MATLAB

MATLAB Introduction
MATLAB was originally developed to be a "matrix laboratory," written to provide easy access to matrix software developed by the LINPACK and EISPACK projects. Since then, the software has evolved into an interactive system and programming language for general scientific and technical computation and visualization.

SIMULINK
SIMULINK is an interactive system for the nonlinear simulation of dynamic systems. A graphical, mouse-driven program that allows systems to be modeled by drawing a block diagram on the screen. It can handle linear, nonlinear, continuous-time, discrete-time, multivariable, and multirate systems. SIMULINK runs on workstations using X-Windows. SIMULINK is fully integrated with MATLAB, and, together with MATLAB and the Control System Toolbox, forms a complete control system design and analysis environment.

Basic Features of MATLAB

MATLAB commands are expressed in a form very similar to that used in mathematics and engineering.
For instance, b = A x, where A, b, and x are matrices, is written b = A * x . To solve for x in terms of A and b, write x = A\b

There is no need to program matrix operations explicitly like multiplication or inversion. Solving problems in MATLAB is much quicker than programming in a high-level language such as C or FORTRAN.

Character Set
ASCII Character Set The following are used as operators:
! ( : ) , / : ; < <= == > >= @ [..] [] % & \ ^ | >> ~ ~= . .* ./ .\ .^

Comments
A line beginning with %

Variable Names
Case sensitive Up to 31 characters long Begin with a letter Followed by letters, digits, underscores Variables are created when they are assigned. pi, i, and j are predefined. To list variables use who or whos (detailed) clear or clear var clears out the workspace

Commands
Type exit or quit to quit MATLAB Type foo to run foo.m Terminate a command with ; to suppress output A continuation line is shown with clc clears the command window help foo displays the help for foo() lookfor will search for a string in the help ^C to abort a command

More Commands
To save the current workspace to filename.mat: save filename To load: load filename To capture output: diary filename and diary off or diary on To display a variable: disp var To interact with the operating system: !

Data Types
Originally just complex matrices Now include
double sparse (2-D only) char cell struct storage (specialized) function handle

The fundamental types are multi-dimensional arrays

Matrices and Arrays

A(i,j,k) accesses that entry in the matrix A

Operators 1
! System command Conjugate transpose, string delimiter Quote ( : ) Used in matrix subscripting , Separates commands Continuation / Right division : Colon ; Terminates a command without output

Operators 2
< Less than <= Less than or equal == Logical equal > Greater than >= Greater than or equal @ Function handle [..] Matrix building [] Empty matrix % Comment & Logical and

Operators 3
\ Left division ^ Power | Logical or >> Prompt ~ Logical not ~= Logical not equal * Multiplication + Addition - Subtraction

Array Operators
. Transpose .* Array multiplication ./ Array right division .\ Array left division .^ Array exponentiation inv(A) Inverse

IEEE Arithmetic
All arithmetic is in accordance with the double precision IEEE standard. 64 bits per number All computations are in floating point.

Statements
Multiple statements can appear on the same line, separated by semicolons or commas. If a statement is terminated by a semicolon, output is suppressed; otherwise it is printed. Output can be formatted with the format command

Functions
MATLAB has thousands of functions, and you can add your own using m-files.

Function Argument Lists

Input arguments are to the right of the function name, within parentheses Output arguments are to the left of the function name, within square brackets
X = [3 4]; norm(X) ans = 5 norm(X,1) (largest column sum) ans = 7 [m,n] = size(A) m=5 n=3

M-Files
Sample file
%MARKS Exmark = [12 0 5 28 87 3 56]; Exsort = sort(Exmark) Exmean = mean(Exmark) Exmed = median(Exmark) Exstd = std(Exmark)

Storage Allocation
Automatic, as necessary, and with garbage collection. Array dimensions are expanded automatically as needed to make assignments sensible.

Control System Toolbox

This is a toolbox for control system design and analysis. It supports transfer function and state-space forms (continuous/discrete time, frequency domain), as well as functions for step, impulse, and arbitrary input responses. Functions for Bode, Nyquist, Nichols plots, design with rootlocus, pole-placement, and LQR optimal control are also included.

Image Processing Toolbox

The Image Processing Toolbox builds on MATLAB's numeric, signal processing, and visualization capabilities to provide a comprehensive system for image processing and algorithm development.

MMLE3 Identification Toolbox

The MMLE3 Identification Toolbox is a specialized toolbox for use with MATLAB and the Control System Toolbox for the estimation of continuous-time state-space models from observed input-output data.

Model Predictive Control Toolbox

The Model Predictive Control Toolbox is especially useful for applications involving constraints on the manipulated and/or controlled variables. For unconstrained problems, model predictive control is closely related to linear quadratic optimal control, but includes modeling and tuning options that simplify the design procedure.

Mu-Analysis and Synthesis Toolbox

The Mu-Analysis and Synthesis Toolbox contains specialized tools for the analysis and design of robust, linear control systems, extending MATLAB to provide additional application-specific capabilities.

Nonlinear Control Design

This toolbox provides a Graphical User Interface to assist in time-domain-based control design. With this toolbox, you can tune parameters within a nonlinear SIMULINK model to meet time-domain performance requirements. You can view the progress of an optimization while it is running. Optimization routines have been taken from the Optimization Toolbox.

Neural Network Toolbox

This is a toolbox for designing and simulating neural networks and supports implementation of the perceptron learning rule, the Widrow-Hoff rule, and several variations of the backpropagation rule. Transfer functions included are hard limit, linear, logistic, and hypertangent sigmoid.

Optimization Toolbox
This is a toolbox for linear and nonlinear optimization. It supports unconstrained and constrained minimization, minimax, nonlinear least squares, multi-objective, semi-infinite optimization, linear programming, quadratic programming, and the solution of nonlinear equations.

Robust Control Toolbox

This is a toolbox for robust control system design and supports LQG/loop transfer recovery, H2, H0, and mu- control synthesis, singular value frequency response, and model reduction.

Signal Processing Toolbox

This is a toolbox for digital signal processing (time series analysis). It includes functions for the design and analysis of digital filters, like Butterworth, Elliptic, and Parks-McClellan, and for FFT analysis (power spectrum estimation). It also includes some two-dimensional signal processing capabilities. Very popular in the acoustics field.

Spline Toolbox
This is a toolbox for working with splines and is typically used for curve fitting, solution of function equations, and functional approximation.

Statistics Toolbox
The Statistics Toolbox builds on the computational and graphics capabilities of MATLAB to provide: 1) statistical data analysis, modeling, and Monte Carlo simulation 2) building blocks for creating your own special-purpose statistical tools, and 3) GUI tools for exploring fundamental concepts in statistics and probability.

Symbolic Math Toolbox

The Symbolic Math Toolbox contains functions for symbolic algebra, exact linear algebra, variable precision arithmetic, equation solving, and special mathematical functions. Its underlying computational engine is the kernel of Maple. The Extended Symbolic Math Toolbox augments the functionality to include Maple programming features and specialized libraries.

System Identification Toolbox

This is a toolbox for parametric modeling. Identified models are in transfer function form (either z transform or Laplace transform) and state-space form

Frequency Domain System Identification Toolbox

This toolbox contains tools for accurate modeling of linear systems with or without delay. The models are transfer functions in s-domain or in z-domain. The procedures include excitation signal design, data preprocessing, parameter estimation, graphical presentation of results, and model validation (tests, uncertainty bounds, modelling errors).

Reading Data from files

MATLAB supports reading an entire file and creating a matrix of the data with one statement. >> load mydata.dat; % loads file into matrix. % The matrix may be a scalar, a vector, or a % matrix with multiple rows and columns. The % matrix will be named mydata. >> size (mydata) % size will return the number % of rows and number of % columns in the matrix >> length (myvector) % length will return the total % no. of elements in myvector

Plotting with MATLAB

MATLAB will plot one vector vs. another. The first one will be treated as the abscissa (or x) vector and the second as the ordinate (or y) vector. The vectors have to be the same length. MATLAB will also plot a vector vs. its own index. The index will be treated as the abscissa vector. Given a vector time and a vector dist we could say: >> plot (time, dist) >> plot (dist) % plotting versus time % plotting versus index

Plotting with MATLAB

There are commands in MATLAB to "annotate" a plot to put on axis labels, titles, and legends. For example: >> % To put a label on the axes we would use: >> xlabel ('X-axis label') >> ylabel ('Y-axis label') >> % To put a title on the plot, we would use: >> title ('Title of my plot')

Plotting with MATLAB

Vectors may be extracted from matrices. Normally, we wish to plot one column vs. another. If we have a matrix mydata with two columns, we can obtain the columns as a vectors with the assignments as follows: >> first_vector = mydata ( : , 1) ; % First column >> second_vector = mydata ( : , 2) ; % Second one >>% and we can plot the data >> plot ( first_vector , second_vector )

Simulink
A Simple Intro

Square-Wave

Feedback-Block realization

Signal Generator

Plots

Laplace form of Transfer Function

Rectified Sine

Outputing Data to MATLAB

Step Source Plots

MATLAB Workspace
time time = time: [] signals: [1x1 struct] blockName: 'step/To Workspace' output output = time: []

Higher Order Transfer Function

MATLAB CONSOLE
num = [10 5 1 0]; den = [100 1 20 4 1 1]; H = TF(num, den) Transfer function: 10 s^3 + 5 s^2 + s -------------------------------------100 s^5 + s^4 + 20 s^3 + 4 s^2 + s + 1 bode(H) nyquist(H)

Bode
Bode Diagrams
From: U(1) 20 0

Phase (deg); Magnitude (dB)

-20 -40 -60 200

To: Y(1)

150

100

50 10-3

10-2

10-1

100

101

Frequency (rad/sec)

Nyquist
Nyquist Diagrams
From: U(1) 1.5 1

0.5

Imaginary Axis

To: Y(1)

-0.5

-1

-1.5 -2.5

-2

-1.5

-1

-0.5

Real Axis

Output Data to MATLAB