Clock
The Digital Clock Source Block generates a strictly periodic time signal at a specified sampling interval.
From File
The From File Source Block outputs a signal taken from a specified .mat file. A matrix saved in MATLAB as
a .mat file will become a signal where the first row of the matrix specifies the time values. This is similar to
the Repeating Sequence Source Block.
From Workspace
The From Workspace Source Block is identical to the From File Source Block except the values are taken
from a variable (or expression) in the MATLAB Workspace.
Random Number
The Random Number Source Block generates a sequence of random numbers generated with the specified
random number seed. Because of the seed, the same sequence can be applied to more than one simulation.
Band-Limited White Noise
The Band-Limited White Noise Source Block generates a random signal which changes at a specified
sample period. The strength of the signal and a random number seed can also be specified.

Sinks
Sink Blocks are used to display or output signals. Double-click on the Sinks icon in the main Simulink
window to bring up the Sinks window.

Notice that all of the sink blocks have inputs and no outputs. Most have a single input.
Scope
The Scope Sink Block was described earlier. It is used to display a signal as a function of time.
XY Graph
The XY Graph Sink Block plots one signal against another. It is useful for phase-plane plots, etc.
Display
The Display Sink Block is a digital readout of a signal at the current simulation time.
To File
The To File Sink Block saves a signal to a .mat file in the same way that the From File Source Block reads
from a file. The sampling time can be specified, but is not necessary.
To Workspace
The To Workspace Sink Block stores a signal in a specified workspace variable. Unlike the To File Sink
Block, the time is not saved in the variable, and must be stored separately.
Stop Simulation
This is a special control block which is triggered to stop the current simulation when its input is non-zero.

Discrete
Discrete Blocks are elements of discrete time dynamic systems. Double-click on the Discrete icon in the
main Simulink window to bring up the Discrete window.

In order for these block to interact with continuous time blocks (sources and sinks, for example) the sample
time can be specified in all of the Discrete Blocks.
Unit Delay
The Unit Delay's output is equal to the input delayed by one sample time.
Discrete-Time Integrator
This is the discrete time approximation of a continuous-time integrator. The approximation method can be
specified as well as the initial condition and saturation limits.
Zero-Order Hold
Outputs a stepwise-constant version of the input signal with a specified sampling period.
First-Order Hold
Outputs a piecewise-linear version of the input signal with a specified sampling period.
Discrete State-Space
This is a discrete-time dynamic system in state-space form. A, B, C, and D matrices can be specified, as well
as initial conditions.
Discrete Filter
This is a discrete-time filter in rational function form. Vectors containing coefficients of the polynomials in
z^-1 are specified.
Discrete Transfer Fcn

This is the standard form of a SISO LTI discrete time system. The transfer function polynomials are
represented as coefficient vectors in terms of z.
Discrete Zero-Pole
A discrete-time transfer function can be represented as list of z-plane poles and zeros. The gain can also be
specified.

Linear
Linear Blocks are elements of linear continuous-time dynamic systems. Double-click on the Linear icon in
the main Simulink window to bring up the Linear window.

Gain
This is a scalar or vector gain. The specified gain multiplies the input. The output is either a scalar or vector
signal following normal vector-scalar multiplication rules.
Sum
The Sum Block adds (or subtracts) two (or more) signals and outputs their sum (or difference). The two
inputs must either all be scalars, or all be vectors of the same dimension. The output is the same dimension
as the inputs.

Drag this block into your model window and double click on it, bringing up the following dialog box.

By default, the Sum block adds two signals. The list of signs field represents both the number of inputs and
whether to add or subtract them. To make the Sum block add two signals and subtract a third, change the list
of signs to the following:
++-

Each element in the list corresponds to one of the signals. Close the dialog box. The Sum block in your
model window should now have three inputs, one of which has a minus sign as shown below.

Integrator
The output of the Integrator is the integral of the input. An initial condition can be specified, as well as
saturation limits. This block is very useful for modeling systems.
Transfer Function
Numerator and denominator polynomials can be specified to create a standard SISO LTI system transfer
function.
State Space
A, B, C, and D matrices can be specified to create a LTI state space system. Inputs and outputs may be
vector signals depending on the sizes of the matrices.
Zero-Pole
Vector lists of zeros and poles can be specified to create a transfer function. DC gain is also specified.
Derivative
The output is equal to the derivative of the input.
Dot Product
The output is equal to the dot product of two vector signals.
Matrix Gain

The output is equal to the input times a specified constant matrix. The size of the input and output vector
signals must match the size of the matrix.
Slider Gain
This multiplies the input by a scalar constant which is specified by moving a slider on the screen as shown
below. The limits of the slider can be specified.

Nonlinear
Nonlinear Blocks are elements of nonlinear continuous-time dynamic systems. Most of these have specialpurpose applications and will not be used in the tutorials. Only the most relevant Nonlinear blocks will be
discussed here. Double-click on the Nonlinear icon in the main Simulink window to bring up the Nonlinear
window.

Elementary Math

The output of this block is a basic mathematical function applied to the input. Copy this block into your
model window and double click on it. The resulting dialog box has one field, which when clicked on, give
the following menu of functions.

The desired function can be selected from the list, and the choice will be displayed in the block in your
model window.
Product
The output is equal to the product of the inputs. The number of inputs can be specified.
Fcn
Arbitrary MATLAB expressions can be represented by this block.

Connections
Connection Blocks are used to organize and combine signals and systems. These also have special purpose
applications, and only some of these will be described here. Double-click on the Connections icon in the

main Simulink window to bring up the Connections window.

Subsystem, In, Out

The Subsystem block is used as a system "macro", where one Subsystem block can be used to represent an
entire set of blocks. When double-clicked, the subsystem block brings up a blank model window. Note that
the Subsystem block has no inputs or outputs. For each input a Subsystem has, an In block is used. For each
output a Subsystem has, an Out block is used. For more information on Subsystems and In and Out blocks,
see the Interaction with MATLAB tutorial page. For an example of the creation of a subsystem, see the DC
Motor Speed Modeling in Simulink example (as well as other examples.)
Mux, Demux
The Mux (Multiplexer) block is used to combine two or more scalar signals into a single vector signal.
Similarly, a Demux (Demultiplexer) block breaks a vector signal into scalar signal components. The number
of vector components must be specified in each case. For an example of the use of a Mux block see the Bus
Suspension Modeling in Simulink example.

Tutorials
MATLAB Basics | MATLAB Modeling | PID | Root Locus | Frequency Response | State Space | Digital
Control | Simulink Basics" | Simulink Modeling | Examples

Simulink Basics Tutorial

Starting Simulink
Model Files
Basic Elements
Running Simulations
Building Systems

Simulink is a graphical extension to MATLAB for modeling and simulation of systems. In Simulink, systems
are drawn on screen as block diagrams. Many elements of block diagrams are available, such as transfer
functions, summing junctions, etc., as well as virtual input and output devices such as function generators
and oscilloscopes. Simulink is integrated with MATLAB and data can be easily transfered between the
programs. In these tutorials, we will apply Simulink to the examples from the MATLAB tutorials to model the
systems, build controllers, and simulate the systems. Simulink is supported on Unix, Macintosh, and
Windows environments; and is included in the student version of MATLAB for personal computers. For more
information on Simulink, contact the MathWorks.

The idea behind these tutorials is that you can view them in one window while running Simulink
in another window. System model files can be downloaded from the tutorials and opened in
Simulink. You will modify and extend these system while learning to use Simulink for system
modeling, control, and simulation. Do not confuse the windows, icons, and menus in the
tutorials for your actual Simulink windows. Most images in these tutorials are not live - they
simply display what you should see in your own Simulink windows. All Simulink operations
should be done in your Simulink windows.

Starting Simulink
Simulink is started from the MATLAB command prompt by entering the following command:
simulink

Alternatively, you can hit the New Simulink Model button at the top of the MATLAB command window as
shown below:

When it starts, Simulink brings up two windows. The first is the main Simulink window, which appears as:

The second window is a blank, untitled, model window. This is the window into which a new model can be
drawn.

Model Files
In Simulink, a model is a collection of blocks which, in general, represents a system. In addition, to drawing
a model into a blank model window, previously saved model files can be loaded either from the File menu or
from the MATLAB command prompt. As an example, download the following model file by clicking on the
following link and saving the file in the directory you are running MATLAB from.
simple.mdl

Open this file in Simulink by entering the following command in the MATLAB command window.
(Alternatively, you can load this file using the Open option in the File menu in Simulink, or by hitting
Ctrl+O in Simulink.)
simple

The following model window should appear.

A new model can be created by selecting New from the File menu in any Simulink window (or by hitting
Ctrl+N).

Basic Elements
There are two major classes of items in Simulink: blocks and lines. Blocks are used to generate, modify,
combine, output, and display signals. Lines are used to transfer signals from one block to another.

Blocks
There are several general classes of blocks:

Sources: Used to generate various signals

Sinks: Used to output or display signals

Discrete: Linear, discrete-time system elements (transfer functions, state-space models, etc.)

Linear: Linear, continuous-time system elements and connections (summing junctions, gains, etc.)

Nonlinear: Nonlinear operators (arbitrary functions, saturation, delay, etc.)

Connections: Multiplex, Demultiplex, System Macros, etc.

Blocks have zero to several input terminals and zero to several output terminals. Unused input terminals are
indicated by a small open triangle. Unused output terminals are indicated by a small triangular point. The
block shown below has an unused input terminal on the left and an unused output terminal on the right.

Lines
Lines transmit signals in the direction indicated by the arrow. Lines must always transmit signals from the
output terminal of one block to the input terminal of another block. On exception to this is a line can tap off
of another line, splitting the signal to each of two destination blocks, as shown below (click the figure to
download the model file called split.mdl).

Lines can never inject a signal into another line; lines must be combined through the use of a block such as a
summing junction.
A signal can be either a scalar signal or a vector signal. For Single-Input, Single-Output systems, scalar
signals are generally used. For Multi-Input, Multi-Output systems, vector signals are often used, consisting
of two or more scalar signals. The lines used to transmit scalar and vector signals are identical. The type of
signal carried by a line is determined by the blocks on either end of the line.

Simple Example

The simple model (from the model file section) consists of three blocks: Step, Transfer Fcn, and Scope. The
Step is a source block from which a step input signal originates. This signal is transfered through the line in
the direction indicated by the arrow to the Transfer Function linear block. The Transfer Function modifies
its input signal and outputs a new signal on a line to the Scope. The Scope is a sink block used to display a
signal much like an oscilloscope.

There are many more types of blocks available in Simulink, some of which will be discussed later. Right
now, we will examine just the three we have used in the simple model.

Modifying Blocks
A block can be modified by double-clicking on it. For example, if you double-click on the "Transfer Fcn"
block in the simple model, you will see the following dialog box.

This dialog box contains fields for the numerator and the denominator of the block's transfer function. By
entering a vector containing the coefficients of the desired numerator or denominator polynomial, the desired
transfer function can be entered. For example, to change the denominator to s^2+2s+1, enter the following
into the denominator field:
[1 2 1]

and hit the close button, the model window will change to the following,

which reflects the change in the denominator of the transfer function.

The "step" block can also be double-clicked, bringing up the following dialog box.

The default parameters in this dialog box generate a step function occurring at time=1 sec, from an initial
level of zero to a level of 1. (in other words, a unit step at t=1). Each of these parameters can be changed.
Close this dialog before continuing.

The most complicated of these three blocks is the "Scope" block. Double clicking on this brings up a blank
oscilloscope screen.

When a simulation is performed, the signal which feeds into the scope will be displayed in this window.
Detailed operation of the scope will not be covered in this tutorial. The only function we will use is the
autoscale button, which appears as a pair of binoculars in the upper portion of the window.

Running Simulations
To run a simulation, we will work with the following model file:
simple2.mdl

Download and open this file in Simulink following the previous instructions for this file. You should see the
following model window.

Before running a simulation of this system, first open the scope window by double-clicking on the scope
block. Then, to start the simulation, either select Start from the Simulation menu (as shown below) or hit
Ctrl-T in the model window.

The simulation should run very quickly and the scope window will appear as shown below.

Note that the simulation output (shown in yellow) is at a very low level relative to the axes of the scope. To
fix this, hit the autoscale button (binoculars), which will rescale the axes as shown below.

Note that the step response does not begin until t=1. This can be changed by double-clicking on the "step"
block. Now, we will change the parameters of the system and simulate the system again. Double-click on the
"Transfer Fcn" block in the model window and change the denominator to
[1 20 400]

Re-run the simulation (hit Ctrl-T) and you should see what appears as a flat line in the scope window. Hit the
autoscale button, and you should see the following in the scope window.

Notice that the autoscale button only changes the vertical axis. Since the new transfer function has a very
fast response, it it compressed into a very narrow part of the scope window. This is not really a problem with
the scope, but with the simulation itself. Simulink simulated the system for a full ten seconds even though
the system had reached steady state shortly after one second.

To correct this, you need to change the parameters of the simulation itself. In the model window, select
Parameters from the Simulation menu. You will see the following dialog box.

There are many simulation parameter options; we will only be concerned with the start and stop times, which
tell Simulink over what time period to perform the simulation. Change Start time from 0.0 to 0.8 (since the
step doesn't occur until t=1.0. Change Stop time from 10.0 to 2.0, which should be only shortly after the
system settles. Close the dialog box and rerun the simulation. After hitting the autoscale button, the scope
window should provide a much better display of the step response as shown below.

Building Systems
In this section, you will learn how to build systems in Simulink using the building blocks in Simulink's
Block Libraries. You will build the following system.

If you would like to download the completed model, here.

First you will gather all the necessary blocks from the block libraries. Then you will modify the blocks so
they correspond to the blocks in the desired model. Finally, you will connect the blocks with lines to form
the complete system. After this, you will simulate the complete system to verify that it works.

Gathering Blocks
Follow the steps below to collect the necessary blocks:

Create a new model (New from the File menu or Ctrl-N). You will get a blank model window.

Double-click on the Sources icon in the main Simulink window.

This opens the Sources window which contains the Sources Block Library. Sources are used to

generate signals. Click here for more information on block libraries.

Drag the Step block from the sources window into the left side of your model window.

Double-click on the Linear icon in the main Simulink window to open the Linear Block Library
window.

Drag the Sum, Gain, and two instances of the Transfer Fcn (drag it two times) into your model
window arranged approximately as shown below. The exact alignment is not important since it can
be changed later. Just try to get the correct relative positions. Notice that the second Transfer
Function block has a 1 after its name. Since no two blocks may have the same name, Simulink

automatically appends numbers following the names of blocks to differentiate between them.

Double-click on the Sinks icon in the main Simulink window to open the Sinks window.

Drag the Scope block into the right side of your model window.

Modify Blocks
Follow these steps to properly modify the blocks in your model.

Double-click your Sum block. Since you will want the second input to be subtracted, enter +- into the
list of signs field. Close the dialog box.

Double-click your Gain block. Change the gain to 2.5 and close the dialog box.

Double-click the leftmost Transfer Function block. Change the numerator to [1 2] and the
denominator to [1 0]. Close the dialog box.

Double-click the rightmost Transfer Function block. Leave the numerator [1], but change the
denominator to [1 2 4]. Close the dialog box. Your model should appear as:

Change the name of the first Transfer Function block by clicking on the words "Transfer Fcn". A box
and an editing cursor will appear on the block's name as shown below. Use the keyboard (the mouse
is also useful) to delete the existing name and type in the new name, "PI Controller". Click anywhere
outside the name box to finish editing.

Similarly, change the name of the second Transfer Function block from "Transfer Fcn1" to "Plant".
Now, all the blocks are entered properly. Your model should appear as:

Connecting Blocks with Lines

Now that the blocks are properly laid out, you will now connect them together. Follow these steps.

Drag the mouse from the output terminal of the Step block to the upper (positive) input of the Sum
block. Let go of the mouse button only when the mouse is right on the input terminal. Do not worry

about the path you follow while dragging, the line will route itself. You should see the following.

The resulting line

should have a filled arrowhead. If the arrowhead is open, as shown below, it means it is not
connected to anything.

You can continue

the partial line you just drew by treating the open arrowhead as an output terminal and drawing just
as before. Alternatively, if you want to redraw the line, or if the line connected to the wrong terminal,
you should delete the line and redraw it. To delete a line (or any other object), simply click on it to
select it, and hit the delete key.

Draw a line connecting the Sum block output to the Gain input. Also draw a line from the Gain to the
PI Controller, a line from the PI Controller to the Plant, and a line from the Plant to the Scope. You
should now have the following.

The line remaining to be drawn is the feedback signal connecting the output of the Plant to the
negative input of the Sum block. This line is different in two ways. First, since this line loops around
and does not simply follow the shortest (right-angled) route so it needs to be drawn in several stages.
Second, there is no output terminal to start from, so the line has to tap off of an existing line.

To tap off the output line, hold the Ctrl key while dragging the mouse from the point on the existing
line where you want to tap off. In this case, start just to the right of the Plant. Drag until you get to
the lower left corner of the desired feedback signal line as shown below.

Now, the open

arrowhead of this partial line can be treated as an output terminal. Draw a line from it to the negative
terminal of the Sum block in the usual manner.

Now, you will align the blocks with each other for a neater appearance. Once connected, the actual
positions of the blocks does not matter, but it is easier to read if they are aligned. To move each
block, drag it with the mouse. The lines will stay connected and re-route themselves. The middles
and corners of lines can also be dragged to different locations. Starting at the left, drag each block so
that the lines connecting them are purely horizontal. Also, adjust the spacing between blocks to leave
room for signal labels. You should have something like:

Finally, you will place labels in your model to identify the signals. To place a label anywhere in your
model, double click at the point you want the label to be. Start by double clicking above the line
leading from the Step block. You will get a blank text box with an editing cursor as shown below

Type an r in this
box, labeling the reference signal and click outside it to end editing.

Label the error (e) signal, the control (u) signal, and the output (y) signal in the same manner. Your
final model should appear as:

To save your model, select Save As in the File menu and type in any desired model name. The
completed model can be found here.

Simulation
Now that the model is complete, you can simulate the model. Select Start from the Simulation menu to run
the simulation. Double-click on the Scope block to view its output. Hit the autoscale button (binoculars) and
you should see the following.

Taking Variables from MATLAB

In some cases, parameters, such as gain, may be calculated in MATLAB to be used in a Simulink model. If
this is the case, it is not necessary to enter the result of the MATLAB calculation directly into Simulink. For
example, suppose we calculated the gain in MATLAB in the variable K. Emulate this by entering the
following command at the MATLAB command prompt.
K=2.5

This variable can now be used in the Simulink Gain block. In your simulink model, double-click on the Gain
block and enter the following in the Gain field.
K

Close this dialog box. Notice now that the Gain block in the Simulink model shows the variable K rather
than a number.

Now, you can re-run the simulation and view the output on the Scope. The result should be the same as
before.

Now, if any calculations are done in MATLAB to change any of the variab used in the Simulink model, the
simulation will use the new values the next time it is run. To try this, in MATLAB, change the gain, K, by
entering the following at the command prompt.
K=5

Start the Simulink simulation again, bring up the Scope window, and hit the autoscale button. You will see
the following output which reflects the new, higher gain.

Besides variab, signals, and even entire systems can be exchanged between MATLAB and Simulink. For
more information, click here.

Tutorials
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Control | Simulink Basics | Simulink Modeling | Examples

Simulink Basics Tutorial - Interaction With MATLAB

Defining Block Parameters Using MATLAB Variables
Exchanging Signals With MATLAB
Extracting Models From Simulink Into MATLAB
We will examine three of the ways in which Simulink can interact with MATLAB.

Block parameters can be defined from MATLAB variab.

Signals can be exchanged between Simulink and MATLAB.

Entire systems can be extracted from Simulink into MATLAB.

Block Parameters from MATLAB Variables

Often, a controller will be designed in MATLAB and verified in a Simulink model. Normally, numerical
parameters such as gains and controller transfer functions are entered into simulink manually by entering the
numbers in the block dialog boxes. Rather than enter numbers directly, it is possible to use MATLAB variab
in Simulink block dialog boxes.
For example, bring up the Simulink model built in the Basics tutorial (or click here to download it.)

In this case, the complete controller transfer function is:

s+2
2.5 ----s

Suppose this transfer function were generated by some computation in MATLAB. In this case, there would
most likely be three variab, the numerator polynomial, the denominator polynomial, and the gain. Enter the
following commands in MATLAB to generate these variab.
K=2.5
num=[1 2]
den=[1 0]

These variab can now be used in the blocks in Simulink. In your simulink model, double-click on the Gain
block. Enter the following in the Gain field.
K

Close this dialog box. Notice now that the Gain block in the Simulink model shows the variable K rather
than a number.

Double-click on the PI Controller block. Enter the following into the Numerator field.
num

Enter the following into the Denominator field.

den

Close this dialog box. Notice now that the PI Controller block shows the variab num and den (as functions of
s) rather than an explicit transfer function.

You can simulate the model with the MATLAB variable parameters. Select Start from the Simulation menu
to run the simulation. Double-click on the Scope block to view its output. Hit the autoscale button
(binoculars) and you should see the following.

Now, if any calculations are done in MATLAB to change any of the variab used in the Simulink model, the
simulation will use the new values the next time it is run. To try this, in MATLAB, change the gain, K, by
entering the following at the command prompt.
K=5

Start the Simulink simulation again, bring up the Scope window, and hit the autoscale button. You will see
the following output which reflects the new, higher gain.

To download the model with MATLAB variable parameters, click here.

Exchanging Signals with MATLAB

Sometimes, we would like to use the results of a Simulink simulation in the MATLAB command window for
further calculations and plotting. Less often, we would like to generate signals in MATLAB which we then
use as inputs in a Simulink model. These tasks are accomplished through the use of the To Workspace Sink
Block and the From Workspace Source Block. We will only transfer signals from Simulink to MATLAB.
Doing the reverse is a very similar process.
The To Workspace Sink Block saves a signal as a vector in the MATLAB Workspace. Open the model which
you used previously in this tutorial or click here to download the model. Be sure that the variab K (=5), num
(=[1 2]), and den (=[1 0]) are defined in MATLAB.

Suppose we would like to use

both the output signal and the control signal for calculations in MATLAB. We will save these two variab as
well as a time signal from our Simulink model. First, you need to generate a time signal. Open the Sources
window by double-clicking the Sources icon in the main Simulink window. Drag the Clock block from the
Sources window to the lower portion of your Simulink model.

Now, open the Sinks window and drag three instances of the To Workspace block to your Simulink window,
arranged approximately as shown below.

Before connecting these blocks to the rest of your system, first you will name the variab to which they
output. The lower To Workspace block will output the time signal to the MATLAB variable t. Double-click on
this block and enter the following in the Variable Name field.
t

Close the dialog box. Notice that the lower To Workspace block shows a t.

The To Workspace block

near the Plant block will output the control signal to the MATLAB variable u. Edit this block to output to the
variable u. The last To Workspace block will output the output signal to the MATLAB variable y. Edit this
block to output to the variable y. Also, for better clarity, change the labels (by clicking on the exiting labels
"To Workspace") of these blocks to "time", "control", and "output".

Now, you will connect these blocks to the rest of your system. Draw a line from the Clock block to the time
(t) block. Tap a line off of the control signal (the line between the PI Controller block and the Plant block)
and connect it to the control (u) block. Remember, to tap off an existing line, hold the Ctrl key while drawing
the line. Tap a line off the output signal line (the line which enters the Scope block) and connect it to the

output (y) block. Your system should appear as follows.

Start the simulation (Start from the Simulation menu). You can still view the output in the Scope window
(remember autoscale).

You can now examine the outputted variab in the MATLAB window. Plot u and y vs. t by entering the
following command.
plot(t,u,t,y);

Note that it is important to plot each of these variab against the time vector generated by Simulink, since the
time between elements in the signal vectors u and y may be unequal, particularly near a discontinuity such as
the step input. Your plot of u (blue) and y (green) should appear as follows.

To download the model with outputs to MATLAB variab, click here.

Extracting Models From Simulink into MATLAB

Sometimes, we may build a complicated model in simulink and would like to derive either a transfer
function or a state space model of the entire system. In order to do this, you first need to define the input and
output signals of the model to be extracted. These virtual signals can be any signal in a model, for example,
if we can generate an input-to-output transfer function or a disturbance-to-error transfer function. These
signals are defined using the In and Out Connection Blocks.
Once the input/output model is defined, the Simulink model must be saved to a .mdl file. This file is then
referenced in the MATLAB command window by the linmod command.
To demonstrate this, bring up your model from the previous section of this tutorial (or click here to
download it). Be sure that the variab K (=5), num (=[1 2]), and den (=[1 0]) are defined in MATLAB.

You will be extracting a closed-loop reference-to-output model. Therefore, The virtual input will be put in
place of the step input to the system. First, delete the Step block (click on it and hit the delete key). The
previous line will remain with an an open input terminal where it used to connect to the Step. Open the
Connections window from the main Simulink window. Drag an In Block from the Connections window to
your model window in place of the Step block you just deleted. Move the In block until the output terminal
of the In block touches the open input terminal of the left over line. The line should attach to the In block.

The virtual output does not need to replace an existing block - the signal can be tapped off an existing line.
Drag an Out block from the Connections window and place it just above the Scope block. Tap a line off the
output signal (hold Ctrl) and connect it to the out block.

Now, save this model under a new name. Call it mymodel.mdl. You can download a version here.
At the MATLAB prompt, enter the following command to extract a state-space model from your model file.
[A,B,C,D]=linmod('mymodel')

You should see the following output.

A =
-2
1
0

-9
0
-5

2
0
0

B =
5
0
5
C =
0
D =
0

This can, of course, be converted to a transfer function with the following command.
[numcl,dencl]=ss2tf(A,B,C,D)

You should get the following output.

numcl =

5.0000

10.0000

1.0000

2.0000

9.0000

10.0000

dencl =

To verify that the model transfered properly, you can obtain a step response of the extracted model.
step(numcl,dencl)

You should see the following plot which is similar to the previous Simulink Scope output.

Tutorials
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Control | Simulink Basics" | Simulink Modeling | Examples

Simulink Examples Index

Example
Cruise Control
Motor Speed Control
Motor Position Control

Description

Tutorial

Bus Suspension
Inverted Pendulum
Pitch Control
Ball and Beam

Descriptions of the MATLAB tutorial examples are available here.

Cruise Control

This is a simple example of the modeling and control of a first order system. This model takes inertia and
damping into account. Newton's laws are modeled directly in this example, where forces are summed up to
provide the acceleration of the vehicle. A simple PI controller is implemented.

Motor Speed Control

A DC motor has second order speed dynamics when mechanical properties such as inertia and damping as
well as electrical properties such as inductance and resistance are taken into account. Newton's law and
Kirchoff's law are modeled directly by summing forces and summing voltages to provide the motor's
acceleration and armature current, respectively. A lag compensator is implemented.

Motor Position Control

The model of the position dynamics of a DC motor is third order, because measuring position is equivalent
to integrating speed, which adds an order to the motor speed example. In this example, however, the motor
parameters are taken from an actual DC motor used in an undergraduate controls course. This motor has very
small inductance, which effectively reduces the example to second order. This uses the same model as the
motor speed example with an additional integrator to provide position from the velocity signal. In this
example, a discrete-time model extraction and a discrete-time controller are implemented around the
continuous plant model.

Bus Suspension

This example looks at the active control of the vertical motion of a bus suspension. It takes into account both
the inertia of the bus and the inertia of the suspension/tires, as well as springs and dampers. An actuator is
added between the suspension and the bus. Newton's law is modeled directly by summing forces acting on
each of the two inertias. A full-state feedback controller is implemented by extracting a set of states directly
from the model.

Inverted Pendulum

The inverted pendulum is a classic controls demonstration where a pole is balanced vertically on a motorized
cart. It is interesting because without control, the system is unstable. This is a fourth order nonlinear system.
This is a particularly difficult system to model in Simulink because of the algebraic constraint. While
Newton's laws are still modeled directly, some calculations must be done in advance to derive the form of
the algebraic constraint. A PID controller is implemented using Simulink's built-in PID block.

Pitch Control

The pitch angle of an airplane is controlled by adjusting the angle (and therefore the lift force) of the rear
elevator. The aerodynamic forces (lift and drag) as well as the airplane's inertia are taken into account. This
is a third order, nonlinear system which is linearized about the operating point. The Simulink model is based
on the State-Space model developed in the MATLAB tutorials, and the state equations are implemented
directly. Because of this, the state vector is available for use in a full-state-feedback controller.

Ball and Beam

This is another classic controls demo. A ball is placed on a straight beam and rolls back and forth as one end
of the beam is raised and lowered by a cam. The position of the ball is controlled by changing the angular

position of the cam. This is a second order system, since only the inertia of the ball is taken into account, and
not that of the cam or the beam. Rather than modeling forces and accelerations, the Lagrangian equations of
motion are implemented is Simulink, eliminating the need to express the algebraic constraint explicitly as
was done in the inverted pendulum example.

Tutorials
MATLAB Basics | MATLAB Modeling | PID | Root Locus | Frequency Response | State Space | Digital
Control | Simulink Basics | Simulink Modeling | Examples

MATLAB Modeling Tutorial

Train system
Free body diagram and Newton's law
State-variable and output equations
MATLAB representation
MATLAB can be used to represent a physical system or a model. In this tutorial, you will learn how to enter a
differential equation model into MATLAB. Let's start with a review of how to represent a physical system as a
set of differential equations.

Train system
In this example, we will consider a toy train consisting of an engine and a car. Assuming that the train only
travels in one direction, we want to apply control to the train so that it has a smooth start-up and stop, along
with a constant-speed ride.

The mass of the engine and the car will be represented by M1 and M2, respectively. The two are held
together by a spring, which has the stiffness coefficient of k. F represents the force applied by the engine,
and the Greek letter, mu (which will also be represented by the letter u), represents the coefficient of rolling
friction.

Free body diagram and Newton's law

The system can be represented by following Free Body Diagrams.

From Newton's law, you know that the sum of forces acting on a mass equals the mass times its acceleration.
In this case, the forces acting on M1 are the spring, the friction and the force applied by the engine. The
forces acting on M2 are the spring and the friction. In the vertical direction, the gravitational force is
canceled by the normal force applied by the ground, so that there will be no acceleration in the vertical
direction. The equations of motion in the horizontal direction are the following:

State-variable and output equations

This set of system equations can now be manipulated into state-variable form. The state variab are the
positions, X1 and X2, and the velocities, V1 and V2; the input is F. The state variable equations will look
like the following:

Let the output of the system be the velocity of the engine. Then the output equation will be:

1. Transfer function
To find the transfer function of the system, we first take the Laplace transforms of the differential equations.

The output is Y(s) = V2(s) = s X2(s). The variable X1 should be algebraically eliminated to leave an
expression for Y(s)/F(s). When finding the transfer function, zero initial conditions must be assumed.
The transfer function should look like the one shown below.

2. State-space
Another method to solve the problem is to use the state-space form. Four matrices A, B, C, and D
characterize the system behavior, and will be used to solve the problem. The state-space form which is found
from the state-variable and the output equations is shown below.

MATLAB representation
Now we will show you how to enter the equations derived above into an m-file for MATLAB. Since MATLAB
can not manipulate symbolic variab, let's assign numerical values to each of the variab. Let

M1 = 1 kg

M2 = 0.5 kg

k = 1 N/m

F= 1 N

u = 0.002 sec/m

g = 9.8 m/s^2

Create an new m-file and enter the following commands.

M1=1;
M2=0.5;
k=1;
F=1;
u=0.002;
g=9.8;

Now you have one of two choices: 1) Use the transfer function, or 2) Use the state-space form to solve the
problem. If you choose to use the transfer function, add the following commands onto the end of the m-file
which you have just created.
num=[M2 M2*u*g 1];
den=[M1*M2 2*M1*M2*u*g M1*k+M1*M2*u*u*g*g+M2*k M1*k*u*g+M2*k*u*g];
train=tf(num,den)

If you choose to use the state-space form, add the following commands at the end of the m-file, instead of
num and den matrices shown above.
A=[
0
1
0
0;
-k/M1 -u*g k/M1
0;
0
0
0
1;
k/M2
0
-k/M2 -u*g];
B=[ 0;
1/M1;
0;
0];
C=[0 1 0 0];
D=[0];
train=ss(A,B,C,D)
See the MATLAB basics tutorial to

learn more about entering matrices into MATLAB.

Continue solving the problem

Once the differential equation representing the system model has been entered into MATLAB in either
transfer-function or state-space form, the open loop and closed loop system behavior can be studied.
Most operations can be done using either the transfer function or the state-space model. Furthermore, it is
simple to transfer between the two if the other form of representation is required. If you need to learn how to
convert from one representation to the other, see the Conversions page.
This tutorial contains seven examples which allow you to learn more about modeling. You can link to them
from below.

Modeling Examples
Cruise Control | Motor Speed | Motor Position | Bus Suspension | Inverted Pendulum | Pitch
Controller | Ball and Beam

Tutorials
MATLAB Basics | MATLAB Modeling | PID Control | Root Locus | Frequency Response | State Space |
Digital Control | Simulink Basics | Simulink Modeling | Examples