MATLAB/Simulink

Basic MATLAB -
matrices
operators
script and function files
flow control
plotting
Basics of Simulink -
state-space models (1
st
order ordinary diff eqns)
setting integration properties
setting initial conditions
input types
getting data to the workspace
Basic MATLAB
screen shot of the Matlab window
command window
optional windows
workspace
current directory
type commands here
Matlabs help features
type help at the command prompt
and Matlab returns a list of help topics
Matlabs help features
>> help lang
Matlabs language constructs
Matlabs help features
>> help for
how to use Matlabs for statement
Matlabs help features
you can also access on-line help by clicking the
question mark in the toolbar
separate window
MATLAB Variables
all variables are stored in 32bit floating point format
no distinction between real and integer
>>a = 3;
>>a = 3.0;
same assignment for a
Matlab is case sensitive
>>A=3;
>>a=2;
A=a
MATLAB Variables
can use numbers and underscore in variable names
>>case34=6.45;
names must start with a letter
>>case_34=6.45;
OK
>>34case=23.45; results in a syntax error
string (text) variables enclosed in single quotes.
The variable is stored as array of characters
>>title=This is the title;
MATLAB Variables
to clear a variable from memory
>>a=4
>>clear a
if a variable is defined,
typing the variable name returns its value
>>a=45.57;
a =
45.57
Matlab returns the value
>>a
MATLAB Variables
Matlab will echo commands unless a semi-colon is used
>>a=23.2;
>>
>>a=23.2
a =
23.2
>>
Matlab echoes the command
MATLAB Variables
Vectors
column vectors row vectors
1
a 2
3


=
`

)
{ }
a 1 2 3 =
>>a=[1;2;3];
>>a
a =
1
2
3
>>a=[1,2,3];
>>a
a =
1 2 3
use semi-colon
to separate rows
use comma
to separate columns
MATLAB Variables
Matrices
2-dimensional matrices
1 2 3
a
4 5 6
(
=
(

>>a=[1,2,3;4,5,6];
>>a
a =
1 2 3
4 5 6
again, separate columns with commas and rows with semi-colons
MATLAB Variables
A vector is a special type of matrix
row vector is a 1 x n matrix, 1 row n columns
column vector is a n x 1 matrix, n rows 1 column
Indexing Matrix elements
>>a=[1,2,3];
>>a(2)
ans =
2
could also reference by a(1,2)
note, a(2,1) would produce an error
because a only has one row
MATLAB Variables
Indexing Matrix elements
>>a=[1,2,3;4,5,6];
1 2 3
a
4 5 6
(
=
(

more examples
>>a(2,3)
ans =
6
>>a(2,2)=9;
>>a
a =
1 2 3
4 9 6
addressing
assigning
MATLAB Variables
complex-valued numbers
Typically, the variable i or j is used to represent the
complex variable; e.g.
i 1 =
Then, a complex number is represented as
z = a + ib
Re(z) = a
Im(z) = b
MATLAB Variables
complex-valued numbers
Unless i or j has been previously defined, Matlab assigns
i and j the complex variable value
In Matlab, a complex variable is represented in the
following format
(assuming all variables are cleared)
>>z=23+i*56;
>>z
z =
23.00 + 56.00i
>>z=23+j*56;
>>z
z =
23.00 + 56.00i
Matlab always uses the symbol i to represent a complex number
MATLAB Variables
complex-valued numbers
What happens in this case?
>>i=3;
>> z=23+i*56;
>>z
z =
What happens in this case?
>>a=sqrt(-1);
>>z=23+a*56;
>>z
z =

MATLAB Variables
complex-valued numbers
Note, a real-valued number is a special case of a
complex-valued number
assigning any element of a matrix as complex-valued
makes the entire matrix complex-valued
>>a=[1,2];
>>a
a =
1 2
>>a(1)=1+i*5;
>>a
a =
1.00+5.00i 2.00+0.00i
MATLAB Variables
Advanced data types
n-dimensional arrays

structures

cell arrays
MATLAB Operations
Basic operations
addition +
subtraction -
multiplication *
division
right division /
left division \
>>a=3;b=4;
>>c1=a/b;
>>c2=a\b;
?
c1=0.75
c2=1.3333.
so, be careful!
MATLAB Operations
Mixed Real and Complex valued Variables
if both variables are real-valued, a real-valued result is obtained
if one variable is complex-valued, Matlab recasts the real
variable as complex and then performs the operation. The
result is complex-valued
however, the type casting is done internally, the real-valued
variable remains real after the operation
MATLAB Operations
Other (Scalar) Operations
Math representation
Matlab interpretation
x
z y =
x
y e =
y ln(x) =
y log(x) =
y sin(x)
y cos(x)
y tan(x)
=
=
=
1
1
1
y sin (x)
y cos (x)
y tan (x)

=
=
=
>>z=y^x;
>>y=exp(x);
>>y=log(x);
>>y=log10(x)
>>y=sin(x);

>>y=cos(x);

>>y=tan(x);
>>y=asin(x);

>>y=acos(x);

>>y=atan(x);
MATLAB Operations
Examples
y x =
>>y=x^0.5;
>>y=x^(1/2);
>>y=sqrt(x);
All variables in the preceding operations can be
real or complex, negative or positive
for x < 0, y is complex. Matlab assumes you allow complex
valued numbers. If y is not to be complex, you must
provide error checking.
MATLAB Operations
Matrices
Only matrices of the same dimension can be added and subtracted
For multiplication, the inner dimensions must be the same
1 2 3
4 5 6
(
=
(

A
2 3 4
5 6 7
(
=
(

B
4 5
6 7
8 9
(
(
=
(
(

C
No error Error
>>D=A+B;
>>D=A-B;
>>D=A*C;
>>D=C*A;
>>D=A+C;
>>D=A*B;
>>D=B*A;
Matrix multiplication
not commutative
MATLAB Operations
Left(\) and Right(/) Matrix division
Math representation
Matlab interpretation
1
= C A B
1
= C BA
>>C=A\B;
>>C=B/A;
Remember, A must be square and full rank
(linearly independent rows/columns)
MATLAB Operations
Matrix Transpose
Math representation
Matlab interpretation
T
= C A
>>C=A;
For complex-valued matrices, complex conjugate transpose
1 2 3
4 5 6
(
=
(

A
1 4
2 5
3 6
(
(
=
(
(

B
>>B=A;
| |
1 j2 3 j4 = + + a
1 j2
3 j4

(
=
(

b
>>b=a;
MATLAB m-files
Two types of m-files
script files
collection of commands that Matlab executes
when the script is run
function files
collection of commands which together
represent a function, a procedure or a method
Both types are separate files with a .m extension
MATLAB m-files
To create an m-file, open the Matlab text editor
Click on the page icon
The Matlab text editor window will open
MATLAB m-files
Script Files
On the command line
>>x=3.0;
>>y=x^2;
>>y
y =
9.0
>>
In the script file named test.m
On the command line
>>test
y =
9.0
>>
MATLAB m-files
Script Files
script files share the workspace memory
>>x=5.0;
>>test
>>y
y =
25.0
>>
test.m script
MATLAB m-files
Script Files
script files can call other script files
>>outter
y =
36.0
>>
inner.m script
outter.m script
MATLAB m-files
Function Files
Matlab identifies function files from script files by
using the function and return keywords
the name of the function file must be
the same name as the function
The function file x2.m
MATLAB m-files
Function Files
>>r=3;
>>d=x2(r);
>>d
d =
9.0
>>
>>h=x2(4.2);
>>h
h =
17.64
>>
MATLAB m-files
Function Files
Multiple Inputs and Outputs
outputs in square brackets, [ ]
inputs in parentheses ( )
variables created in the function are not retained
in the workspace, except for the output variables
the function does not have access to workspace
variables, except for the inputs
MATLAB m-files
Function Files
variables passed to the function are copies of the
workspace variables. Changing their value inside the
function has no effect on their value in the workspace.
MATLAB Flow Control
The while and if statements
if expression
statements
end
if expression
statements1
else
statements2
end
Matlab evaluates expression as logical true or false
false equivalent to zero
true equivalent to any non-zero number
statements, any valid Matlab command
while expression
statements
end
MATLAB Flow Control
evaluating expression
any valid equation
a=4;
b=5;
c=5;
if a+b
if b-c
True
False
watch out for round-off
and word length error
if sin(0)
if sin(pi)
sin(pi) = 1.22e-16
False
True
conditional operators
== equal to
< less than
> greater than
<= less than or equal to
>= greater than or equal to
~= not equal to
logical operators
& and
| or
while(3<=a)&(a<=5)
MATLAB Flow Control
The for statement
for index = start : [increment :] end
statements
end
index, start, increment, and end do not need to be integer valued
increment is optional, if increment is not specified
increment defaults to 1
index can be incremented positive (increment > 0) or
negative (increment < 0)
loop stops when index > end (or index < end)
MATLAB Flow Control
example
script file to cycle through x values
function file to generate the y values
MATLAB Plotting
Basic 2D plotting functions
plot(x1,y1[,x2,y2,x3,y3.....])
xlabel(x axis name)
ylabel(y axis name)
title(graph name)
Additional functions
grid on
grid off
axis([xmin,xmax,ymin,ymax])
MATLAB Plotting
example y = sin(t)
the plot function alone
MATLAB Plotting
example y = sin(t)
script file to generate
a graph of y = sin(t)
function file to generate
a graph of y = sin(t)
>>graphsin
>>
MATLAB Plotting
example y = sin(t)
legend remembers
the order the graphs
were plotted
MATLAB Plotting
Adding a Legend for multiple graphs
Simulink Basics
click the Simulink button
the Simulink window
click the new button
the simulink model window
Simulink Basics
create a new model or
open an existing one
Simulink Example
Best thing to do is to go through an example
Response to a step command
2
nd
order, constant coefficient, linear differential equation
1 0 0
y c y c y b f (t) + + =
Simulink Example
Get an equivalent block diagram for the system
use integrators to get dy/dt and y
use mouse to drag blocks into
the model window and to
connect blocks with arrows
add gain and summer blocks
Simulink Example
Simulink Example
add the step input block
Simulink Example
add the output block
Simulink Example
Now, double click the blocks to open and set the blocks parameters
set initial condition
set gain value
set variable name
set output format to array
Simulink Example
To set the simulation parameters.
select Simulation -> Simulation Parameters
set Start and Stop time (in seconds)
set numerical integration type
Simulink Example
Time to run the simulation
click the run button to begin the simulation
when the simulation is complete, Ready appears at the bottom
Simulink Example
Simulink will automatically save a variable named tout to
the workspace.
This variable contains the time values used in the simulation,
important for variable time integration types
Simulink also will create the output variable(s) you specified
Simulink Example
>>plot(tout,yoft)
graph of the step response
Simulink Example
Another approach to solving the 2
nd
order single DOF
problem, is to cast it as a 1
st
order 2 DOF problem
1
2
x y
x y
=
=
1 2
2 o 1 2 o 1
x x
x b f c x c x
=
=
In Matrix (or State Space) form.
u
y
= +
=
x Ax B
Cx
o 1
0 1
c c
(
=
(


A
o
0
b
(
=
(

B
| |
1 0 = C
1
2
x
x

=
`
)
x
u f =
Simulink Example
1
st
Order State-Space Models
Simulink Example
Multi Input Multi Output Systems
use Mux and Demux blocks to combine and extract vector signals
specify number of signals