Simulink

Getting Started Guide

R2016b
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Simulink Getting Started Guide

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Revision History
September 2005 Online only New for Version 6.3 (Release 14SP3)
March 2006 Online only Revised for Simulink 6.4 (Release 2006a)
September 2006 Online only Revised for Simulink 6.5 (Release 2006b)
March 2007 First printing Revised for Simulink 6.6 (Release 2007a)
September 2007 Second printing Revised for Simulink 7.0 (Release 2007b)
March 2008 Third printing Revised for Simulink 7.1 (Release 2008a)
October 2008 Fourth printing Revised for Simulink 7.2 (Release 2008b)
March 2009 Fifth printing Revised for Simulink 7.3 (Release 2009a)
September 2009 Online only Revised for Simulink 7.4 (Release 2009b)
March 2010 Online only Revised for Simulink 7.5 (Release 2010a)
September 2010 Online only Revised for Simulink 7.6 (Release 2010b)
April 2011 Online only Revised for Simulink 7.7 (Release 2011a)
September 2011 Sixth printing Revised for Simulink 7.8 (Release 2011b)
March 2012 Seventh printing Revised for Simulink 7.9 (Release 2012a)
September 2012 Eighth printing Revised for Simulink 8.0 (Release 2012b)
March 2013 Ninth printing Revised for Simulink 8.1 (Release 2013a)
September 2013 Tenth printing Revised for Simulink 8.2 (Release 2013b)
March 2014 Eleventh printing Revised for Simulink 8.3 (Release 2014a)
October 2014 Twelfth printing Revised for Simulink 8.4 (Release 2014b)
March 2015 Thirteenth printing Revised for Simulink 8.5 (Release 2015a)
September 2015 Fourteenth printing Revised for Simulink 8.6 (Release 2015b)
October 2015 Online only Rereleased for Simulink 8.5.1 (Release
2015aSP1)
March 2016 Fifteenth printing Revised for Simulink 8.7 (Release 2016a)
September 2016 Sixteenth printing Revised for Simulink 8.8 (Release 2016b)
 Contents

Introduction
1
Simulink Product Description . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Key Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Model-Based Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

What Is Model-Based Design? . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Modeling, Simulation, and Analysis with Simulink . . . . . . . . 1-4
Interaction with MATLAB Environment . . . . . . . . . . . . . . . . 1-5

Basic Modeling Workflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Define System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Model System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Integrate Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

Basic Simulation Workflow . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

Prepare for Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
Run and Evaluate Simulation . . . . . . . . . . . . . . . . . . . . . . . 1-15

Documentation and Resources . . . . . . . . . . . . . . . . . . . . . . . 1-17

Simulink Online Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
Simulink Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
Website Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19

Simple Simulink Model

2
Create Simple Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Model Overview for This Tutorial . . . . . . . . . . . . . . . . . . . . . 2-2
Open New Model in Simulink Editor . . . . . . . . . . . . . . . . . . 2-3
Open Simulink Library Browser . . . . . . . . . . . . . . . . . . . . . . 2-5

v
 Browse or Search for Specific Blocks . . . . . . . . . . . . . . . . . . . 2-7
Add Blocks to Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Move and Resize Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
Block Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Draw Signal Lines Between Blocks . . . . . . . . . . . . . . . . . . . 2-11
Draw Branched Signal Lines . . . . . . . . . . . . . . . . . . . . . . . . 2-14
Define Configuration Parameters . . . . . . . . . . . . . . . . . . . . 2-16
Run Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17
Observe Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . 2-17

Model a Dynamic System

3
Model a Dynamic System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Model Overview for This Tutorial . . . . . . . . . . . . . . . . . . . . . 3-2
Define a House Heating System . . . . . . . . . . . . . . . . . . . . . . 3-2
Model a House Heating System . . . . . . . . . . . . . . . . . . . . . . 3-7
Integrate a House Heating Model . . . . . . . . . . . . . . . . . . . . 3-24

Basic Simulation Workflow

4
Simulate a Dynamic System . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Model Overview for This Tutorial . . . . . . . . . . . . . . . . . . . . . 4-2
Prepare Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
Run and Evaluate Simulation . . . . . . . . . . . . . . . . . . . . . . . . 4-5

vi Contents
 1

Introduction

Simulink Product Description on page 1-2

Model-Based Design on page 1-3
Basic Modeling Workflow on page 1-6
Basic Simulation Workflow on page 1-13
Documentation and Resources on page 1-17
1 Introduction

Simulink Product Description

Simulation and Model-Based Design

Simulink is a block diagram environment for multidomain simulation and Model-Based

Design. It supports system-level design, simulation, automatic code generation, and
continuous test and verification of embedded systems. Simulink provides a graphical
editor, customizable block libraries, and solvers for modeling and simulating dynamic
systems. It is integrated with MATLAB, enabling you to incorporate MATLAB
algorithms into models and export simulation results to MATLAB for further analysis.

Key Features
Graphical editor for building and managing hierarchical block diagrams
Libraries of predefined blocks for modeling continuous-time and discrete-time systems
Simulation engine with fixed-step and variable-step ODE solvers
Scopes and data displays for viewing simulation results
Project and data management tools for managing model files and data
Model analysis tools for refining model architecture and increasing simulation speed
MATLAB Function block for importing MATLAB algorithms into models
Legacy Code Tool for importing C and C++ code into models

1-2
 Model-Based Design

Model-Based Design
In this section...
What Is Model-Based Design? on page 1-3
Modeling, Simulation, and Analysis with Simulink on page 1-4
Interaction with MATLAB Environment on page 1-5

What Is Model-Based Design?

Model-Based Design is a process that enables fast and cost-effective development of
dynamic systems, including control systems, signal processing, and communications
systems. In Model-Based Design, a system model is at the center of the development
process, from requirements development through design, implementation, and testing.
The model is an executable specification that you continually refine throughout the
development process. After model development, simulation shows whether the model
works correctly.

When software and hardware implementation requirements are included with the model,
such as fixed-point and timing behavior, you can generate code for embedded deployment
and create test benches for system verification, saving time and avoiding manually coded
errors.

Model-Based Design allows you to improve efficiency by:

Using a common design environment across project teams

Linking designs directly to requirements
Integrating testing with design to continuously identify and correct errors
Refining algorithms through multi-domain simulation
Generating embedded software code
Developing and reusing test suites
Generating documentation
Reusing designs to deploy systems across multiple processors and hardware targets

1-3
1 Introduction

Modeling, Simulation, and Analysis with Simulink

With Simulink, you can move beyond idealized linear models to explore realistic
nonlinear models, factoring in friction, air resistance, gear slippage, hard stops, and the
other parameters that describe real-world phenomena. Simulink enables you to think of
the development environment as a laboratory for modeling and analyzing systems that
would not be possible or practical otherwise.

Whether you are interested in the behavior of an automotive clutch system, the flutter of
an airplane wing, or the effect of the monetary supply on the economy, Simulink provides
you with the tools to model and simulate almost any real-world problem. Simulink also
provides examples that model a wide variety of real-world phenomena.

Tool for Modeling

Simulink provides a graphical editor for building models as block diagrams, allowing
you to draw models as you would with pencil and paper. Simulink also includes a
comprehensive library of sink, source, linear and nonlinear component, and connector
blocks. If these blocks do not meet your needs, however, you can also create your own
blocks. The interactive environment simplifies the modeling process, eliminating the
need to formulate differential and difference equations in a language or program.

Models are hierarchical, so you can build models using both top-down and bottom-up
approaches. You can view the system at a high level, then drill down to see increasing
levels of model detail. This approach provides insight into how a model is organized and
how parts interact.

Tool for Simulation

After you define a model, you can simulate its dynamic behavior using a choice of
mathematical integration methods, either interactively in Simulink or by entering
commands in the MATLAB Command Window. Commands are particularly useful for
running a batch of simulations. For example, if you are doing Monte Carlo simulations or
want to apply a parameter across a range of values, you can use MATLAB scripts.

Using scopes and other display blocks, you can see the simulation results while a
simulation runs. You can then change parameters and see what happens for what
if exploration. You can save simulation results in the MATLAB workspace for
postprocessing and visualization.

1-4
 Model-Based Design

Tool for Analysis

Model analysis tools include linearization and trimming tools you can access from
MATLAB, plus the many tools in MATLAB and its application toolboxes. Because
MATLAB and Simulink are integrated, you can simulate, analyze, and revise your
models in either environment.

Interaction with MATLAB Environment

Simulink software requires MATLAB to run, and it depends on it to define and evaluate
model and block parameters. Simulink can also use many MATLAB features. For
example, Simulink can use the MATLAB environment to:

Define model inputs.

Store model outputs for analysis and visualization.
Perform functions within a model, through integrated calls to MATLAB operators and
functions.

More About
Create Simple Model on page 2-2
Basic Modeling Workflow on page 1-6
Basic Simulation Workflow on page 1-13

1-5
1 Introduction

Basic Modeling Workflow

In this section...
Define System on page 1-6
Model System on page 1-9
Integrate Model on page 1-11

Modeling is a process in which you describe a dynamic system with mathematical

equations and then create a simplified representation of the system with a model. The
equations define the science of the system and the model uses the equations to define the
time-varying behavior.

The steps in a typical modeling workflow include:

Defining a system
Modeling the system
Integrating the system

Define System
Identify the components of a system, determine physical characteristics, and define
dynamic behavior with equations. You perform these steps outside of the Simulink
software environment and before you begin building your model.

1-6
 Basic Modeling Workflow

Determine Modeling Goals

Before designing a model, you need to understand your goals and requirements. Ask
yourself these questions to help plan your model design:

What problem does the model help you solve?

What questions can it answer?
How accurately must it represent the system?

Some possible modeling goals:

Understand how system components interact with each other.

Explore controller and fault-tolerance strategies.
Decide between alternative designs.
Observe the response of systems that you cannot solve analytically.
Determine how various inputs and changing model parameters affect the output.

Identify System Components

Once you understand your modeling requirements, you can begin to identify the
components of the system.

Identify the components that correspond to structural parts of the system. Creating
a model that reflects the physical structure of a system, for example, motor controller
or brake system, is helpful when you have to build part of the system in software and
hardware.
Identify functional parts that you can independently model and test.
Describe the relationships between components, for example, data, energy, and force
transfer.
Draw a picture showing the connections between components. Include major
parameters in your diagram. Creating a picture of the system can help you identify
and model the parts that are essential to the behaviors you want to observe.

1-7
1 Introduction

Define System Equations

After you identify the components in a system, you can describe the system
mathematically with equations. Derive the equations using scientific principles or from
the input-output response of measured data. Many of the system equations fall into three
categories:

For continuous systems, differential equations describe the rate of change for
variables with the equations defined for all values of time. For example, the velocity of
a car is given by the second order differential equation

dv( t) b
= - v (t ) + u(t ).
dt m
For discrete systems, difference equations describe the rate of change for variables,
but the equations are defined only at specific times. For example, the control signal
from a discrete propositional-derivative controller is given by the difference equation

pd[ n] = ( e[ n] - e[n - 1]) Kd + e[n] K p .

Equations without derivatives are algebraic equations. For example, the total current
in a parallel circuit with two components is given by the algebraic equation

It = Ia + Ib.

Collect Parameter Data

Create a list of equation variables and constant coefficients, and then determine the
coefficient values from published sources or by performing experiments on the system.

Use measured data from a system to define equation coefficients and parameters in your
model.

Identify the parts that are measurable in a system.

Measure physical characteristics or use published property values. Manufacturer data
sheets are a good source for hardware values.
Perform experiments to measure the system response to various inputs. You will later
use this data to verify your model design with simulations.

1-8
 Basic Modeling Workflow

Model System
Build individual model components that implement the system equations, and define the
interfaces for passing data between components.

Model Top-Level Structure

A model in Simulink is a graphical representation of a system using blocks and

connections between blocks. After you finish describing your system, its components, and
equations, you can begin to build your model.

Use the system equations to build a graphical model of the system with the Simulink
Editor.
If you place all of the model blocks in one level of a diagram, your diagram can
become difficult to read and understand. One way to organize your model is to use
subsystems. Examples of blocks you can use to create a subsystem include Subsystem,
Atomic Subsystem, and Model.
Identify input and output connections (for example, signal lines) between subsystems.
Input and output values change dynamically during a simulation.

1-9
1 Introduction

Model Component

Some questions to ask before you begin to model a component:

What are the constants for each component and the values that do not change unless
you change them?
What are the variables for each component and the values that change over time?
How many state variables does a component have?

After you create the top-level structure for your model, you can begin to model the
individual components.

Use the system equations to create a Simulink model.

Add Simulink blocks in the Simulink Editor. Blocks represent coefficients and
variables from the equations. Connect blocks to other blocks. Lines connecting blocks
represent data transfer.
Build the model for each component separately. The most effective way to build a
model of a system is to consider components independently.
Start by building simple models using approximations of the system. Identify
assumptions that can affect the accuracy of your model. Iteratively add detail until
the level of complexity satisfies the modeling and accuracy requirements.

Simulate Component

After you build a model component, you can simulate to validate the design.

Predict the expected output of the integrated model components.

Add blocks to approximate actual input and control values. Add sink blocks to record
and visualize results.
Validate the model design by comparing the simulation output to your expected
output.
If the result does not match your prediction, change your model to improve the
accuracy of your prediction. Changes include model structure and parameters.

1-10
 Basic Modeling Workflow

Integrate Model
Connect component models and simulate the model response over time to validate the
design.

1-11
1 Introduction

Connect Model Components

After you build and validate each model component, you can connect them into a
complete model, simulate the model, and analyze the results.

Some guidelines for connecting model components:

Integrate model components by first connecting two of them (for example, connect
a plant to a controller). After validating the pair by simulation, continue connecting
components until your model is complete.
Think about how each component you add affects the other parts of the model.

Simulate Connected Components

Validating your model determines if it accurately represents the physical characteristics

of the modeled dynamic system. Some guidelines for validating subsystems:

Predict the expected simulation results and outputs of the subsystems.

Add realistic inputs using source blocks.
Add sink blocks to record and visualize results.
Simulate the subsystems and compare the simulated result with your expected result.

Model External Interface

Add blocks for connecting external signals into and out of your model.

More About
Model-Based Design on page 1-3
Basic Simulation Workflow on page 1-13

1-12
 Basic Simulation Workflow

Basic Simulation Workflow

In this section...
Prepare for Simulation on page 1-13
Run and Evaluate Simulation on page 1-15

Simulation is a process in which you validate and verify a model by comparing

simulation results with:

Data collected from a real system.

Functionality described in the model requirements.

Perform the simulation workflow after you've finished building your model and a
simulation completes without errors. The steps in a typical simulation workflow include:

Prepare for simulation.

Run and evaluate simulation.

Prepare for Simulation

Define the external input and output interfaces.

1-13
1 Introduction

Determine Simulation Goals

Before simulating a model, you need to understand your goals and requirements. Ask
yourself these questions to help plan your simulations:

What questions do you want the simulation to answer?

How accurately does the model need to represent the system?

Some possible simulation goals:

Understand input to output causality For a given input set and nominal parameter
values, look at how the inputs flow through the system to the outputs.
Verify model Compare simulation results with collected data from the modeled
system. Iteratively debug and improve the design.
Optimize parameters Change parameters and compare simulation runs.
Visualize results Send simulation results to a plot or print in a report.

Collect Data

Collect input and output data from an actual system. Use measured input data to drive
the simulation. Use measured output data to compare with the simulation results from
your model.

You will use measured input data to drive a simulation and measured output data to
verify the simulation results.

Prepare Model

Preparing a model for simulation includes defining the external interfaces for input data
and control signals, and output signals for viewing and recording simulation results.

Set Parameters

For the first simulation, use model parameters from the validated model. After
comparing the simulation results with measured output data, change model parameters
to more accurately represent the modeled system.

1-14
 Basic Simulation Workflow

Run and Evaluate Simulation

Simulate your model and verify that the simulation results match the measured data
from the modeled system.

Import Data

Simulink enables you to import data into your model.

Use the Signal Builder block to import input signals from a Microsoft Excel file
(XLSX, XLS) or a comma-separated value file (CSV). Simulink saves data imported
from an Excel file using a Signal Builder block with the model and loads the data into
memory when you open the model.
For large data sets, use a MATLAB MAT-file with an Inport block.

Run Simulation

Using measured input data, run a simulation and save results.

1-15
1 Introduction

Evaluate Result

Evaluate the differences between simulated output and measured output data. Use the
evaluation to verify the accuracy of your model and how well it represents the system
behavior. Decide if the accuracy of your model adequately represents the dynamic system
you are modeling.

Change Model

Determine the changes to improve your model. Model changes include:

Parameters Some parameters were initially estimated and approximated. Optimize

and update parameters.
Adding structure Some parts or details of the system were not modeled. Add
missing details.

More About
Model-Based Design on page 1-3
Basic Modeling Workflow on page 1-6

1-16
 Documentation and Resources

Documentation and Resources

In this section...
Simulink Online Help on page 1-17
Simulink Examples on page 1-18
Website Resources on page 1-19

Simulink Online Help

Simulink software provides comprehensive online help describing features, blocks, and
functions with detailed procedures for common tasks.

Access online help from Help menus and context-sensitive block labels.

From the Simulink Library Browser toolbar, select the Help button .
From the Simulink Editor menu, select Help > Simulink > Simulink Help.
Right-click a Simulink block, and then select Help.
From the model Configuration Parameters dialog box or a block parameters dialog
box, right-click a parameter label, then select Whats This?

1-17
1 Introduction

Simulink Examples
Simulink provides example models that illustrate key modeling concepts and Simulink
features. To view a list of examples:

From the Simulink Editor menu, select Help > Simulink > Examples.
From the Help browser, open the Simulink product page, and then click Examples at
the top right.

To open the Simulink model for an example, click the Open Model button.

1-18
 Documentation and Resources

Website Resources
You can access additional Simulink resources on the MathWorks website, including a
description of capabilities, technical articles, tutorials, and hardware support.

http://www.mathworks.com/products/simulink

Related Examples
Model a Dynamic System on page 3-2
Simulate a Dynamic System on page 4-2

1-19
 2

Simple Simulink Model

2 Simple Simulink Model

Create Simple Model

In this section...
Model Overview for This Tutorial on page 2-2
Open New Model in Simulink Editor on page 2-3
Open Simulink Library Browser on page 2-5
Browse or Search for Specific Blocks on page 2-7
Add Blocks to Model on page 2-8
Move and Resize Blocks on page 2-10
Block Connections on page 2-11
Draw Signal Lines Between Blocks on page 2-11
Draw Branched Signal Lines on page 2-14
Define Configuration Parameters on page 2-16
Run Simulation on page 2-17
Observe Simulation Results on page 2-17

Model Overview for This Tutorial

You can use Simulink to model a system and then simulate the dynamic behavior of that
system. The basic techniques you use to create the simple model in this tutorial are the
same techniques that you use for more complex models.

To create this simple model, you need four Simulink blocks. Blocks are the model
elements that define the mathematics of a system and provide input signals:

Sine Wave Generate an input signal for the model.

Integrator Process the input signal.
Bus Creator Combine multiple signals into one signal.
Scope Visualize and compare the input signal with the output signal.

2-2
 Create Simple Model

Simulating this model integrates a sine wave signal to a cosine signal and then displays
the result, along with the original signal, in a Scope window.

Open New Model in Simulink Editor

Use the Simulink Editor to build your models.

1 Start MATLAB. From the MATLAB Toolstrip, click the Simulink button .

A short delay occurs the first time you open Simulink.

2-3
2 Simple Simulink Model

2 Click the Blank Model template, and then click the Create Model button.

The Simulink Editor opens with a new block diagram.

2-4
 Create Simple Model

3 Select File > Save as. In the File name text box, enter a name for your model, For
example, simple_model.slx. Click Save.

Open Simulink Library Browser

From the Simulink Library Browser you can search for blocks to use in your model. Also,
you can create a new Simulink model, project, or Stateflow chart.

1 From the Simulink Editor toolbar, click the Simulink Library button .

2-5
2 Simple Simulink Model

2 Set the Library Browser to stay on top of the other desktop windows. On the Library
Browser toolbar, select the Stay on top button .

2-6
 Create Simple Model

Browse or Search for Specific Blocks

To browse through the block libraries, select a MathWorks product and then a
functional area in the left pane. To search all of the available block libraries, enter a
search term.

1 Search for a Sine Wave block. In the search box on the browser toolbar, enter sine,
and then press the Enter key. Simulink searches the libraries for blocks with sine
in their name or description, and then displays the blocks.

2 Get detailed information about a block. Right-click a block, and then select Help for
the <block name>. The Help browser opens with the reference page for the block.
3 View block parameters. Right-click a block, and then select Block Parameters. The
block parameters dialog box opens.

2-7
2 Simple Simulink Model

Add Blocks to Model

You build models by dragging blocks from the Simulink Library Browser window to the
Simulink Editor or single-clicking your model and entering a search term.

To build the simple model, begin by copying blocks from the Simulink Library Browser to
the Simulink Editor.

1 In the left pane of Simulink Library Browser, select the Sources library.
2 From the right pane, select the Sine Wave block.

3 Drag the Sine Wave block to the Simulink Editor. A copy of the Sine Wave block
appears in your model.

2-8
 Create Simple Model

4 Add a Scope block using this alternative procedure:

a Click within the block diagram.

b After the search icon appears, type scope, and then from the list, select Scope.

5 Add the following blocks to your model using one of the approaches you used to add
the Sine Wave and Scope blocks.

Library Block
Continuous Integrator
Signal Routing Bus Creator

Your model should now have the blocks you need for the simple model.

2-9
2 Simple Simulink Model

Move and Resize Blocks

Before you connect the blocks in your model, arrange the block inputs and outputs to
make signal connections as straightforward as possible.

1 Move the Scope block after the Bus Creator block output. You can either:

Click and drag the block.

Select the block, and then press the arrow keys on your keyboard.
2 Move the blocks until your model looks similar to the following figure.

2-10
 Create Simple Model

Block Connections
Most blocks have angle brackets on one or both sides. These angle brackets represent
input and output ports:

The > symbol pointing into a block is an input port.

The > symbol pointing out of a block is an output port.

You connect block output ports to input ports with lines. The lines represent signals with
time-varying values.

Draw Signal Lines Between Blocks

Connect the blocks by drawing lines between output ports and input ports.

2-11
2 Simple Simulink Model

1 Position the cursor over the output port on the right side of the Sine Wave block.

The pointer changes to a cross hair (+).

2 Click, and then drag a line from the output port to the top input port of the Bus
Creator block.

While holding down the mouse button, the connecting line appears as a red dotted
arrow.

3 Release the mouse button when the pointer is over the output port.

Simulink connects the blocks with a line and an arrow indicating the direction of
signal flow.

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 Create Simple Model

4 Connect the output port of the Integrator block to the bottom input port on the Bus
Creator block using a Ctrl key shortcut:

a Select the Integrator block.

b Press and hold the Ctrl key.
c Click the Bus Creator block.

The Integrator block connects to the Bus Creator block with a signal line.
5 Connect the Bus Creator block to the Scope block by aligning ports:

a Click and drag the Scope block until its input port is aligned with the Bus
Creator output port. A light blue line appears between the ports when the blocks
line up horizontally.

2-13
2 Simple Simulink Model

b Release the mouse button. Ablue arrow appears as a suggested connection.

c Click the end of the blue arrow. The arrow changes to a black signal line
connecting the blocks.

Draw Branched Signal Lines

Your simple model is almost complete. To finish the model, connect the Sine Wave block
to the Integrator block. This connection is different from the other connections, which all
connect output ports to input ports.

1 Hold down the Ctrl key.

2 Position the cursor where you want to start a branch line. Click, and then drag the
cursor away from the line to form a dotted-red line segment.

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 Create Simple Model

3 Drag the cursor to the Integrator input port, and then release the mouse button.

The new line, called a branch line, carries the same signal that passes from the Sine
Wave block to the Bus Creator block.
4 Drag line segments to straighten and align with blocks. Your model is now complete.

2-15
2 Simple Simulink Model

Define Configuration Parameters

Before you simulate the behavior of your model, you can modify the default values for the
configuration parameters. The configuration parameters include the type of numerical
solver, start time, stop time, and maximum step size.

1 From the Simulink Editor menu, select Simulation > Model Configuration
Parameters. The Configuration Parameters dialog box opens to the Solver pane.

Tip Alternatively, you can open the Model Configuration Parameters dialog box by

clicking the parameters button on the Simulink Editor toolbar.

2 In the Stop time field, enter 20. In the Max step size field, enter 0.2. With the
Solver parameter set to auto, Simulink determines the best numerical solver for
simulating your model.

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 Create Simple Model

3 Click OK.

Run Simulation
After you define the configuration parameters, you are ready to simulate your model.

1 From the Simulink Editor menu bar, select Simulation > Run.

The simulation runs, and then stops when it reaches the stop time specified in the
Model Configuration Parameters dialog box.

Tip Alternatively, you can control a simulation by clicking the Run simulation

button and Pause simulation button on the Simulink Editor toolbar or

Scope window toolbar.

Observe Simulation Results

After simulating a model, you can view the simulation results in a Scope window.

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2 Simple Simulink Model

1 Double-click the Scope block.

The Scope window opens and displays the simulation results. The plot shows a sine
wave signal with the resulting cosine wave signal.

2 On the Scope window toolbar, click the Style button.

A Style dialog box opens with display options.

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 Create Simple Model

3 Change the appearance of the display. For example, select white for the display color
and axes background color (icons with a pitcher).
4 Select black for the ticks, labels, and grid colors (icon with a paintbrush).
5 Change signal line colors for the Sine Wave to blue and the Integrator to red. To see
your changes, click OK or Apply.

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2 Simple Simulink Model

Related Examples
Model a Dynamic System on page 3-2
Simulate a Dynamic System on page 4-2

2-20
 3

Model a Dynamic System

3 Model a Dynamic System

Model a Dynamic System

In this section...
Model Overview for This Tutorial on page 3-2
Define a House Heating System on page 3-2
Model a House Heating System on page 3-7
Integrate a House Heating Model on page 3-24

Model Overview for This Tutorial

This tutorial shows how to model a dynamic system using Simulink software. The
completed model is a house heating system that includes a heater (plant), thermostat
(controller), and room (environment). In the MATLAB Command Window, enter
open_system([matlabroot,'/help/toolbox/simulink/examples/ex_househeat_modeling'])
or click ex_househeat_modeling to open and review the model you will build.

Define a House Heating System

Define requirements and mathematical equations. Collect data for model parameters and
validating the simulation results. See Basic Modeling Workflow: Define System on page
1-6.

3-2
 Model a Dynamic System

Determine Modeling Goals

Before designing a model, consider your goals and requirements. The goals for modeling
the house heating system are:

Observe how the changing outdoor temperature affects the indoor temperature.
Using experimentally measured outdoor and indoor temperatures, compare
simulation results with measured values.

Identify System Components

The house heating system in this tutorial defines a heating system and its relationship to
a room. It includes:

Thermal characteristics of a house

Thermal characteristics of a heater
A thermostat to control the heater
Outdoor environment
Indoor environment

After you select a thermostat setting, the thermostat turns the heater on and off
depending on the difference between the outside temperature and the room temperature.

The model for this system includes three components: heater, thermostat, and room.

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3 Model a Dynamic System

Define System Equations

Three variables define the house heating model:

Thermal energy transferred from the heater ( Q

gain ) to a room

Thermal energy transferred from the room ( Q ) to the outdoor environment

loss
Temperature of the room ( T
room )

A differential equation defines each of the variables, but since heat transfer is defined in
terms of changing temperature, only room temperature is a state variable.

Rate of Heat Gain Equation

The temperature of the air in the heater is Theater and the room temperature is Troom.
Thermal energy gain to the room is by convection of heated air from the heater. Heat
gain for a mass of air in the heater mheaterair is

Qgain = mheaterair cair (Theater - Troom ).

A fan takes room air, and passes it through the heater and back to the room. The rate of
thermal energy gain from the heater is

dQgain dmheaterair
= cair (Theater - Troom ).
dt dt

Since the mass of air per unit time from the heater is constant, replace dmheaterair / dt with
a constant M heaterair and simplify the equation to

dQgain
= M heaterair cair (Theater - Troom ).
dt

Rate of Heat Loss Equation

Thermal energy loss from the room is by conduction through the walls and windows:

kA(Troom - Toutside )t
Qloss = .
D

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 Model a Dynamic System

The rate of thermal energy loss is

dQloss kA(Troom - Toutside )

= .
dt D

Replacing kA / D with 1 / R where R is the thermal resistance simplifies the equation to

dQloss (Troom - Toutside )

= .
dt R

Changing Room Temperature Equation

Define the rate of temperature change in the room by subtracting the rate of heat loss
from the rate of heat gain:

dTroom 1 dQgain dQloss

= -
dt mroomair cair dt dt .

Collect Data

Most of the parameter values needed for the house heating model are published in
standard property tables. The flow rate for the heater is from a manufacturer data sheet.

List the variables and coefficients from your equations and check for dimensional
consistency between the units. Since the unit of time for the model is hours, convert
published values for the thermal property of materials from units of seconds to hours.
Equation Variables and Constants

You can use the constant names and values in this table when building the model.

Equation Description Units

Variable or
Coefficient
A Area of wall or window surface square meter

A_wall = 914, A_window = 6

D Depth of wall or window meter

D_wall = 0.2, D_window 0.01

3-5
3 Model a Dynamic System

Equation Description Units

Variable or
Coefficient
Q Thermal energy transferred joule
dQ/dt Rate of thermal energy joule/hour
transferred
k Thermal conductivity; property joule/meter hour degree
of a material to conduct heat
transfer

k_fiberglass = 136.8,
k_glass = 2808
r Thermal resistivity; property of a meter hour degree/joule
material to resist heat transfer

r = 1/k
R Thermal resistance hour degree/joule

R = D/kA = (T1 T2)Q

R_wall = 1.599e-6, R_window

= 5.935e-7

R_equivalent = (R_wall
* R_window)/(R_wall +
R_window) = 4.329e-7
m Mass of air in the room or heater kilogram

m_room_air = 1470

The mass of the heater

m_heater_air is not needed for
this model.
dm/dt Rate of air mass passing through kilogram/hour
the heater

3-6
 Model a Dynamic System

Equation Description Units

Variable or
Coefficient
M Constant rate of air mass passing kilogram/hour
through the heater

M_heater_air = 3600
c Specific heat capacity joule/kilogram degree

c_air = 1005.4
Theater Constant air temperature from degree Celsius
heater

T_heater = 50
Troom Air temperature of room degree Celsius

Initial air temperature of room

T_roomIC = 20

Model a House Heating System

Model the top-level structure and individual components. Organize your model into
a hierarchical structure that corresponds to the components of the system. See Basic
Modeling Workflow: Model System on page 1-9.

Model Top-Level Structure

At the top level of the house heating model, use Subsystem blocks to organize your model
and create the structure. The model includes the subsystems Thermostat, Heater, and
Room.

1 From the MATLAB Toolstrip, click the Simulink button , or in the Command
Window, enter

simulink
2 Click the Blank Model template, and then click the Create Model button.
3 From the Simulink Editor toolbar, click the Library Browser button .

3-7
3 Model a Dynamic System

4 Add Subsystem blocks. Drag three Subsystem blocks from the Ports & Subsystems
library to the new model in the Simulink Editor.

5 Open a Subsystem block. Double-click the block.

Each new Subsystem block contains one Inport (In1) and one Outport (Out1) block.
These blocks define the subsystem interface with the next higher level in a model
hierarchy.

Each Inport block creates an input port on the Subsystem block, and each Outport
block creates an output port. Add more blocks for additional input and output
signals.
6 On the Simulink Editor toolbar, click the Up to Parent button to return to the
top level. Rename the Subsystem blocks as shown. Double-click a block name and
type the new name.

Model Heater Component

Lets start by modeling the heater system component. The heater model:

Takes the current temperature from the room and a control signal from the
thermostat as inputs
Calculates the heat gain from the heater
Outputs the heat gain when the room temperature is lower than the selected room
temperature

To model the heater subsystem, model the Rate of Heat Gain Equation on page 3-4
with Simulink blocks:

3-8
 Model a Dynamic System

dQgain
= M heaterair cair (Theater - Troom ).
dt

Subtract Room Air Temperature from Heater Air Temperature

The temperature difference is the current room temperature subtracted from the
constant temperature of the heater (T_heater). See Equation Variables and Constants
on page 3-5.

1 Open the Heater subsystem.

2 In the Heater subsystem, type Sum to display a list of blocks with Sum in the name.
Double-click the Sum block on the list. When prompted for a list of signs, type |-+ to
place - and + input ports on the block, and press Enter.
3 Add a Constant block to model the constant air temperature from the heater. Set
the block Constant value parameter to T_heater. You will define the value of
T_heater in the Model Workspace.
4 Add an Inport block to connect the room temperature signal to another part of your
model.
5 Rename the blocks and connect them as shown in the figure.

6 Add labels to the signal lines to help trace model components to the equations and
model requirements. Double-click above a signal line and enter a label.

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3 Model a Dynamic System

Multiply Temperature Difference by Heat Gain Per Degree

The heat gain per degree is the constant rate of mass from the heater (M_heater_air)
multiplied by the specific heat capacity of air (c_air). See Equation Variables and
Constants on page 3-5.

1 Add a Gain block to the Heater subsystem. Set the Gain parameter to
M_heater_air*c_air. You will define the values of these variables in the Model
Workspace.
2 Connect the output of the Sum block to the input of the Gain block.
3 Rename the Gain block to Heat Gain/Degree.

Model a Heater Switch

The thermostat sends an on/off signal equal to 1 (on) or 0 (off) to the heater. Because the
input signal is binary, you can use a Multiplier block to model a switch.

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 Model a Dynamic System

1 Remove the connection between the In1 and Out1 blocks. Select the line and press
Delete.
2 Add a Product block. Resize the block vertically to align the block in your diagram.
Connect the In1 block to the first block input and the block output to the Out1 block.
Rename the blocks as shown.

3 Connect the output from the Gain block to the second input. Move all the connected
blocks together. Draw a selection box around the blocks you want to move, and then
drag them to the new location.
4 Rename blocks and add labels to signals as shown in the figure.

The Inport and Outport blocks create ports that connect this subsystem to other
subsystems in your model.

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3 Model a Dynamic System

Define Heater Model Parameters

You can define variables in the MATLAB Workspace and then enter their names in the
block parameter dialog boxes. However, a more robust method is to use the Simulink
Model Workspace because variable values are saved with the model.

1 In the Simulink Editor, select View > Model Explorer > Model Workspace.
2 In Model Explorer, select Add > MATLAB Variable. In the middle pane, click
the new variable Var and enter the variable name for a block parameter. For this
example, enter T_heater.

3 In the right pane, in the Value box, enter the value of the variable. For this
example, enter 50 degrees. Click Apply.

4 Using the same approach, add the variable M_heater_air with a value of 3600
kilogram/hour and c_air with a value of 1005.4 joule/kilogram degree.

Prepare Heater Model for Simulation

Set up the heater model for simulation. Think about the expected behavior and how you
can test that behavior with a simulation. When the thermostat output is 1, the expected
output from the gain is (50 25) x 3600 1005.3 = 9.05 107.

1 From the Heater subsystem, click the Up to Parent button to navigate to the
top level of your model. You can resize the Heater block as shown in the figure.

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 Model a Dynamic System

Notice the Heater block has a second input port and that each port corresponds to an
Inport block or Outport block in the subsystem.
2 Add a Constant block to represent the room temperature, and set the value to 25
(degrees Celsius). Add a Step block for a temporary Heater (on/off) signal. Set Step
time to 4.
3 Add a Scope block and connect it to the Heat Flow output. Connect the rest of the
blocks as shown.

Simulate Heater Model and Evaluate Results

Use the default simulation settings to validate your model design.

1 Open the Configuration Parameters dialog box. In the Simulink Editor, select
Simulation > Model Configuration Parameters.

Verify that Stop time is set to 10, Type is set to Variable-step, and Solver to
ode45.
2 Double-click the Scope block to open it.
3 Simulate the model. Select Simulation > Run, or click the Run button .

As the simulation runs, the Scope plots the results.

4 View the scope trace. Right-click the y-axis and select Configuration Properties
properties. On the Display tab, set Y-limits (Minimum) to -2e7 and Y-limits
(Maximum) to 12e7.

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3 Model a Dynamic System

5 Determine if this result is what you expected.

When the heater on/off signal flips from 0 to 1 at 4 hours, the heater outputs 9.05
107 joule/hour. The simulation validates the expected behavior.

Model Thermostat Component

You can model a thermostat without using system equations. Requirements for this
component:

When the room temperature is below the set temperature, the control signal equals 1.
When the room temperature is above the set temperature, the control signal equals 0.
There is a hysteresis of 2 degrees Celsius around the temperature set point. If the
thermostat is on, the room temperature must increase 2 degrees above the set
temperature before turning off.

This component models the operation of a thermostat, determining when the heating
system is on or off. It contains only one Relay block but logically represents the
thermostat in the model.

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 Model a Dynamic System

Subtract Set Room Temperature from Room Temperature

If the set room temperature is warmer than the room temperature, the thermostat
model sends an on signal to the heater model. To determine if this is the case, begin by
subtracting the room temperature from the set temperature.

1 Open the Thermostat subsystem. Add a Sum block to it. Set the List of signs
parameter to |+ to place + and input ports on the block.
2 Connect the Inport block to the + input of the Sum block. The Inport block sets the
room temperature.
3 Add a second Inport block and connect it to the input of the Sum block. This second
Inport block is the current room temperature from the room subsystem. Move the
output port to the top of the block. Right-click the block and select Rotate & Flip >
Counterclockwise. If you want, you can reshape the block as shown in the figure
by dragging the handles.
4 Rename the blocks as shown.

Model Thermostat Signal

Model the signal from the thermostat with a hysteresis value of 2 s Celsius.

1 In the Thermostat subsystem, add a Relay block. Set the Switch on point
parameter to 2, and the Switch off point parameter to -2.
2 Connect and rename the blocks as shown in the figure.

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3 Model a Dynamic System

Prepare Thermostat Model for Simulation

Prepare the Thermostat subsystem for simulation. Think about the expected behavior
of the thermostat and how you can test that behavior with a simulation. When the room
temperature rises above the thermostat setting by 2 degrees, the thermostat output is
0. When the room temperature moves below the thermostat setting by 2 degrees, the
thermostat output is 1.

1 From the Thermostat subsystem, click the Up to Parent button to navigate to

the top level of your model. Resize the Thermostat block as shown in the figure.

Notice the Thermostat subsystem now has a second input port. Each input port
corresponds to an Inport block in the subsystem.
2 Add a Constant block for setting the room temperature. Set the Constant parameter
to 25 (degrees Celsius).
3 Add a Sine Wave block to represent the changing room temperature. Set the
Amplitude parameter to 10, the Bias to 20, and the Frequency to 0.5. These
parameters give a variation above and below the temperature set point of 25.
4 Add a Floating Scope block to view signals.
5 Connect the blocks as show in the figure.

6 Double-click the Floating Scope. From the toolbar, click the Signal Selector button
.

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 Model a Dynamic System

7 In the Signal Selector dialog box, select the Constant, Sine Wave, and
Thermostat check boxes, and then click Close.

Simulate Thermostat Model and Evaluate Results

Use the default simulation settings to validate your model design.

1 Open the Configuration Parameters dialog box. In the Simulink Editor, select
Simulation > Model Configuration Parameters. Verify Stop time is set to 10,
Type to Variable-step, and Solver to ode45.
2 Simulate the model. As the simulation runs, the Floating Scope plots the results.
3 Open the Floating Scope to view the scope trace. Right-click the display and
select Configuration Properties. Select the Display tab, and then set Y-limits
(Minimum) to -2 and Y-limits (Maximum) to 35.

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3 Model a Dynamic System

4 Determine if this result is what you expected.

Initially the relay is on, and the room temperature is below the set temperature.
When the room temperature increases above the set temperature, the relay does
not initially switch to 0 until the room temperature increases by 2 more degrees.
Simulation validates the expected behavior.

Model Room Component

Inputs to the room component are heat flow from the heater component and the external
air temperature. The room component uses these inputs to compute heat loss through the
walls, heat loss through the windows, and the current room temperature.

To design the room subsystem, use the Rate of Heat Loss Equation on page 3-4
and the Changing Room Temperature Equation on page 3-5.
Model Changing Room Temperature

The rate of temperature change in the room (dTroom/dt) is defined by the equation

dTroom 1 dQgain dQloss

= -
dt mroomair cair dt dt .

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 Model a Dynamic System

The term dQgain/dt is a signal from the Heater subsystem.

1 Open the Room subsystem block. In the Room subsystem, add a Sum block. Set the
List of signs parameter to |+.
2 Connect In1 to the + input. The input is the heat gain (dQgain/dt) from the heater
component. The input connects to the heat loss (dQloss/dt) from the room.
3 Add a Gain block. Set the Gain parameter to 1/(m_room_air*c_air). Connect the
output of the Sum block to the input of the Gain block. Label signals as shown in the
figure. Dotted signal lines are signals you will connect later.

Model Room Temperature

The output of the Gain block is the change in room temperature (dTroom/dt). To get the
current room temperature (Troom), integrate the signal.

1 Add an Integrator block. Set the Initial condition parameter to T_roomIC.

2 Connect the output of the Integrator block to Out1 as shown.

Model Heat Loss Through Walls and Windows

This equation is the rate of thermal energy loss through the walls and windows:

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3 Model a Dynamic System

dQloss (Troom - Toutside )

= .
dt R

1 In the Room subsystem, add a Sum block. Set the List of signs parameter to |+.
Right-click the block and select Rotate & Flip > Flip Block.
2 Click the signal line for Troom, press Ctrl, and then click and drag a branch signal
line. Connect the line to the + input on the Sum block.
3 Add another Inport block and connect it to the input of the Sum block. Rename it
to Outside Temperature.
4 Add another Gain block. Set the Gain parameter to 1/R_equivalent. Right-click
the block and select Rotate & Flip > Flip Block.
5 Connect the blocks as shown in the figure.

Define Room Model Parameters

You can define parameters in the MATLAB Workspace and then enter their names in
the block parameter dialog boxes. However, a more robust method is to use the Simulink
Model Workspace, which saves parameter values.

1 In the Simulink Editor, select View > Model Explorer > Model Workspace.
2 In the Model Explorer, select Add > MATLAB Variable.
3 In the middle pane, click the new variable Var and enter the name m_room_air. In
the right pane, enter the value 1470 (kilograms).

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 Model a Dynamic System

4 Add the variables T_roomIC = 20 (degrees Celsius) and R_equivalent = 4.329e-7

(hour degree/joule).
5 Click Apply.

Prepare Room Model for Simulation

Prepare the Room subsystem for simulation. Think about the expected behavior and how
you can test that behavior with a simulation. When the heater is off (Heat Gain = 0) and
the initial temperature of the room (20) is above the outside temperature (10), heat loss
should continue until the room temperature is equal to the outside temperature.

1 From the Room subsystem, click the Up to Parent button to navigate to the top
level of your model. Resize the Room block as shown in the figure.

The Room block now has a second input port. Each inport port corresponds to an
Inport block in the subsystem.
2 Add a Constant block and connect it to the Heat Gain input. Set the Constant
value parameter to 0 (degrees Celsius) to mean that the heater is turned off.
3 Add another Constant block and connect it to the Outside Temperature input. Set
the Constant value parameter to 10 (degrees Celsius).
4 Add and connect a Scope block to view the changing room temperature.

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3 Model a Dynamic System

Simulate Room Model and Evaluate Results

1 In the toolbar, set the Simulation stop time to 20.

2 Simulate the model.
3 Open the Scope and click the Autoscale button to view the scope trace.

4 Determine if this result is what you expected.

The room temperature starts at the initial room temperature set in the Integrator
block. Because the heat gain is 0, the signal decays to the outside temperature (10).
The simulation validates the expected behavior.

Prepare Room Model for Second Simulation

Set the constant outside temperature to a value above the initial room temperature (20).

1 In the Constant block that is connected to the Outside Temperature input, set
Constant value to 30 (degrees Celsius).

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 Model a Dynamic System

Simulate Model and Evaluate Results

1 Simulate the model.

2 Open the Scope and click the Autoscale button to view the scope trace.

3 Determine if this result is what you expected.

Room temperature starts at the initially set temperature of 20, but with the heater
off (heat gain = 0) the room temperature rises to the outside temperature.

This result was unexpected because you didnt explicitly model this behavior.
However, the equation that models the heat loss also models the heat gain when the
outside temperature is above the inside room temperature.

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3 Model a Dynamic System

Integrate a House Heating Model

Connect model components, add realistic input, and then simulate the model behavior
over time to validate the design. See Basic Modeling Workflow: Integrate Model on
page 1-11.

Integrate Heater and Thermostat Components

To simulate the heater and thermostat subsystems without the Room subsystem, you
need a signal for the changing room temperature. Use a Constant block to set the
thermostat temperature and a Sine Wave block for a realistic outside temperature signal.

Prepare Model for Simulation

1 Open your model with the completed subsystems. Remove any blocks you added to
test the separate components.
2 Open the Room subsystem. Double-click the Inport block labeled Heat Gain. In the
Inport dialog box, set Port number to 2. The Heat Gain port moves to the bottom of
the Room subsystem.

3 Connect the Heater (on/off) signal from the Thermostat subsystem output to the
Heater subsystem input.
4 Add a Constant block to set the thermostat room temperature. Set Constant value
to 20 (degrees Celsius).
5 Add a Sine Wave block to represent the changing room temperature. Set the
parameters Amplitude to 10 (degrees Celsius), Bias to 15, and Frequency to 0.5.
6 Add a Floating Scope block and connect the blocks as shown in the figure.

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 Model a Dynamic System

7 On the Floating Scope window, click the Parameters button . In the Main tab,
click the Layout button. Select two boxes. A second empty graph appears below the
first.
8 From the toolbar, click the Signal Selector button .
9 In the Signal Selector dialog box, and from the Select signals for object drop-down
list, select Axes 1. Select the Heater check box.
10 From the Select signals for object drop-down list, select Axes 2. Select the
Constant and Sine Wave check boxes.
11 In the Floating Scope window, right-click the top display and select Configuration
Properties. Set Y-limits (Minimum) to 0 and Y-limits (Maximum) to 20e7.
12 Right-click the bottom display and select Configuration Properties. Set Y-limits
(Minimum) to 0 and Y-limits (Maximum) to 35.

Simulate Model and Evaluate Results

Simulate the model using the default stop time of 10 and the default solver ode45.

1 Simulate the model.

2 Open the Floating Scope and view the simulation results. The top graph is the heater
gain while the lower graph shows the changing room temperature modeled with a
sine wave.

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3 Model a Dynamic System

Note: If you get an error indicating Simulink cannot display a signal due to block
reduction optimization, clear the Block reduction check box in the Configuration
Parameters dialog box.

3-26
 Model a Dynamic System

3 Determine if this result is what you expected.

From about 0 to 1.5 hours, the heater is turned on. Heat gain is not constant but
changes because heat gain is a function of the difference between the heater air
temperature and the room air temperature. From 1.5 to 5.6 hours, the heater
is turned off and the heat gain (top graph) is zero. The simulation confirms the
expected behavior.

Integrate Room Component

To simulate the Heater and Thermostat subsystems with the Room subsystem, you
need a signal for the changing outside temperature. Simulating the model allows
you to observe how the thermostat setting and outdoor temperature affect the indoor
temperature.

Prepare Model for Simulation

1 Open your model with completed subsystems. Remove any blocks you added to test
the separate components.

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3 Model a Dynamic System

2 Connect the subsystems as shown.

3 Add a Constant block for setting the room temperature. Set Constant value
parameter to 20 (degrees Celsius).
4 Add a Sine Wave block to represent the changing outside temperature. Set Bias to
12, Amplitude to 5, Frequency to 2*pi/24, and Phase to 180.
5 Add a Floating Scope block to view simulation results.

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 Model a Dynamic System

6 In the Floating Scope, click the Signal Selector button . In the Signal Selector
dialog box, select the Room (room temperature) and Sine Wave (outside temperature)
signals.
7 In the Floating Scope, right-click the graph and select Configuration Properties.
Set Y-limits (Minimum) to 5 and Y-limits (Maximum) to 25.

Simulate Model and Evaluate Results

1 Open the model matlabroot\help\toolbox\simulink\examples

\ex_househeat_modeling_prepared.slx or use the model you prepared for
simulation.
2 Set the simulation stop time to 24 (hours) to represent a day.
3 Simulate the model.
4 Open the Floating Scope and view results.

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3 Model a Dynamic System

5 Determine if the simulation result matches your expectation.

When the outside temperature is below the set room temperature, the room
temperature fluctuates 2 degrees above and below the set temperature. Since the
thermostat subsystem includes a 2 degree hysteresis, this simulation result is
expected.

Refine Model Parameters

With Simulink models, you can interactively change model parameters and then observe
changes in the behavior of your model. This approach allows you to evaluate your model
quickly and validate your design.

Change the outside temperature in the Sine Wave block so that upper values are above
the thermostat temperature.

1 In the Sine Wave dialog box, set Bias to 19 and Amplitude to 5. These settings
show what happens when outside temperature is higher than inside temperature.
2 Simulate the model and view the results.

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 Model a Dynamic System

3 Determine if the results match your expectations.

When the outside temperature is above the set thermostat temperature, the room
temperature is about equal to the outside temperature. In this case, heat loss is a
loss of heat from the outside environment into the room.

Model External Interface

Model the external interface for further testing and possible use in a larger model. In
Simulink, you model the external interfaces using Inport and Outport blocks. For the
house heating model, add Inport blocks to read data from the outside temperature and
thermostat set temperature into your model. Add Outport blocks to connect the outside
temperature and room temperature to a larger model or to visualize results.

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3 Model a Dynamic System

After validating the model design, verify the correctness of the model by comparing
simulations with real system data. See Simulate a Dynamic System on page 4-2.

More About
Model-Based Design on page 1-3
Basic Modeling Workflow on page 1-6
Basic Simulation Workflow on page 1-13

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 4

Basic Simulation Workflow

4 Basic Simulation Workflow

Simulate a Dynamic System

In this section...
Model Overview for This Tutorial on page 4-2
Prepare Simulation on page 4-3
Run and Evaluate Simulation on page 4-5

Model Overview for This Tutorial

This tutorial shows how to simulate the model of a dynamic system using Simulink
software, and then use the results to improve the model. The model is a house heating
system that includes a heater (plant), thermostat (controller), and room (environment)
with interfaces to input measured system data.

Before preparing a model for simulation, build the model and validate the model design.
See Model a Dynamic System on page 3-2.

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 Simulate a Dynamic System

Prepare Simulation
Add interfaces to input measured data, add control signals, and update model
parameters. See Basic Simulation Workflow: Prepare for Simulation on page 1-13.

Determine Simulation Goals

Before simulating a model, consider your goals and requirements. For the house heating
system, these are the goals:

Verify that the simulation represents the behavior of the modeled system.
Improve the accuracy of the model by optimizing parameters.

Collect and Plot System Data

Measure parameters for an actual house heating system. You will use the measured data
with model simulations to verify the behavior and accuracy of your model.

1 Measure the outside and inside temperatures of a house every 6 minutes for 24
hours.
2 Enter the measured data into a Microsoft Excel worksheet. You can open and
example spreadsheet at matlabroot\help\toolbox\simulink\examples
\ex_househeat_measured_data.xls.

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4 Basic Simulation Workflow

3 Plot the measured data in a chart. The inside temperature data shows temperature
spikes when the hot air heater turns on. This pattern is typical for a hot air heating
system.

Prepare Model for Simulation

Prepare a model for simulation by adding external interfaces for data input and adding
input control signals.

1 Open the model matlabroot/help/toolbox/simulink/examples/

ex_househeat_modeling.slx or use the model you created in the tutorial Model
a Dynamic System on page 3-2.
2 Replace the In1 block with a Signal Builder block. The Signal Builder block imports
data from a Microsoft Excel worksheet.
3 Replace the In2 block with a Constant block and set the value to 20. The Constant
block sets the thermostat temperature.

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 Simulate a Dynamic System

4 Save the model.

Update Model Parameters

For the first time through the basic simulation workflow, use the model parameters
saved with the model.

Some parameters to consider for optimization are heater hysteresis, temperature offset,
and the resistance of the house to heat loss. The parameter values for modeling and
validating the model design were approximated and estimated.

Run and Evaluate Simulation

Define simulation parameters, run simulation, and evaluate simulation results. See
Basic Simulation Workflow: Run and Evaluate Simulation on page 1-15.

Import Data

A Signal Builder block can import data from a Microsoft Excel worksheet into a Simulink
model. The imported data is saved with the model. When you close and then open the
model, the data is loaded into memory.

1 Open the model matlabroot\help\toolbox\simulink\examples

\ex_househeat_simulation_import_data.slx or use the model you prepared
for importing data.

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4 Basic Simulation Workflow

2 Double-click the Signal Builder block.

3 In the Signal Builder, select File > Import from File. Browse to and
select the file matlabroot\help\toolbox\simulink\examples
\ex_househeat_measured_data.xls or use your data file.
4 Expand the Sheet1 node to view the data columns. Select the Sheet1 check box,
which also selects the contents.

The Data to Import pane shows:

Excel file name

Worksheet in the file
Columns of data in the worksheet

5 From the Placement for Selected Data list, select Replace existing dataset.
Click Confirm Selection. Click OK.
6 Respond to the message that appears. Select No, import without saving.

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 Simulate a Dynamic System

7 View imported signals in the Signal Builder window. The figure shows the signal
group as it appears in the Signal Builder plots.

8 Select Group > Rename and enter a group name. For example, enter Measured
Data. Close the Signal Builder.

The Signal Builder block now has two output ports, one for each column of data
imported from the worksheet.

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4 Basic Simulation Workflow

9 In the model, reconnect the Outside Temperature port from the Signal Builder block
to the signal line.
10 Add an Outport block above the Out1 block. Connect the Inside Temperature output
from the Signal Builder block to this block.

Set Simulation Parameters

Before running a simulation of your model, set simulation parameters. Simulation

parameters to consider include the solver type and options for saving (logging) the
simulation results.
Configure Model to Save Simulation Results

Configure your model to save (log) signal data during a simulation. You can view logged
signals from each simulation using the Simulink Data Inspector.

1 In the model, select Simulation > Model Configuration Parameters. In the left
pane, select Data Import/Export.

The data logging parameters appear in the right pane.

2 Clear the Time and Output check boxes.
3 Select the Signal logging check box.

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 Simulate a Dynamic System

4 Select the Record logged workspace data in Simulation Data Inspector check
box.

Select Signals to Save

Identify signals to display in the Simulink Data Inspector, name the signals if they do
not have a name, and set the logging parameters.

1 Right-click the Inside Temperature signal from the Signal Builder block and select
Properties.
2 In the Signal name box, enter Measured Room Temperature. Select the Log
signal data check box. A logging badge appears above the signal line.
3 Name and select logging for these signals.

Location of signal Signal name

Outside Temperature from Signal Measured Outside Temperature
Builder block
Room Temperature from Room Room Temperature
subsystem

Run Simulation

After importing data and enabling logging of data for the signals, you can run a
simulation.

1 Open the model matlabroot\help\toolbox\simulink\examples

\ex_househeat_simulation_prepared.slx or use the model you prepared for
simulation.
2 In the model, open the Configuration Parameters dialog box and select the Solver
pane. Set Stop time to 24 (hours), Type to Variable-step, and Solver to ode45.
3 Click the Run button to simulate the model.

The model simulation runs from 0.0 to 24.00 hours using the outside temperature
data from the Signal Builder block as input.

Compare Simulation Results with Measured System Data

Use the Simulink Data Inspector to compare the simulated output signals with measured
data.

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4 Basic Simulation Workflow

1 In the Simulink Editor toolbar, click the Simulation Data Inspector button .

A run appears in the Runs pane each time you simulate the model.
2 In the Simulink Data Inspector, select each signal check box. Selecting a signal plots
the signal in the graph.

The top signal is the measured inside (room) temperature. The middle signal
is the simulated room temperature. The bottom signal is the measured outside
temperature.

Determine Changes to Model

One obvious change to the model is the hysteresis of the thermostat. The simulated room
temperature oscillates between 18 and 22 degrees around the temperature set point of 20
degrees. The measured room temperature oscillates between 20 and 25 degrees with the
same set point.

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 Simulate a Dynamic System

1 Open the Relay block in the Thermostat subsystem.

2 Change Switch on point from 2 to 0 because the difference between the room
temperature and set point is 0.
3 Change Switch off point from -2 to -5. When the room temperature is 5 degrees
above the set point, you want to turn the heater off. The set point is 5 degrees below
the room temperature.

Compare Results Between Simulations

Use the Simulation Data Inspector to compare differences between two simulations
that use different model parameters. This comparison shows how changes improve the
accuracy of your model.

1 Simulate the model.

2 Open the Simulation Data Inspector.
3 Expand the list of logged signals by selecting the arrow to the left of logsout. Select
Run1 check boxes for Measured Outside Temperature and Measured Room
Temperature. Select the Run2 check box for Room Temperature.
4 Review the signals. The minimum and maximum values for the simulated room
temperature now match the measured room temperature values.

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4 Basic Simulation Workflow

Report and Plot Simulation Results

Create reports and plots from the Simulation Data Inspector.

1 In the Simulation Data Inspector toolbar, click Create Report.

2 In the Create Report dialog box, select Inspect Signals. Click Create Report. The
report opens in a web browser.
3 View the report.

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Simulate a Dynamic System

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4 Basic Simulation Workflow

4 In the Simulation Data Inspector, click Send to Figure. A plot of the simulated
signals opens in a MATLAB figure window.

More About
Model-Based Design on page 1-3
Basic Modeling Workflow on page 1-6
Basic Simulation Workflow on page 1-13

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