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Modeling and Simulation in Scilab/Scicos

Chapter · November 2010

DOI: 10.1007/978-1-4419-5527-2_3

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Stephen L Campbell Jean-Philippe Chancelier

North Carolina State University University of Paris-Est
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National Institute for Research in Computer Science and Control
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Stephen L. Campbell, Jean-Philippe Chancelier and
Ramine Nikoukhah

Modeling and Simulation in

Scilab/Scicos

^J Springer
Contents

Part I Scilab

General Information 3
1.1 What Is Scilab? 3
1.2 How to Start? 4
1.2.1 Installation 4
1.2.2 First Steps 4
1.2.3 Line Editor 5
1.2.4 Documentation 6
1.3 Typical Usage 6
1.4 Scilab on the Web 7

Introduction to Scilab 9
2.1 Scilab Objects 11
2.1.1 Matrix Construction and Manipulation 12
2.1.2 Strings 17
2.1.3 Boolean Matrices 19
2.1.4 Polynomial Matrices 20
2.1.5 Sparse Matrices 21
2.1.6 Lists 22
2.1.7 Functions 26
2.2 Scilab Programming 27
2.2.1 Branching .* 28
2.2.2 Iterations 29
2.2.3 Scilab Functions 31
2.2.4 Debugging Programs 35
2.3 Input and Output Functions 37
2.3.1 Display of Variables 37
2.3.2 Formatted Input and Output 38
2.3.3 Input Output in Binary Mode .* 40
2.3.4 Accessing the Host System 42
2.3.5 Graphical User Interface 43
2.4 Scilab Graphics 48
2.4.1 Basic Graphing 48
2.4.2 Graphic Tour 49
2.4.3 Graphics Objects 53
VIII Contents

2.4.4 Scilab Graphics and WTj^i 56

2.4.5 Old Graphics Style 60
2.5 Interfacing 62
2.5.1 Linking Code 63
2.5.2 Writing an Interface 66
2.5.3 Dynamic Loading 69

3 Modeling and Simulation in Scilab 73

3.1 Types of Models 73
3.1.1 Ordinary Differential Equations 73
3.1.2 Boundary Value Problems 74
3.1.3 Difference Equations 75
3.1.4 Differential Algebraic Equations 76
3.1.5 Hybrid Systems 77
3.2 Simulation Tools 78
3.2.1 Ordinary Differential Equations 78
3.2.2 Boundary Value Problems 90
3.2.3 Difference Equations 95
3.2.4 Differential Algebraic Equations 98
3.2.5 Hybrid Systems 100

4 Optimization 107
4.1 Comments on Optimization and Solving Nonlinear Equations 107
4.2 General Optimization 108
4.3 Solving Nonlinear Equations 112
4.4 Nonlinear Least Squares 113
4.5 Parameter Fitting 117
4.6 Linear and Quadratic Programming 119
4.6.1 Linear Programs 119
4.6.2 Quadratic Programs 120
4.6.3 Semidefinite Programs 120
4.7 Differentiation Utilities 120
4.7.1 Higher Derivatives 122

5 Examples 125
5.1 Modeling and Simulation of an AT-Link Pendulum 125
5.1.1 Equations of Motion of the JV-Link Pendulum ••••• 126
5.1.2 Generated Code and Simulation 130
5.1.3 Maple Code 133
5.2 Modeling and Simulation of a Car 135
5.2.1 Basic Model 135
5.2.2 Equations of Motion 136
5.2.3 Simulation Model 138
5.2.4 Scilab Implementation v 139
5.2.5 Simulation Result 141
5.3 Open-Loop Control to Swing Up a Pendulum 142
5.3.1 Model 142
5.3.2 Control Problem Formulation 142
5.3.3 Optimization Problem 143
5.3.4 Implementation in Scilab 145
 Contents IX

5.4 Parameter Fitting and Implicit Models 147

5.4.1 Mathematical Model 148
5.4.2 Scilab Implementation 148

Part II Scicos

6 Introduction 159

7 Getting Started 163

7.1 Construction of a Simple Diagram 163
7.1.1 Running Scicos 163
7.1.2 Editing a Model 163
7.1.3 Diagram Simulation 165
7.1.4 Changing Block Parameters 166
7.2 Symbolic Parameters and Context 169
7.3 Hierarchy 173
7.3.1 Placing a Super Block in a Diagram 173
7.3.2 Editing a Super Block 174
7.4 Save and Load 175
7.4.1 Scicos File Formats 175
7.4.2 Super Block and Palette 176
7.5 Synchronism and Special Blocks 176

8 Scicos Formalism 179

8.1 Activation Signal 179
8.1.1 Block Activation 179
8.1.2 Activation Generation 181
8.2 Inheritance 182
8.3 Always Active Blocks 183
8.4 Constant Blocks 184
8.5 Conditional Blocks 184

9 Scicos Blocks 189

9.1 Block Behavior 189
9.1.1 External Activation 189
9.1.2 Always Activation 191
9.1.3 Internal Zero-Crossing 192
9.2 Blocks Inside Palettes 192
9.3 Modifying Block Parameters 193
9.4 Super Block and Scifunc 193
9.4.1 Super Blocks 193
9.4.2 Scifunc 194
9.5 Constructing New Basic Blocks 194
9.5.1 Interfacing Function 195
9.5.2 Computational Function 197
9.5.3 Saving New Blocks 207
9.6 Constructing and Loading a New Palette 207
X Contents
10 Examples 209
10.1 Predator Prey Model 209
10.2 Control Application 210
10.3 Signal Processing Application 213
10.4 Queuing Systems 216
10.5 Neuroscience Application 218
10.6 A Fluid Model of TCP-Like Behavior 220
10.7 Interactive GUI 221
11 Batch Processing in Scilab 227
11.1 Piloting Scicos via Scilab Commands 227
11.1.1 Function scicosim 228
11.1.2 Function scicos_simulate 232
11.2 Data Sharing 233
11.2.1 Context Variables 234
11.2.2 Input/Output Files 234
11.2.3 Global Variables 236
11.3 Examples 237
11.4 Steady-State Solution and Linearization 243
11.4.1 Scilab Function steadycos 247
11.4.2 Scilab Function lincos 248
12 Code Generation 253
12.1 Code Generation Procedure 253
12.2 Limitations 257
12.2.1 Continuous-Time Activation 257
12.2.2 Synchronicism 258
12.3 A Look Inside 258
12.4 Some Pitfalls 260
12.5 Applications 263
13 Debugging 267
13.1 Error Messages 267
13.1.1 Block Errors 267
13.1.2 Errors During Numerical Integration 268
13.1.3 Other Errors 269
13.2 Debugging Tools 269
13.3 Examples 270
13.3.1 Log File 271
13.3.2 Animation 271

14 Implicit Scicos and Modelica 273

14.1 Introduction ' 273
14.2 Internally Implicit Blocks 275
14.3 Implicit Blocks * 275
14.3.1 Scicos Editor 276
14.3.2 Scicos Compiler 276
14.3.3 Block Construction 276
14.4 Example 277
 Contents XI

A Inside Scicos 281

A.I Scicos Editor 281
A.I.I Main Editor Function 281
A.I.2 Structure of scs_m 283
A.2 Scicos Complier 286
A.2.1 First Compilation Stage 286
A.2.2 Second Compilation Stage 287
A.2.3 Structure of °/.cpr 287
A.2.4 Partial Compilation 290
A.3 Scicos Simulator 291

B Scicos Blocks of Type 5 293

B.I Type 5 Block for the Bouncing Ball Example 293
B.2 Animation Block for the Cart Pendulum Example 294

C Animation Program for the Car Example 299

D Extraction Program for the WT^X. Graphic Example 301
E Maple Code Used for Modeling the iV-Link Pendulum 303
References 307

Index 309

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