‫مقدمة عن ‪MATLAB‬‬

‫‪ MATLAB‬أو (‪ )matrix laboratory‬هو برنامج هندسي متقدم يقوم بإجراء‬

‫العمليات الحسابية ومحاكاة النظمة المختلفة لذا يستخدم كوسيلة تحليل في عدة مجالت‬
‫مثل العلوم و الرياضيات المتقدمة و في الصناعة كأداة بحث وتصميم ذات مردود عالي‪.‬‬
‫يستعمل البرنامج للغراض التالية‪:‬‬
‫• إجراء العمليات الحسابية المعقدة بسرعة فائقة‪Math and .‬‬
‫‪computation‬‬
‫اشتقاق اللوغاريتمات ‪Algorithm development‬‬ ‫•‬
‫محاكاة وتصميم النظمة المختلفة في جميع فروع العلوم و الصناعة & ‪Modeling‬‬ ‫•‬
‫‪simulation System‬‬
‫• تحليل البيانات و استكشافها ‪Data analysis and exploration‬‬
‫• رسم المجسمات الهندسية و الصناعية ذات الثلثة أبعاد (‪Three‬‬
‫‪dimension )3D‬‬
‫البيانات‬ ‫يعتبر ‪ MATLAB‬من البرامج ذات الستجابة السريعة حيث عنصر‬
‫الساسي فيه عبارة عن مصفوفة بدون أبعاد قياسية ‪ .‬لذلك يمكن استخدامه في‬
‫حل معظم المسائل الحسابية المعقدة بسهولة وفي زمن قصير مقارنةً باستخدام‬
‫لغات البرمجة الخرى مثل ‪ C‬أو ‪. FORTRAN‬‬
‫‪MATLAB‬‬ ‫مكونات‬
‫من خمسة أجزاء رئيسية و هي ‪:‬‬ ‫يتكون برامج ‪MATLAB‬‬
‫‪.1‬لغة البرمجة ‪MATLAB language‬‬
‫وهي عبارة عن لغة برمجة جاهزة ومكونة من ملفات فرعية تستخدم فيها‬
‫المصفوفات و المحددات و الدوال الجبرية ‪.‬‬
‫‪.2‬محيط العمل ‪working environment‬‬
‫عبارة عن مجموعة وسائل و تسهيلت تستخدم لتمكين المستخدم من العمل ‪.‬‬
‫يحتوي هذا المحيط على وسائل لتنظيم و إدارة المتغيرات كما يقوم بجلب و‬
‫إرسال المعلومات ‪.‬‬
‫‪.3‬منظم الرسوم البيانية ‪:graphics Handle‬‬
‫وهو عبارة عن منظومة رسم تجسيمي يحتوي على أوامر لرسم المجسمات‬
‫ذات البعدين و الثلثة أبعاد‪ .‬كما يحتوي على أوامر لظهار المجسمات‬
‫وتحريكها ‪.‬‬
‫‪.4‬مكتبة ‪ MATLAB‬للدوال الرياضية‬
‫تحتوي علي الدوال التالية‪:‬‬
‫‪Fast Fourier transforms , matrix eigenvalues , matrix inverse , cosine , sine , sum‬‬
 ‫‪Application program interface.5‬‬
‫عبارة عن وسائل مساعدة تسمح بربط البرامج المعدة بلغات أخرى مثل‬
‫‪ )Fortran‬و (‪ C‬مع ‪.MATLAB‬‬
‫‪Toolboxes MATLAB‬‬ ‫وسائط ‪ MATLAB‬المساعدة‬
‫يحتوي (‪ )MATLAB‬على وسائل مساعدة للتطبيقات المتخصصة و تسمى (‬
‫‪ )Toolboxes‬التي تساعد على القيام بدراسةٍ أوسع في مجالت الصناعة و‬
‫استخدام التكنولوجيا المتخصصة ‪.‬‬
‫هذه الوسائل المساعدة (‪ )Toolboxes‬هي عبارة عن مجموعات شاملة من دوال‬
‫(مشتقات) ‪ MATLAB‬تعرف ب (‪ )M-Files‬التي تعطي ‪ MATLAB‬قدرات‬
‫كبيرة لحل مسائل معقدة ذات طابع خاص ‪.‬‬
‫هناك عدة وسائل مساعدة ‪Toolboxes‬تستخدم ضمنيا مع ‪ MATLAB‬منها ‪:‬‬
‫‪[SIMULINK TOOLBOX‬‬ ‫‪[2] CONTROL SYSTEM TOOLBOX[1‬‬
‫‪[SIGNAL PROCESSING TOOLBOX‬‬ ‫‪[4] COMMUNICATION TOOLBOX [3‬‬
‫‪[MODEL PREDICTIVE CONTROL TOOLBOX[5‬‬
‫توضيح لبعض الوسائط المساعدة لي ‪:MATLAB‬‬
‫‪Communication Toolbox‬‬
‫عبارة عن وسائل مدمجة تستخدم لتصميم و تحليل و محاكاة أنظمة التصالت‬
‫المختلفة وهي مفيدة في العديد من مجالت أبحاث التصالت مثل التصالت‬
‫السلكية و اللسلكية وكذلك التصالت الرقمية و الفضائية و القمار الصناعية‬
‫‪Control system Toolbox‬‬
‫تستخدم في تصميم و محاكاة أنظمة التحكم اللي مثل التحكم في العمليات‬
‫النفطية و التحكم في المراكب الفضائية و غرف التحكم في المصانع الكبرى و‬
‫العديد من الجهزة المتداولة كالغسالت الكهربائية التوماتيكية ‪.‬‬
‫‪Model predictive control Toolbox‬‬
‫يستخدم في تطبيقات أنظمة التحكم اللي ذات المداخل و المخارج المتعددة كما‬
‫هو الحال في الهندسة الكيميائية و التحكم في العمليات‬

‫‪SIMULINK TOOLBOX‬‬ ‫مقدمة عن‬

‫‪ SIMULINK‬هو برنامج مصاحب لل ‪ MATLAB‬ذو استجابة فائقة لتحليل و‬
‫محاكاة النظمة الديناميكية ] الخطية والغير خطية [ ‪.‬‬
‫يعتبر برنامج ‪ SIMULINK‬من اكثر برامج الحاسوب الهندسية شيوعاً و‬
‫استخداماً في مجالت البحاث الكاديمية و الصناعية لبناء نماذج تقليدية‬
‫للنظمة الديناميكية و تحليلها و محاكاتها ‪ .‬يمكن للباحث باستخدام هذا البرنامج‬
‫بناء نماذج للنظمة الحقيقية و محاكاتها كما يمكن تعديل متغيرات هذه النظمة‬
‫أثناء المحاكاة و ملحظة التغيرات التي تحدث على المنظومة ‪.‬‬
‫في هذا البرنامج تتم عملية بناء النماذج باستخدام المخططات الصندوقية‬
‫المخزنة فيه على عكس البرامج الخرى و التي تستهلك جهد ووقت الباحث‬
‫في كتابة برامج طويلة و معقدة مثل ] ‪ C‬أو ‪. [ Fortran‬‬
‫هناك العديد من المخططات الصندوقية مخزنة في ‪ SIMULINK‬جاهزة‬
‫للستعمال كما هو موضح في الجدول رقم (‪. )1‬‬
‫عند اكتمال بناء نموذج للمنظومة تبدأ عملية المحاكاة و ذلك باختيار طريقة‬
‫التكامل المناسبة فبرنامج ‪ SIMULINK‬يحتوي على عدة طرق لنجاز عملية‬
‫التكامل (‪ . )Integration‬و يمكن مشاهدة النتائج أثناء عملية المحاكاة على هيئة‬
‫منحنيات و ذلك باستخدام راسم الشارات الموجود أصلً في برنامج‬
‫‪. SIMULINK‬‬

‫‪In‬‬ ‫‪Out‬‬

‫‪Sources‬‬ ‫‪Sinks‬‬ ‫‪Discrete‬‬ ‫‪Linear‬‬ ‫‪Nonlinear‬‬ ‫‪Connections‬‬

‫&‪Blocksets ‬‬ ‫‪Simulink Block Library‬‬
‫‪ Toolboxes‬‬ ‫‪Demos‬‬
‫‪Copyright (c) 1990­97 by The MathWorks, Inc.‬‬
 ‫‪MATLAB‬‬ ‫استخدام‬
‫‪Starting & Ending MATLAB‬‬ ‫‪)1‬بدء البرنامج وإنهائه‬
‫لبدء استخدام البرنامج انقر علي أيقونة ‪ MATLAB‬للخروج من البرنامج انقر‬
‫علي أيقونة ‪ Exit‬في قائمة الملفات‪.‬‬
‫‪The Command Window‬‬ ‫‪)2‬استخدام نافذة الوامر‬
‫نافذة الوامر هي النافذة الرئيسية التي من خللها يتم التصال بالمترجم‬
‫‪ Interpreter‬وتجرى فيها جميع العمليات الحسابية ‪ .‬يظهر المترجم العلمة‬
‫(>>) كدليل على جاهز يته لتقبل الوامر ‪.‬‬
‫‪)3‬كتابة اسطر الوامر ‪Command Line Editing‬‬
‫↑‬ ‫‪.Recall previous line‬‬ ‫استدعاء السطر السابق‬ ‫← ‪ctrl‬‬ ‫‪Move left one word‬‬ ‫تحرك إلي اليسار كلمة‬
‫واحد‬
‫↓‬ ‫‪Recall next line‬‬ ‫استدعاء السطر قبل‬ ‫‪home‬‬ ‫‪Move to beginning of line‬‬ ‫تحرك إلي بداية السطر‬
‫السابق‬
‫←‬ ‫‪.Move back one character‬‬ ‫تحرك إلي الخلف حرف‬ ‫‪end‬‬ ‫‪Move to end of line‬‬ ‫تحرك إلي نهاية السطر‬
‫واحد‬
‫→‬ ‫‪.Move forward one character‬‬ ‫تحرك إلي المام حرف‬ ‫‪esc‬‬ ‫‪clear line‬‬ ‫لحذف السطر‬
‫واحد‬
‫→ ‪ctrl‬‬ ‫‪Move right one word‬‬ ‫تحرك إلي اليمين كلمة‬ ‫‪del‬‬ ‫‪delete character at cursor‬‬ ‫لحذف حرف عند‬
‫واحد‬ ‫المشيرة‬

‫‪)4‬مقاطعة البرنامج ‪Interrupting a Running Program‬‬

‫يمكن مقاطعة البرنامج في أي لحظة بالضغط على ‪Ctrl-c‬‬
‫‪)5‬تفويت النتيجة ‪Suppressing Output‬‬
‫عند إدخال البيانات المراد تحليلها والضغط على ‪ Enter‬تظهر النتيجة فوراً‬
‫على الشاشة‪ .‬أما إذا أنهيت السطر بشارحة منقوطة فان ‪ MATLAB‬يقوم بتحليل‬
‫البيانات بدون إظهار النتيجة على الشاشة ‪ .‬هذه العملية مفيدة عند إدخال‬
‫البيانات ذات النتيجة الكبيرة‪.‬‬
‫‪Long Command Lines‬‬ ‫‪)6‬كتابة الوامر الطويلة‬
‫إذا كانت المعلومة طويلة بحيث تأخذ اكثر من سطر يمكن استخدام ثلثة نقاط‬
‫… و ‪ Enter‬لبيان استمرارية المعلومة إلي السطر المقبل ‪.‬‬

‫‪ENTERING MATRICES‬‬ ‫‪)7‬إدخال المصفوفات‬

‫يجب فصل عناصر الصف الواحد في المصفوفة بواسطة فراغات‪ .‬كما يجب‬
‫استخدام فاصلة منقوطة عند نهاية كل صف‪ .‬وأخيرا يحاط جميع عناصر‬
‫المصفوفة بواسطة قوسين مربعين ] [ كالتالي‪:‬‬
‫‪ [A = [16 3 2 13; 5 10 11 8; 9 6 7 12; 4 15 14 1‬وبالضغط على المفتاح‬
‫‪Enter‬‬
 ‫عندها يقوم ‪ MATLAB‬بإظهار المصفوفة على النحو التالي‪:‬‬
‫‪=A‬‬
‫‪13 2‬‬ ‫‪3‬‬ ‫‪16‬‬
‫‪8‬‬ ‫‪11 10‬‬ ‫‪5‬‬
‫‪12 7‬‬ ‫‪6‬‬ ‫‪9‬‬
‫‪1‬‬ ‫‪14 15‬‬ ‫‪4‬‬

‫‪sum, transpose, and diag‬‬ ‫‪)8‬أجراء عملية جمع وقلب المصفوفة‬

‫لجمع أعمدة المصفوفة نقوم بالعملية التالية‪)sum )A :‬‬
‫لجمع صفوف المصفوفة نأخذ أول مقلوب هذه المصفوفة ‪ 'A‬ثم نجمع أعمدة‬
‫مقلوب المصفوفة وأخيرا نقلب الناتج كما يلي‪:‬‬
‫‪')'sum)A‬‬
‫‪))sum)diag)A‬‬ ‫لجمع العناصر القطرية للمصفوفة نقوم بالعملية التالية‪:‬‬

‫‪mathematical expressions‬‬ ‫‪)9‬التعبيرات الرياضية‬

‫يحتوي ‪ MATLAB‬علي تعبيرات رياضيةكثيرة وهي‪ :‬المتغيرات ‪Variables‬‬
‫العداد ‪ Numbers‬والمعاملت او الرموز ‪ Operators‬والدوال ‪Functions‬‬

‫متغير جديد يقوم‬ ‫‪MATLAB‬‬ ‫اولً المتغيرات ‪ Variables‬عندما يكتشف‬

‫بتخزينه أتوماتيكيا على سبيل المثال إذا كتبت‬
‫‪num_students = 25‬‬
‫هذا المتغير أتوماتيكيا ‪ .‬ولظهاره مرة أخرى‬ ‫فان ‪ MATLAB‬يقوم بتخزين‬
‫يكتب فقط اسم المتغير ‪.num‬‬
‫يتقبل ‪ MATLAB‬العداد بشكل طبيعي‬ ‫‪Numbers‬‬ ‫ثانياً العداد‬
‫‪Operators‬‬ ‫ثالثاً الرموز الحسابية‬
‫‪Addition‬‬ ‫الجمع‪+‬‬
‫‪Subtraction‬‬ ‫الطرح –‬
‫‪Multiplication‬‬ ‫الضرب *‬
‫‪Division‬‬ ‫‪/‬‬ ‫القسمة‬
‫‪Left division‬‬ ‫القسمة اليسارية \‬
‫‪Power‬‬ ‫^‬ ‫الس‬
‫‪Complex conjugate transpose‬‬ ‫المقلوب '‬
 Specify evaluation order ) (

Functions ‫رابعاً الدوال الرياضية‬

.)graph2d )two-dimensional graphs
.)graph3d )three-dimensional graphs
.)specgraph )specialized graphs
.)graphics )handle graphics
.)uitools )graphical user interface tools

MATRIX MANIPULATION ‫معالجة الصفوفات‬

.Elementary matrices
.zeros - Zeros array .randn - Normally distributed random numbers
.ones - Ones array .linspace - Linearly spaced vector
.eye - Identity matrix .logspace - Logarithmically spaced vector
.repmat - Replicate and tile array .meshgrid - X and Y arrays for 3-D plots
rand - Uniformly distributed random .Regularly spaced vector and index into matrix - :
.numbers
.Basic array information
.size - Size of matrix .isequal - True if arrays are identical
.length - Length of vector .isnumeric - True for numeric arrays
.ndims - Number of dimensions .islogical - True for logical array
.disp - Display matrix or text .logical - Convert numeric values to logical
.isempty - True for empty matrix

.Matrix manipulation
.reshape - Change size .flipdim - Flip matrix along specified dimension
.diag - Diagonal matrices and diagonals of matrix .rot90 - Rotate matrix 90 degrees
.tril - Extract lower triangular part .find - Find indices of nonzero elements
.triu - Extract upper triangular part .end - Last index
.fliplr - Flip matrix in left/right direction .sub2ind - Linear index from multiple subscripts
.flipud - Flip matrix in up/down direction .ind2sub - Multiple subscripts from linear index

.Special variables and constants

.ans - Most recent answer .NaN - Not-a-Number
.eps - Floating point relative accuracy .isnan - True for Not-a-Number
.realmax - Largest positive floating point number .isinf - True for infinite elements
.realmin - Smallest positive floating point number .isfinite - True for finite elements
....pi - 3.1415926535897 .flops - Floating point operation count
.i, j - Imaginary unit .why - Succinct answer
.inf - Infinity
.Specialized matrices
.compan - Companion matrix .magic - Magic square
.gallery - Higham test matrices .pascal - Pascal matrix
.hadamard - Hadamard matrix .rosser -Classic symmetric eigenvalue test problem
.hankel - Hankel matrix .toeplitz - Toeplitz matrix
.hilb - Hilbert matrix .vander - Vandermonde matrix
.invhilb - Inverse Hilbert matrix .wilkinson - Wilkinson's eigenvalue test matrix

.ELEMENTARY MATH FUNCTIONS

.Trigonometric
.sin - Sine .sec - Secant
.sinh - Hyperbolic sine .sech - Hyperbolic secant
.asin - Inverse sine .asec - Inverse secant
.asinh - Inverse hyperbolic sine .asech - Inverse hyperbolic secant
.cos - Cosine .csc - Cosecant
.cosh - Hyperbolic cosine .csch - Hyperbolic cosecant
.acos - Inverse cosine .acsc - Inverse cosecant
.acosh - Inverse hyperbolic cosine .acsch - Inverse hyperbolic cosecant
.tan - Tangent .cot - Cotangent
.tanh - Hyperbolic tangent .coth - Hyperbolic cotangent
.atan - Inverse tangent .acot - Inverse cotangent
.atan2 - Four quadrant inverse tangent .acoth - Inverse hyperbolic cotangent
.atanh - Inverse hyperbolic tangent
.Exponential
.exp - Exponential .pow2 -Base 2 power and scale floating point number
.log - Natural logarithm .sqrt - Square root
.log10 - Common )base 10( logarithm .nextpow2 - Next higher power of 2
.log2 -Base 2 logarithm and dissect floating point number

.Complex
.abs - Absolute value .real - Complex real part
.angle - Phase angle .unwrap - Unwrap phase angle
.conj - Complex conjugate .isreal - True for real array
.imag - Complex imaginary part .Cplxpair -Sort numbers into complex conjugate pairs
.ceil - Round towards plus infinity
.Rounding and remainder .round - Round towards nearest integer
.fix - Round towards zero .)mod - Modulus )signed remainder after division
.floor - Round towards minus infinity .rem - Remainder after division
.sign - Signum

.SPECIALIZED MATH FUNCTIONS

.airy - Airy functions .erf - Error function
.besselj - Bessel function of the first kind .erfc - Complementary error function
.bessely - Bessel function of the second kind .erfcx - Scaled complementary error function
.)Besselh -Bessel functions of the third kind )Hankel function .erfinv - Inverse error function
.besseli - Modified Bessel function of the first kind .expint - Exponential integral function
.besselk -Modified Bessel function of the second kind .gamma - Gamma function
.beta - Beta function .gammainc - Incomplete gamma function
.betainc - Incomplete beta function .gammaln - Logarithm of gamma function
.betaln - Logarithm of beta function .legendre - Associated Legendre function
.ellipj - Jacobi elliptic functions .cross - Vector cross product
.ellipke - Complete elliptic integral

.Number theoretic functions

.factor - Prime factors .gcd - Greatest common divisor
.isprime - True for prime numbers .lcm - Least common multiple
.primes - Generate list of prime numbers .rat - Rational approximation
.rats - Rational output .perms - All possible permutations
.nchoosek -All combinations of N elements taken K at a time
.Coordinate transforms
.cart2sph -Transform Cartesian to spherical coordinates hsv2rgb -Convert hue-saturation-value colors to red-green-
.cart2pol - Transform Cartesian to polar coordinates .blue
.pol2cart - Transform polar to Cartesian coordinates rgb2hsv - Convert red-green-blue colors to hue-
.sph2cart -Transform spherical to Cartesian coordinates .saturation-value
.MATRIX FUNCTIONS - NUMERICAL LINEAR ALGEBRA
.Matrix analysis
.norm - Matrix or vector norm .null - Null space
.normest - Estimate the matrix 2-norm .orth - Orthogonalization
.rank - Matrix rank .rref - Reduced row echelon form
.det - Determinant subspace - Angle between two subspaces
.trace - Sum of diagonal elements

.Linear equations.

."and / - Linear equation solution; use "help slash \ .cholinc - Incomplete Cholesky factorization
.inv - Matrix inverse .lu - LU factorization
COND - CONDITION NUMBER WITH .luinc - Incomplete LU factorization
.RESPECT TO INVERSION .qr - Orthogonal-triangular decomposition
.condest - 1-norm condition number estimate .nnls - Non-negative least-squares
.chol - Cholesky factorization .pinv - Pseudoinverse
.lscov - Least squares with known covariance

.Matrix functions
.expm - Matrix exponential .sqrtm - Matrix square root
.logm - Matrix logarithm .funm - Evaluate general matrix function
Factorization utilities
.qrdelete - Delete column from QR factorization .cdf2rdf -Complex diagonal form to real block diagonal form
.qrinsert - Insert column in QR factorization .balance -Diagonal scaling to improve eigenvalue accuracy
RSF2CSF -REAL BLOCK DIAGONAL FORM TO .planerot - Given's plane rotation
.COMPLEX DIAGONAL FORM

.Polynomials
.roots - Find polynomial roots .)residue - Partial-fraction expansion )residues
.poly - Convert roots to polynomial .polyfit - Fit polynomial to data
.polyval - Evaluate polynomial .polyder - Differentiate polynomial
POLYVALM - EVALUATE POLYNOMIAL .conv - Multiply polynomials
.WITH MATRIX ARGUMENT .deconv - Divide polynomials
.Plotting
.ezplot - Easy to use function plotter. fplot - Plot function

.Ordinary differential equation solvers

).If unsure about stiffness, try ODE45 first, then ODE15S(
.ode45 - Solve non-stiff differential equations, medium order method
.ode23 - Solve non-stiff differential equations, low order method
.ode113 - Solve non-stiff differential equations, variable order method
.ode15s - Solve stiff differential equations, variable order method
.ode23s - Solve stiff differential equations, low order method
.odefile - ODE file syntax
.TWO DIMENSIONAL GRAPHS
.Elementary X-Y graphs
.plot - Linear plot .polar - Polar coordinate plot
.loglog - Log-log scale plot PLOTYY - GRAPHS WITH Y TICK LABELS
.semilogx - Semi-log scale plot .ON THE LEFT AND RIGHT
.semilogy - Semi-log scale plot
.Axis control
.axis - Control axis scaling and appearance .box - Axis box
.zoom - Zoom in and out on a 2-D plot .hold - Hold current graph
.grid - Grid lines .axes - Create axes in arbitrary positions
.subplot - Create axes in tiled positions

.Graph annotation
.legend - Graph legend .ylabel - Y-axis label
.title - Graph title .text - Text annotation
.xlabel - X-axis label .gtext - Place text with mouse

.Hardcopy and printing

.print - Print graph or SIMULINK system; or save graph to M-file
.printopt - Printer defaults
.orient - Set paper orientation
.Three dimensional graphs
.Elementary 3-D plots
.plot3 - Plot lines and points in 3-D space .surf - 3-D colored surface
.mesh - 3-D mesh surface .fill3 - Filled 3-D polygons

.Color control
.colormap - Color look-up table .hidden - Mesh hidden line removal mode
.caxis - Pseudocolor axis scaling .brighten - Brighten or darken color map
.shading - Color shading mode

.Lighting
.surfl - 3-D shaded surface with lighting .specular - Specular reflectance
.lighting - Lighting mode .diffuse - Diffuse reflectance
.material - Material reflectance mode .surfnorm - Surface normals

.Specialized graphs
.Specialized 2-D graphs

.area - Filled area plot .fplot - Plot function

.bar - Bar graph .hist - Histogram
.barh - Horizontal bar graph .pareto - Pareto chart
.bar3 - 3-D bar graph .pie - Pie chart
.bar3h - Horizontal 3-D bar graph .pie3 - 3-D pie chart
.comet - Comet-like trajectory .Plotmatrix - Scatter plot matrix
.errorbar - Error bar plot .ribbon - Draw 2-D lines as ribbons in 3-D
.ezplot - Easy to use function plotter .stem - Discrete sequence or "stem" plot
.feather - Feather plot .stairs - Stairstep plot
.fill - Filled 2-D polygons

.Contour and 2-1/2 D graphs

.contour - Contour plot .pcolor - Pseudocolor )checkerboard( plot
.contourf - Filled contour plot .quiver - Quiver plot
.contour3 - 3-D Contour plot .voronoi - Voronoi diagram
.clabel - Contour plot elevation labels
.Specialized 3-D graphs
.comet3 - 3-D comet-like trajectories .stem3 - 3-D stem plot
.meshc - Combination mesh/contour plot .quiver3 - 3-D quiver plot
.meshz - 3-D mesh with curtain .slice - Volumetric slice plot
.surfc - Combination surf/contour plot .trimesh - Triangular mesh plot
.trisurf - Triangular surface plot .waterfall - Waterfall plot
 ‫جمع وطرح المصفوفات ‪Addition and Subtraction‬‬
‫‪8 1 6 ‬‬ ‫‪1 1 1‬‬
‫و‬ ‫‪B = 3 5 7 ‬‬ ‫و‬ ‫‪A = 1 2 3‬‬ ‫إذا كانت المصفوفة‬
‫‪4 9 2‬‬ ‫‪1 3 6‬‬
‫‪9 4 ‬‬
‫‪C = 2 8 ‬‬
‫‪6 7 ‬‬
‫‪‬‬ ‫‪‬‬
‫‪ 3‬‬
‫‪S =7‬‬ ‫و‬ ‫]‪V = [ 2 0 − 1‬‬ ‫و‬ ‫و ‪U = 1 ‬‬
‫‪4‬‬

‫‪A‬باستخدام ‪ MATLAB‬نقوم بالعملية التالية‪:‬‬ ‫‪,B‬‬ ‫لجمع المصفوفتين‬

‫‪X =A+ B‬‬

‫‪=X‬‬
‫‪7‬‬ ‫‪2‬‬ ‫‪9‬‬
‫‪10‬‬ ‫‪7‬‬ ‫‪4‬‬
‫‪8‬‬ ‫‪12‬‬ ‫‪5‬‬

‫وعند طرح ‪A‬من الناتج نحصل على النتيجة التالية‪:‬‬

‫‪Y = X –A‬‬

‫=‪Y‬‬

‫‪8 1 6‬‬
‫‪3 5 7‬‬
‫‪4 9 2‬‬

‫‪w=v+s‬‬

‫=‪w‬‬
‫‪9 7 6‬‬
 Vector Products and Transpose ‫ضرب المصفوفات ومقلوبها‬
A row vector and a column vector of the same length can be multiplied in
either order. The result is either a scalar, the inner product, or a matrix, the
.outer product
x = v*u

=x
2

X = u*v
=X
3— 0 6
1— 0 2
4— 0 8
Matrix transposition ‫مقلوب المصفوفة‬
'X = B
=X
438
951
276

'x = v

=x
2
0
1—

For a complex vector or matrix, z, the quantity z' denotes the complex
conjugate transpose. The unconjugated complex transpose is denoted by z.',
in analogy with the other array operations. So if

[z = [1+2i 3+4i
then z' is
 2i—1
4i—3
while z.' is

1+2i
3+4i

For complex vectors, the two scalar products x'*y and y'*x are complex
conjugates of each other and the scalar product x'*x of a complex vector
with
.itself is real

Matrix Multiplication ‫ضرب المصفوفات‬

The matrix product C = AB is

X = A*B

=X
15 15 15
26 38 26
39 70 41

Y = B*A

=Y
47 28 15
60 34 15
43 28 15

A matrix can be multiplied on the right by a column vector and on the left by
.a row vector
x = A*u
 ‫‪=x‬‬
‫‪8‬‬
‫‪17‬‬
‫‪30‬‬
‫‪y = v*B‬‬
‫‪=y‬‬
‫‪10 7— 12‬‬

‫الرسم البياني ‪ GRAPHICS‬باستخدام ‪MATLAB‬‬

‫‪Creating a Plot‬‬

‫اذا كانت ‪ y‬كمية متجهة فان المر ‪ )plot)y‬ينتج عنه رسم بياني ل ‪ y‬كدالة في‬
‫الزمن اما المر ‪ )plot)x,y‬فينتج عنه الرسم البياني ‪ y‬و ‪ x‬مثل ليجاد الرسم‬
‫البياني للدالة ‪ )y = sin)t‬من ‪ 0‬الى ‪ π 2‬نجري العملية التالية‪:‬‬

‫‪;t = 0:pi/100:2*pi‬‬
‫‪;)y = sin)t‬‬
‫‪)plot)t,y‬‬

‫‪;)y2‬‬ ‫‪= sin)t–.25‬‬

‫‪;)y3 = sin)t–.5‬‬
 )plot)t,y,t,y2,t,y3

‫يمكن رسم كل منحني بلون وخط مميز وذلك باستخدام‬

)'plot)x,y,'color_style_marker
:‫لختيار اللون نختار الحرف التالية‬
.'y', 'r', 'g', 'b', 'w', and 'k')‫اسود‬-‫ابيض‬-‫ازرق‬-‫ اخضر‬,‫ احمر‬,‫( اصفر‬
) .– : – – –( :‫لختيار نوع الخط نختار الرموز التالية‬
‫مثال‬
)'+:plot)x,y,'y

+ ‫سيكون شكل الرسم الناتج هو اصفر منقط به علمة‬

AXIS LABELS AND TITLES ‫الكتابة علي محور الرسم البياني‬

The xlabel, ylabel, and zlabel functions add x-, y- and z-axis labels. The title
function adds a title at the top of the figure and the text function inserts text
.anywhere in the figure
;t = -pi:pi/100:pi
;)y = sin)t
)plot)t,y
)[axis )[-pi pi -1 1
)'xlabel) '-\pi \leq \itt \leq \pi
)')ylabel) 'sin)t
)'title )'Graph of the sine function
)'{ .text)l -1/3, ' \it{Note the odd symmetry

Mesh and Surface Plots

MATLAB defines a surface by the z-coordinates of points above a grid in
the x-y plane, using straight lines to connect adjacent points. The functions
mesh and surf display surfaces in three dimensions. mesh produces
wireframe surfaces that color only the lines connecting the defining points.
.surf displays both the connecting lines and the faces of the surface in color
Visualizing Functions of Two Variables
To display a function of two variables, z = f )x,y(, generate X and Y matrices
consisting of repeated rows and columns, respectively, over the domain of
the function. Then use these matrices to evaluate and graph the function. The
meshgrid function transforms the domain specified by a single vector or two
vectors x and y into matrices X and Y for use in evaluating functions of two
variables. The rows of X are copies of the vector x and the columns of Y are
copies of the vector y. To evaluate the two-dimensional sinc function,
:sin)r(/r, between x and y directions

;)X,Y] = meshgrid)–8:.5:8]
;R = sqrt)X.^2 + Y.^2( + eps
;Z = sin)R(./R
)mesh)X,Y,Z

In this example, R is the distance from origin, which is at the center of the
.matrix
.Adding eps avoids the indeterminate 0/0 at the origin
Printing Graphics
The Print option on the File menu and the print command both print
.MATLAB figures
MORE ABOUT MATRICES AND ARRAYS
This sections shows you more about working with matrices and arrays,
focusing on

Linear Algebra • Arrays • Multivariate Data •

Linear Algebra
Informally, the terms matrix and array are often used interchangeably. More
precisely, a matrix is a two-dimensional numeric array that represents a
linear transformation. The mathematical operations defined on matrices are
the subject of linear algebra. Dürer’s magic square
=A
13 2 3 16
8 11 10 5
12 7 6 9
1 14 15 4
provides several examples that give a taste of MATLAB matrix operations.
You’ve already seen the matrix transpose, A'. Adding a matrix to its
.transpose produces a symmetric matrix
'A + A
= ans
17 11 8 32
23 17 20 8
26 14 17 11
2 26 23 17
The multiplication symbol, *, denotes the matrix multiplication involving
inner products between rows and columns. Multiplying a matrix by its
.transpose also produces a symmetric matrix
A'*A
= ans
360 206 212 378
206 368 370 212
212 370 368 206
378 212 206 360
PARTIAL-FRACTION EXPANSION WITH MATLAB
MATLAB has a command to obtain the partial-fraction expansion of
B(s)/A(s). Consider the transfer function

B ) s( num b0 s n + b1s n −1 + .... + bn

= = n
A) s( den s + a1s n −1 + .... + an

where some of ai and bj may be zero. In MATLAB row vectors num and den
specify the coefficients of the numerator and denominator of the transfer
,function. That is

[ num = [b0 b1 ... bn

[ den = [1 a1 ….an
The command

)r,p,k] = residue)num,den]

finds the residues, poles, and direct terms of a partial-fraction expansion of

.(the ratio of two polynomials B(s) and A(s
The partial-fraction expansion of B(s)/A(s) is given by

B) s( r )1( r )2( r ) n(
= + + .... + + k )s(
A) s( s − p )1( s − p )2( s − p ) n(

Comparing this equation with the following

B) s( a1 a2 an
= + + .... +
A) s( s + p1 s + p2 s + pn

we note that p)1( = -p1, p)2( = -p2 ,....... p(n) = -pn; r)1(= a1, r(2) = a2,….. r(n)
= an

[.k(s) is a direct term]

:EXAMPLE: Consider the following transfer function

B ) s( 2 s 3 + 5s 2 + 3s + 6
=
A) s( s 3 + 6 s 2 + 11s + 6
num = [2 5 3 61
[den = [1 6 11 6
)r;p,k] = residue)num,den]
:The command gives the following result
)r,p,k] = residue)nurn,den]
r= -6.0000
4.0000-
3.0000
p= -3.0000
2.0000-
1.0000-
= 2k

Note that the residues are returned in column vector r, the pole locations in(
).column vector p, and the direct term in row vector k

This is the MATLAB

B ) s( 2 s 3 + 5s 2 + 3s + 6 −6 −4 3
= 3 = + + +2
A) s( s + 6 s + 11s + 6 s + 3 s + 2 s + 1
2

,(representation of the following partial-fraction expansion of B(s)/A(s

The command

)num1den] = residue)r;p,k]

where r, p and k are as given in the previous MATLAB output, converts the
:partial-fraction expansion back to the polynomial ratio B(s)/A(s), as follows
)num,den] = residue)r,p,k]
= num
6.0000 3.0000 5.0000 2.0000
= den
6.0000 11.0000 6.0000 1.0000
Note that if p)j( = p)j + 1( =…..= p)j + m - 1( [that is,pj = pj+1 =…= pj+m-1], the
pole p)j( is a pole of multiplicity m. In such a case, the expansion includes
terms of the form

)r)j( + r)j + 1( +….+ r)j + m - 1

s - p)j( [s -p)j(]2 [s-p)j(]m

EXAMPLE. Expand the following B(s(/A(s( into partial-fractions with

.MATLAB

… B)s( = s 2 +2s + 3 = s2 + 2s + 3
A)s( )s + 1(3 s3 + 3s2 + 3s + 1

For this function, we have

[num = [0 1 2 3
[den = [1 3 3 1
The command
)r,p,k] = residue)num,den]
.gives the result shown below
;[num = [0 1 2 3
;[den = [1 3 3 1
)r,p,k] = residue)num,den]
=r
1.0000
0.0000
2.0000
=p
1.0000-
1.0000-
1.0000-
=k
[]
And it is the MATLAB representation of the following partial-fraction
:(expansion of B(s)/A(s
B) s( 1 0 2
= + +
A) s ( s + 1 ) s + 1( 2
) s + 1(3

.Note that the direct term k is zero

Transient response analysis with Matlab

: Consider the system

C ) s( 25
= 2
R) s( s + 4s + 25
)1(
This system is represented as two arrays each containing the coefficients of
the polynomials in decreasing powers of s as follows

num = [0 0 251
[den = [1 4 25
Note that zeros are padded where necessary. If num and den )the numerator
and denominator of the closed-loop transfer function( are known, commands
such as

)step)num,den,t step)num,den(,

will generate plots of unit-step responses. )t in the step command is the user-
specified time.( For a control system defined in a state-space form, where
state matrix A, control matrix B, output matrix C, and direct transmission
matrix D of state-space equations are known, the command
 )step)A,B,C,D
will generate plots of unit-step responses. The time vector is automatically
determined when t is not explicitly included in the step commands Note that
when step commands have left-hand arguments such as

)y,x,t] = step)nun,den,t]
)y,x,tl = step)A,B,C,D,iu]
)Iy,x,tj = slep)A,B,C,D,iu,t
no plot is shown on the screen. Hence it is necessary to use a plot command
to see the response curves. The matrices y and x contain the output and state
response of the system, respectively, evaluated at the computation time
points t. )y has as many columns as outputs and one row for each element in
t. x has as many columns as states and one row for each element in t.( Note
in Equation )2( that the scalar U is an index into the inputs of the system and
specifies which input is to be used for the response. and t is the user-
specified time. If the system involves multiple inputs and multiple output the
step command, such as given by Equation )4-39(, produces a series of step
response plots, one for each input and output combination of

x =Ax+Bu
y = Cx + Du

Obtaining the unit-step response of the transfer-function system. let us

consider the unit-step response of the system given by Equation )1(. The
.MATLAB Program for this system is

;[num= [0 0 25
;[den = [1 4 25
)step)num,den
grid
)')title )'Unit-step Response of G)s(=25/)s^2+4s+25

:A plot of the unit step response curve is shown below

Example

:Obtain the unit-impulse response of the following system

 x1'   0 1   x1  0
 '=   x  + 1u
x
 2  − 1 − 1  2   
x 
y = [1 0]  1  + [ 0]u
 x2 

A possible MATLAB program is shown below. The resulting response curve

.is also shown below

;[A = [0 1;-1 -1
;B = [0;1l
;[C= [1 0
;[D = [0
;)impulse)A,B,C,D
;grid
)'title)'Unit-Impulse Response
:Example : Obtain the unit-impulse response of the following system

C )s( 1
= G )s( = 2
R) s( s + 0.2 s + 1

;[num= [0 0 1
;[den = [1 0.2 1
)impulse)num,den
grid
)')title )'Unit- impulse Response of G)s(=1/)s^2+0.2s+1
Example:Consider the impulse response of the standard second-order
system defined by

C ) s( ω n2
= G )s( = 2
R) s( s + 2ξω n s + ω n

For a unit-impulse input, R(s) = 1. Thus

ωn2 ω n2 s 1
C ) s( = 2 = 2
s + 2ξω n s + ω n s + 2ξω n s + ω n s

Consider the normalized system where Wn= 1. Then

s 1
C ) s( =
s 2 + 2ξs + 1 s

Consider five different values of zeta: ξ = 0.1, 0.3, 0.5, 0.7, and 1.0. Obtain
.the unit-impulse response curves for each zeta with MATLAB
Solution. A MATLAB program for plotting the five unit-impulse response
curves in one diagram is

;[Num=[0 1 0
;[den=[1 0.2 1
;t=0:0.1:10
;)step)num,den1,t
)'text)2.2,0.88,'zeta=0.1
hold
;[den2= [1 0.6 1]; den3= [1 1 1]; den4= [1 1.4 1]; den5= [1 2 1
;)step)num,den2,t
)'text)1.33,0.72.'0.3
;)step)num,den3,t
)'text)1.15,0.58.'0.5
;)step)num,den4,t
)'text)1.1,0.46.'0.7
;)step)num,den5,t
)'text)0.8,0.28.'1.0
grid
)'[title)Impulse-responseCurves for G)s(=1/[s^2+2)zeta(s+1
hold

:The resulting diagram is shown below

From the unit-impulse response curves for different values of zeta, we may
conclude that if the impulse response c(r) does not change sign the system is
either critically damped or overdamped, in which case the corresponding
step response does not overshoot, but increases or decreases monotonically
.and approaches a constant value

Response To torque disturbances (Proportional control

(
Obtain responses of the above system with MATLAB when it is subjected to
.a unit-step disturbance. for a small value of Kp and a large value of Kp

:Consider two cases

:Case l

C )s( 1
= G)s( = 2 :)J=1, b=0.5, Kp=1 )system 1
D) s( s + 0 .5 s + 1
:Case 2

C ) s( 1
= G ) s( = 2 :)J = 1, b = 0.5, Kp = 4 )system 2
D) s( s + 0.5s + 4

Note that for system 1

[num1 = [0 0 1
[den1= [1 0. 5 1

For system 2

[num2 = [0 0 1
[den2 = [1 0.5 4

In MATLAB Program we have used notations y1 and y2 for the response. yl

.is the response c(t) of system 1, and y2 is the response c(t) of system 2
In MATLAB Program 5-1, note that we have used the plot command with
multiple arguments, rather than using the hold command. )We get the same
result either way.( To use the plot command with multiple arguments, the
sizes of the y1 and y2 vectors need not be the same. However, it is
convenient if the two vectors are of the same length. Hence, we specify the
same number of computing points by specifying the computing time points
)such as t = 0:0.1:20(. The step command must include this user-specified
time t. Thus, in MATLAB Program 5-1 we have used the following step
:command

)y, x, t] = step)num, den,t]

The unit-step response curves obtained by use of MATLAB Program are
.shown below

;[num 1 = [0 0 1
;[den1 = [1 0.5 1
;[num2 [0 0 1
;[den2 [1 0.5 4
;t = 0:0.1:20
;)y1,x1,t] = step)num l, den l, t]
;)y2,x2,t] = step)num 2,den2,t]
)plot)t,yl,t,y2
grid
'
)'text)1 1,0.75,'System 1'(, text )11.2,0.1 6, System 2
)''title)'Step Responses of Two Systems
)'xlabel)'t Sec
t
)'ylalbel) outputs yl and y2

ROOT-LOCUS PLOTS WITH MATLAB

In this section we present the MATLAB approach to the generation of root-
.locus plots

Plotting root loci with MATLAB. In plotting root loci with MATLAB we
deal

with the system equation given in the form of

K ) s + z1 () s + z 2 (....) s + z m (
1+ =0
) s + p1 () s + p 2 (.....) s + p n (

:Which may be written as

num
1+ K =0
den

Were num is the numerator polynomial and den is the denominator

,polynomial. That is

)num = )s + z1()s +z2 (..... )s + zm

s +)z1+z2+….+zm(sm-1+…+z1z2….zm=
m

)den = )s + p1()s+p2( ....... )s + pn

sn + )p1 +p2+…. +pn(sn-1 +... +p1 p2 ….pn=

Note that both vectors num and den must be written in descending powers of
s A MATLAB command commonly used for plotting root loci is
)rlocus)num,den
Using this command, the root-locus plot is drawn on the screen. The gain
vector K is automatically determined. The command rlocus works for both
continuous- and discrete-time systems. For the systems defined in state
space, rlocus)A, B,C, D( plots the root locus of the system with the gain
vector automatically determined. Note that commands
rlocus)num,den,K( and rlocus)A,B,C,D,K( use the user-supplied gain vector
K. )The vector Kcontains all the gain values for which the closed-loop poles
are to be computed.( If invoked with left-hand arguments

)r,K] = rlocus)num,den]
)r,K] = rlocus)num,den,K]
)r,KI = rlocus)A,B,C,D]
)r,Kl = rlocus)A,B,C,D,K]

the screen will show the matrix r and gain vector K. )r has length K rows and
length den - 1 columns containing the complex root locations. Each row of
the matrix corresponds to a gain from vector K.( The plot command plot)r,' '(
plots the root loci. If it is desired to plot the root loci with marks '0'' or 'x', it
:is necessary to use the following command

)r = rlocus)num,den
)'pIot)r,'x or pIot)r,'o'(

EXAMPLE Consider the control system shown below. To plot the root-
locus

diagram with MAT-LAB, it is necessary to find the numerator and

.denominator polynomials of the open loop
For this problem, the numerator is already given as a polynomial in s.
However, the denominator is given as a product of first- and second-order
terms, with the result that we must multiply these terms to get a polynomial
in S. The multiplication of these terms can be done easily by use of the
.convolution command, as shown next

Define

[a = s)s +4( = s2 + 4s : a = [1 4 0
[b= s+6 : b= [1 6
2
[c = s + 1.4s + 1 : c= [1 1.4 1

:Then use the following command

;)d= conv)a,b
)e = conv)c,d

[.Note that conv)a,b( gives the product of two polynomials a and b]

;[a = [1 4 0
;[b = [1 6
;[c = [1 1.4 1
)d = conv)a,b
=d
0 24 10 1

)e = conv)c,d
=e
0 24.0000 43.6000 39.0000 11.4000 1.0000

The denominator polynomial is thus found to be

[den = [1 11.4 39 43.6 24 0

To find the open-loop zeros of the given transfer function, we may use the
:following roots command

[p = [1 2 4
)r = roots)p
=r
1.7321I + 1.0000-
1.7321I - 1.0000-

Similarlv, to find the complex-conjugate open-loop poles )the roots of s2 +

:1.4s + 1 = 0(, we mav enter the roots commands as follows

)q = roots)c
=q
0.7141i + 0.7000-
0.7141i - 0.7000-

: The MATLAB Program will be as shown

;[num =[0 0 0 1 2 4
;[den = [1 11.4 39 43.6 24 0
)rlocus)num,den
grid
)'[)title)'Root-locus Plot of G)s(=K)s^2+2s+4(/[s)s+4()s+6()s^2+1.4s+1

: EXAMPLE
Consider the system shown below, where the open-loop transfer function
G(s)H(s) is

K ) s + 0.2(
G ) s ( H ) s( =
s 2 ) s + 3.6(

.The MATLAB Program generates a root-locus plot is as shown

;[num = [0 0 1 0.2
;[den = [1 3.6 0 0
)rlocus)num,den
)v= [-4 2 -4 4]; axis)v
grid
)'[)title)~Root-Locus Plot of G)s( = K)s + 0.2(/[s^2)s + 3.6
The resulting root-locus plot is

EXAMPLE
.Consider the system shown

Plot root loci with a square aspect ratio so that a line with slope 1 is a true
.450 line
To set the plot region on the screen to be square, enter the command
axis)'square'(. With this command, a line with slope 1 is at a true 45º, not
skewed by the irregular shape of the screen. MATLAB Program which
. produces a root-locus plot in a square region is

;[num = [0 0 0 1 1
;[3 12 -16 0 den = [1
{rlocus)num,den
)61; axis)v(;axis)'square1 6 -6 v = [-6
grid
)'[)title)'Root-Locus Plot of G)s( = K)s + 1 (/[s)s - 1 ()s^2 + 4s + 1 6
. The resulting plot is

: EXAMPLE
Consider the system whose open-loop transfer function G)s(H)s( is

K K
G ) s ( H ) s( = =
s ) s + 0.5() s + 0.6 s + 10(
2
s + 1.1s + 10.3s 2 + 5s (
4 3

There are no open-loop zeros. Open-loop poles are located at 5 = -0.3 +

.j3.1480, 5 = -0.3 -j3.1480,s = -0.5~ands = 0

MATLAB Program

;[num=[0 0 0 0 1
;[den = [1 1.1 10.3 5 0
)rlocus)n urn , den
grid
)'[)title)'
Root-Locus Plot of G)s( = K/[s{s + 0.5()s^2 + 0.6s + 10
.the root-locus plot

.Example : Consider the control system shown

.Plotroot loci with MATLAB

.Solution

MATLAB Program

;num = [0 0 1 0.41
;[den = [1 3.6 0 0
;{rlocus)num,den
)V = [-5 1 -3 3]; axis)v
grid
))'[)title)' Root-Locus Plot of C)s( = K)s + O.4)/[s^2(s + 3.6

PLOTTING BODE DIAGRAMS WITH MATLAB

The command bode computes magnitudes and phase angles of the frequency
response of continuous-time, linear, time-invariant systems. When the
command bode )without left-hand arguments( is entered in the computer,
MATLAB produces a Bode plot on the screen. When invoked with left-band
arguments, [mag,phase,w] = bode)num,den,w( bode returns the frequency
response of the system in matrices mag, phase and w- No plot is drawn on
the screen-The matrices mag and phase contain magnitudes and phase angles
of the frequency response of the system evaluated at user specified
frequency points. The phase angle is returned in degrees. The magnitude can
be converted to decibels with the statement magdB = 20*Iogl0)mag( To
specify the frequency range, use the command Iogspace)d1 ,d2( or Iogspace
)d1 ,d2,n(. logspace)dl ,d2( generates a vector of 50 points logarithmically
equally spaced between decades 10d1 and 10d2. That is, to generate 50 points
.)between 0.1 rad/sec and100 rad/sec, enter the command w = logspace)-1,2
logspace)d1 ,d2,n( generates n points logarithmically equally spaced
between decades 10d1 and 10d2 For example, to generate100 points between 1
rad/sec and 1000 rad/sec, enter the following command: w =
Iogspace)0,3,100( To incorporate these frequency points when plotting Bode
diagrams, use the command bode)num,den,w( or bode)A,B,C,D,iu,w(.These
.commands use the user-specified frequency vector w

:Example1

:Consider the following transfer function

25
G)s( =
s + 4 s + 25
2

Plot a Bode diagram for this transfer function. When the system is defined in
the form

)G(s) = den)s(, num)s

use the command bode)num,den( to draw the Bode diagram. [when the
numerator and denominator contain the polynomial coefficients in
descending powers of s, bode)num,den( draws the Bode diagram.]
.MATLAB Program to plot the Bode diagram for this system is

)num [0 0 25
,[den [1 4 25
)bode)num,den
[subplot[2 1 1
)')title)' Bode Diagram of G)s(=25/)s^2+4s+25

.The resulting Bode diagram is

:Example 2
:Plot a bode diagram for a system with the open-loop transfer function of

9) s 2 + 0.2 s + 1(
G)s( =
s) s 2 + 1.2 s + 9(

.MATLAB Program

[num = [0 9 1.8 9
;[den =[1 1.2 9 0
)bode)num,den
;)subpIot)2,1,1
) )'[)title)'Bode Diagram of G)s( = 9)s^2 + 0.2s+1(/[s)s^2+1.2s + 9

.The resulting plot is

The frequency range in this case is automatically determined to be from 0.1
to 10 rad/sec. If it is desired to plot the Bode diagram from 0.1 to 1000
rad/sec, enter the following command; w = logspace)-2,3,100( This
command generates 100 points logrithmically equally spaced between 0.01
and 100 rad/sec. )Note that such a vector w specifies the frequencies in
radians per sccond at which the frequency response will be calculated.( If we
use the command bode)num,den,w( then the frequency range is as user
specified, but the magnitude range and phase-angle range will be
.automatically determined

.Obtaining Bode diagrams of systems defined in state space

Consider the system defined by

X' = Ax + Bu
y = Cx + Du

where
)x = state vector )n-vector
)y = output vector )m-vector
)u = control vector )r-vector
)A = state matrix (n x n matrix
)B = control matrix (n x r matrix
)C = output matrix (m x n matrix
)D = direct transmission matrix (m x r matrix

A Bode diagram for this system may be obtained by entering the command

)bode)A,B,C,D( or bode)A,B,C,D,iu

The command bode)A,B,C,D( produces a series of Bode plots, one for each
input of the system, with the frequency range automatically determined.
)More points are used when the response is changing rapidly.( The command
bode)A, B,C,D,iu( where iu is the ith input of the system, produces the Bode
diagrams from the input iu to all the outputs )y1, y2,---, ym) of the system,
with frequency range automatically determined. )The scalar iu is an index
into the inputs of the system and specifies which input is to be used for
plotting Bode diagrams(. If the control vector u has three inputs such that

 u1 
u = u 2 
u 3 
then iu must be set to either 1,2, or 3. If the system has only one input u,then
:either of the following commands may be used
)bode)A,B,C,D( or bode)A,B,C,D,1

:Example 3: Consider the following system

 x1'   0 1   x1   0 
 '=    +  u
 x 2  − 25 − 4  x 2  25

x 
y = [1 0]  1 
 x2 

This system has one input u and one output y. Then the MATLAB Program
:is

;[A = [0 1; -25 -4
;[B = [0;25
;[C = [1 0
;[D = [0
)Bode)A,B,C,D
;)Subplot)2,1,1
)'Title)'Bode Diagram

:we obtain the Bode diagram shown as shown below

If we replace the command bode)A,B,C,D( in MATLAB Program with

)bode)A,B,C,D,1
.then MATLAB will produce the Bode diagram identical to that shown above