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14 views15 pages

Lec 4

Le

Uploaded by

mo01555761834
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Programming for Mechatronics

“MATLAB”

D r. K h a l e d H a m e d
Lecturer of Mechatronics Engineering

2024
1
Outline

(1) Linear Algebra


(2) Polynomials
(3) Differentiation/Integration

2
Systems of Linear Equations

• Given a system of linear equations


➢ x+2y-3z=5
➢ -3x-y+z=-8
➢ x-y+z=0
• Construct matrices so the system is described by Ax=b
» A=[1 2 -3;-3 -1 1;1 -1 1];
» b=[5;-8;0];

• And solve with a single line of code!


» x=A\b;
➢ x is a 3x1 vector containing the values of x, y, and z

• The \ will work with square or rectangular systems.


• Gives least squares solution for rectangular systems. Solution
depends on whether the system is over or underdetermined.

3
Worked Example: Linear Algebra

• Solve the following systems of equations:

➢ System 1: » A=[1 4;-3 1];


» b=[34;2];
» rank(A)
» x=inv(A)*b;
» x=A\b;

➢ System 2: » A=[2 -2;-1 1;3 4];


» b=[4;3;2];
» rank(A)
➢ rectangular matrix
» x=A\b;
4
More Linear Algebra

• Given a matrix
» mat=[1 2 -3;-3 -1 1;1 -1 1];
• Calculate the rank of a matrix
» r=rank(mat);
➢ the number of linearly independent rows or columns
• Calculate the determinant
» d=det(mat);
➢ mat must be square; matrix invertible if det nonzero
• Get the matrix inverse
» E=inv(mat);
➢ if an equation is of the form A*x=b with A a square matrix,
x=A\b is (mostly) the same as x=inv(A)*b

5
Outline

(1) Linear Algebra


(2) Polynomials
(3) Differentiation/Integration
(4) Differential Equations

6
Polynomials

• Many functions can be well described by a high-order


polynomial

• MATLAB represents a polynomials by a vector of coefficients


➢ if vector P describes a polynomial
ax3+bx2+cx+d

P(1) P(2) P(3) P(4)

• P=[1 0 -2] represents the polynomial x2-2

• P=[2 0 0 0] represents the polynomial 2x3

7
Polynomial Operations

• P is a vector of length N+1 describing an N-th order polynomial


• To get the roots of a polynomial
» r=roots(P)
➢ r is a vector of length N

• Can also get the polynomial from the roots


» P=poly(r)
➢ r is a vector length N

• To evaluate a polynomial at a point


» y0=polyval(P,x0)
➢ x0 is a single value; y0 is a single value

• To evaluate a polynomial at many points


» y=polyval(P,x)
➢ x is a vector; y is a vector of8 the same size
Polynomial Fitting

• MATLAB makes it very easy to fit polynomials to data

• Given data vectors X=[-1 0 2] and Y=[0 -1 3]


» p2=polyfit(X,Y,2);
➢ finds the best (least-squares sense) second-order
polynomial that fits the points (-1,0),(0,-1), and (2,3)
➢ see help polyfit for more information
» plot(X,Y,’o’, ‘MarkerSize’, 10);
» hold on;
» x = -3:.01:3;
» plot(x,polyval(p2,x), ‘r--’);

9
Exercise: Polynomial Fitting

• Evaluate for x=-4:0.1:4.

• Add random noise to these samples. Use randn. Plot the


noisy signal with . markers

• Fit a 2nd degree polynomial to the noisy data

• Plot the fitted polynomial on the same plot, using the same
x values and a red line

10
Exercise: Fitting Polynomials

• By Matlab Find the best second-order polynomial that fits


the points: (-1,0), (0,-1), (2,3).

11
Nonlinear Root Finding

• Many real-world problems require us to solve f(x)=0


• Can use fzero to calculate roots for any arbitrary function

• fzero needs a function passed to it.


• We will see this more and more as we delve into solving
equations.

• For the given function:


y=x3 - 3x2 + 5x+2

» y=@(x) x^3 - 3*x^2 + 5*x+2


» fplot(@(x) x^3 - 3*x^2 + 5*x+2)
» x=fzero(y,[0 -1])
Outline

(1) Linear Algebra


(2) Polynomials
(3) Differentiation/Integration
(4) Differential Equations

13
Numerical Differentiation

• MATLAB can 'differentiate' numerically


» x=0:0.01:2*pi
2*pi;
» y=sin(x);
» dydx=diff(y)./diff(x);
➢ diff computes the first differenc
fferencee

➢ Matlab can compute the differentials by symbols

>> syms x
>> y=sin(x)
>> dydx=diff(y)

14
Numerical Integration

• General integration by MATLAB:

>> syms x

>> fun = x^2 +3*x*log(x)


>> q = int(fun)

OR

q = int( fun,0,15)

Lower limit of integration Upper limit of integration

15

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