Simulink and Advanced

Topics in MATLAB
Hans-Petter Halvorsen

https://www.halvorsen.blog
Simulink and Advanced
Topics in MATLAB
University of South-Eastern Norway

MATLAB
Simulink and Advanced Topics
Hans-Petter Halvorsen, 2025.06.24

http://www.halvorsen.blog
Preface
Copyright You cannot distribute or copy this document without permission from the
author. You cannot copy or link to this document directly from other sources, web
pages, etc. You should always link to the proper web page where this document is
located, typically http://www.halvorsen.blog

In this MATLAB Course, you will learn basic MATLAB and how to use MATLAB in Control
and Simulation applications. An introduction to Simulink and other Tools will also be
given.

MATLAB is a tool for technical computing, computation and visualization in an

integrated environment. MATLAB is an abbreviation for MATrix LABoratory, so it is well
suited for matrix manipulation and problem solving related to Linear Algebra, Modelling,
Simulation and Control applications.

This is a self-paced course based on this document and some short videos on the way.
This document contains lots of examples and self-paced tasks that the users will go
through and solve on their own. The user may go through the tasks in this document in
their own pace and the instructor will be available for guidance throughout the course.

The MATLAB Course consists of 3 parts:

1. Introduction to MATLAB
2. Modelling, Simulation and Control
3. Simulink and Advanced Topics

In Part 3 of the course, you will learn how to use some of the more advanced features in
MATLAB. We will also take a closer look at Simulink, which is a Block Diagram
Simulation Tool used together with MATLAB. We will also give an overview to other tools
for numerical mathematics and simulation.

You must go through MATLAB Course – Part 1: Introduction to MATLAB before you start.

The course consists of lots of Tasks you should solve while reading this course manual
and watching the videos referred to in the text.

ii
 Make sure to bring your headphones for the videos in this course. The
course consists of several short videos that will give you an introduction to the different
topics in the course.

Prerequisites: You should be familiar with undergraduate-level mathematics and have

experience with basic computer operations.

What is MATLAB?

MATLAB is a tool for technical computing, computation, and visualization in an

integrated environment. MATLAB is an abbreviation for MATrix LABoratory, so it is well
suited for matrix manipulation and problem solving related to Linear Algebra.

MATLAB is developed by The MathWorks. MATLAB is a short-term for MATrix LABoratory.

MATLAB is in use world-wide by researchers and universities.

For more information, see www.mathworks.com

What is Simulink?

MATLAB offers lots of additional Toolboxes for different areas such as Control Design,
Image Processing, Digital Signal Processing, etc.

Simulink, developed by The MathWorks, is a commercial tool for modeling, simulating

and analyzing dynamic systems. Its primary interface is a graphical block diagramming
tool and a customizable set of block libraries. It offers tight integration with the rest of
the MATLAB environment and can either drive MATLAB or be scripted from it. Simulink is
widely used in control theory and digital signal processing for simulation and design.

This training will give you the basic knowledge of Simulink and how you can use it
together with MATLAB.

For more information about MATLAB, Simulink, etc., please visit

http://www.halvorsen.blog

Here you will find MATLAB for Students resources:

http://www.halvorsen.blog/documents/teaching/courses/matlab.php

On these web pages you find video solutions, complete step by step solutions,
downloadable MATLAB code, additional resources, etc.

iii
Table of Contents
Preface ...................................................................................................................... ii

Table of Contents ...................................................................................................... iv

1 Introduction ........................................................................................................ 1

2 Simulink.............................................................................................................. 2

2.1 Start using Simulink ...................................................................................... 2

2.1.1 Block Libraries ...................................................................................... 4

2.1.2 Create a new Model ............................................................................... 6

2.2 Wiring techniques ........................................................................................ 7

2.3 Help Window ............................................................................................... 8

2.4 Configuration ............................................................................................. 10

2.5 Examples ................................................................................................... 11

Task 1: Simulation in Simulink – Bacteria Population ................................. 19

2.6 Data-driven Modelling ................................................................................ 20

2.6.1 Using the Command window ............................................................... 21

2.6.2 Using a m-file ...................................................................................... 24

2.6.3 Simulation Commands ........................................................................ 25

Task 2: Mass-Spring-Damper System ....................................................... 26

Task 3: Simulink Simulation ..................................................................... 29

3 Debugging in MATLAB ........................................................................................ 30

3.1 The Debugging Process............................................................................... 32

Task 4: Debugging .................................................................................... 33

4 More about Functions ........................................................................................ 35

iv
v Table of Contents

4.1 Getting the Input and Output Arguments ..................................................... 35

Task 5: Create a Function ......................................................................... 36

Task 6: Optional Inputs: Using nargin and nargchk .................................... 37

Task 7: Optional Outputs: Using nargout and nargoutchk .......................... 38

5 More about Plots ............................................................................................... 39

5.1 LaTEX or TEX Commands ............................................................................ 39

Task 8: LATEX Commands ........................................................................ 40

Task 9: 3D Plot ......................................................................................... 40

6 Using Cells in the MATLAB Editor ........................................................................ 42

Task 10: Using Cells ................................................................................... 43

7 Importing Data .................................................................................................. 44

Task 11: Import Data .................................................................................. 46

8 Structures and Cell Arrays ................................................................................. 47

8.1 Structures .................................................................................................. 47

Task 12: Using Structures........................................................................... 47

9 Alternatives to MATLAB ...................................................................................... 49

9.1 Python ....................................................................................................... 49

9.2 Octave ....................................................................................................... 50

9.3 Scilab and Scicos ....................................................................................... 51

9.4 LabVIEW .................................................................................................... 51

9.4.1 The LabVIEW Environment ................................................................... 51

9.4.2 Front Panel ......................................................................................... 52

9.4.3 Block Diagram ..................................................................................... 55

9.5 Mathematics in LabVIEW ............................................................................ 56

9.5.1 Basic Math .......................................................................................... 57

9.5.2 Linear Algebra ..................................................................................... 57

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

vi Table of Contents

9.5.3 Curve Fitting ........................................................................................ 58

9.5.4 Interpolation ....................................................................................... 59

9.5.5 Integration and Differentiation ............................................................. 59

9.5.6 Statistics............................................................................................. 60

9.5.7 Optimization ....................................................................................... 60

9.5.8 Differential Equations (ODEs) .............................................................. 61

9.5.9 Polynomials ........................................................................................ 61

Appendix A – MathScript Functions ........................................................................... 63

Appendix B: Mathematics characters ........................................................................ 65

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

1 Introduction
Additional Resources, Videos, etc. are available from:

http://www.halvorsen.blog/documents/programming/matlab

Part 3: Advanced Topics, Simulink and other Tools consists of the following topics:

• Introduction to Simulink
• Advanced Topics in MATLAB:
o Debugging in MATLAB
o More about functions
o More about Plots
o Using Cells in the MATLAB Editor
o Importing Data
o Structures and Cell Arrays
• Alternatives to MATLAB

1
2 Simulink
Simulink is an environment for simulation and model-based design for dynamic and
embedded systems. It provides an interactive graphical environment and a
customizable set of block libraries that let you design, simulate, implement, and test a
variety of time-varying systems, including communications, controls, signal processing,
video processing, and image processing.

Simulink offers:

• A quick way of developing your model in contrast to text based-programming

language such as e.g., C.
• Simulink has integrated solvers. In text based-programming language such as
e.g., C you need to write your own solver.

Graphical Programming: In Simulink you program in a graphical way. LabVIEW is

another programming language where you use graphical programming instead of text-
based programming. LabVIEW is developed by National Instruments. You will use
LabVIEW in a later chapter

Before you start, you should watch the following videos:

• “Simulink Overview”
• “Getting Started with Simulink”

The videos are available from:

https://www.halvorsen.blog/documents/teaching/courses/matlab/matlab3.php

2.1 Start using Simulink

You start Simulink from the MATLAB IDE:

Open MATLAB and select the Simulink icon in the Toolbar:

2
3 2 Simulink

Or type “simulink” in the Command window, like this:

Then the following window appears (Simulink Library Browser):

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The Simulink Library Browser is the library where you find all the blocks you may use in
Simulink. Simulink software includes an extensive library of functions commonly used
in modeling a system. These include:

• Continuous and discrete dynamics blocks, such as Integration, Transfer

functions, Transport Delay, etc.
• Math blocks, such as Sum, Product, Add, etc
• Sources, such as Ramp, Random Generator, Step, etc

2.1.1 Block Libraries

Here are the most used “Continuous” Blocks:

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Here are some commonly used “Math Operations” Blocks:

Here are some commonly used “Signal Routing” Blocks:

Here are some commonly used “Sinks” Blocks:

Here are some commonly used “Sources” Blocks:

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In addition, there are lots of block in different Toolboxes:

2.1.2 Create a new Model

Click the New icon on the Toolbar in order to create a new Simulink model:

The following window appears:

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You may now drag the blocks you want to use from the Simulink Library Browser to the
model surface (or right-click on a block and select “Add to…”).

Example:
In this example we place (drag and drop) to blocks, a Sine Wave and a Scope, on the
model surface:

2.2 Wiring techniques

Use the mouse to wire the inputs and outputs of the different blocks. Inputs are located
on the left side of the blocks, while outputs are located on the right side of the blocks.

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When holding the mouse over an input or an output the mouse changes to the following
symbol.

Use the mouse, while holding the left button down, to drag wires from the input to the
output.

Automatic Block Connection:

Another wiring technique is to select the source block, then hold down the Ctrl key
while left-clicking on the destination block.

Try the different techniques on the example above.

Connection from a wire to another block

If wire a connection from a wire to another block, like the example below, you need to
hold down the Ctrl key while left-clicking on the wire and then to the input of the desired
block.

2.3 Help Window

To see detailed information about the different blocks, use the built-in Help system.

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All standard blocks in Simulink have detailed Help. Click the Help button in the Block
Parameter window for the specific block to get detailed help for that block.

The Help Window then appears with detailed information about the selected block:

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2.4 Configuration
There are lots of parameters you may want to configure regarding your simulation.
Select “Configuration Parameters…” in the Simulation menu.

The following window appears:

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Here you set important parameters such as:

• Start and Stop time for the simulation

• What kind of Solver to be used (ode45, ode23 etc.)
• Fixed-step/Variable-step

Note! Each of the controls on the Configuration Parameters dialog box corresponds to a
configuration parameter that you can set via the “sim” and “simset” commands. You
will learn more about these commands later.

Solvers are numerical integration algorithms that compute the system dynamics over
time using information contained in the model. Simulink provides solvers to support the
simulation of a broad range of systems, including continuous-time (analog), discrete-
time (digital), hybrid (mixed-signal), and multirate systems of any size.

2.5 Examples
Below we will go through some examples in order to illustrate how to create block
diagrams and related functionality.

Example:
Integrator with initial value

Create the following model (an integrator) and run the simulation:

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Step1: Place the blocks on the model surface

This example uses the following blocks:

Step 2: Configuration

Double-click on the Integrator block. The Parameter window for the Integrator block
appears:

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Select “Initial condition source=external”. The Integrator block now looks like this:

Double-click on the Constant block. The Parameter window for the Constant block
appears:

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14 2 Simulink

In the Constant value field we type in the initial value for the integrator, e.g., type the
value 1.

Step 3: Wiring

Use the mouse to wire the inputs and outputs of the different blocks.

When holding the mouse over an input or an output the mouse change to the following
symbol.

Draw a wire between the output on the Constant block to the lower input in the
Integrator block, like this:

You could also do like this:

Wire the rest of the blocks together and you will get the following diagram:

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Step 4: Simulation

Start the simulation by clicking the “Start Simulation” icon in the Toolbar:

Step 5: The Results

Double-click in the Scope block in order to see the simulated result:

Example:
Sine Wave

Create the block diagram as shown below:

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Set the following parameter for the Integrator block:

The result should be like this:

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Example:
Using vectors

Create the following block diagram:

For the Gain block, type the following parameters:

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As you see, we can use standard MATLAB syntax to create a vector.

If you want to see the signal dimensions, select “Signal Dimensions” and “Wide
Nonscalar Lines” as shown here:

The block diagram should now look like this:

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The thick lines indicate vectors, while the number (8) is the size of the vector.

Let’s change the Saturation block:

As you see you may use standard MATLAB functions and syntax.

Run the simulation and see the results in the Scope block.

Task 1: Simulation in Simulink – Bacteria Population

In this task we will simulate a simple model of a bacteria population in a jar (known from
a previous task).

The model is as follows:

birth rate = bx

death rate = px2

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20 2 Simulink

Then the total rate of change of bacteria population is:

𝑥̇ = 𝑏𝑥 − 𝑝𝑥 2

Set b=1/hour and p=0.5 bacteria-hour

We will simulate the number of bacteria in the jar after 1 hour, assuming that initially
there are 100 bacteria present.

Procedure:

1. Create the block diagram for the system using “pen & paper”
2. Start Simulink and create a New Model
3. Drag in the necessary blocks from the Simulink Library Browser
4. Configure the different blocks (double-click/right-click depending on what you
need). Some blocks need to be “flipped” (Right-click → Format → Flip Block),
while in other blocks you need to set a value (double-click)
5. Draw lines between the different blocks using the mouse
6. Set Simulation Settings (Simulation → Configuration Parameters). The
simulation Time (Stop Time) should be set to 1 (hour)
7. Use a Scope to see the Simulated Result

You will need the following blocks:

• Integrator block To solve the differential equation. Note! Initial value

x0=100

• Two Gain blocks For p (=0.5) and b (=1)

• Product block To compute x2

• Sum block Note! One plus (+) must be changed to minus (-)

• Scope block To show the simulated result. Note! Set to Autoscale

[End of Task]

2.6 Data-driven Modelling

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You may use Simulink together with MATLAB to specify data and parameters to your
Simulink model. You may specify commands in the MATLAB Command Window or as
commands in an m-file. This is called data-driven modeling.

2.6.1 Using the Command window

Example:
Given the following system:

Note! In order to get 3 inputs on the Scope block:

Double-click on the Scope and select the Parameters icon in the Toolbar:

Then select Number of Axes=3:

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Configure the zero-order hold blocks like this:

Write the following in the Command window in MATLAB:

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Run the Simulink model from the Simulink:

We then get the following results:

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2.6.2 Using a m-file

It is good practice to build your model in Simulink and configure and run the simulation
from a MATLAB m-file.

A Typical m-file could look like this:

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25 2 Simulink

You use the simset command to configure your simulation parameters and the sim
command to run the simulation.

The variables you refer to in the m-file is set in the Constant value field in the Parameter
window for each block.

2.6.3 Simulation Commands

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The most used command is:

• simset
• sim

Use these commands if you configure and run your Simulink model from a m-file.

Example:

%Simulator Settings
t_stop=100; %[s]
T_s=t_stop/1000; %[s]
options=simset('solver', 'ode5', 'fixedstep', T_s);

%Starting simulation
sim('mass_spring_damper', t_stop, options);

[End of Example]

Task 2: Mass-Spring-Damper System

In this example we will create a mass-spring-damper model in Simulink and configure

and run the simulation from a MATLAB m-file.

In this exercise you will construct a simulation diagram that represents the behavior of a
dynamic system. You will simulate a spring-mass damper system.

𝐹(𝑡) − 𝑐𝑥̇ (𝑡) − 𝑘𝑥(𝑡) = 𝑚𝑥̈ (𝑡)

where t is the simulation time, F(t) is an external force applied to the system, c is the
damping constant of the spring, k is the stiffness of the spring, m is a mass, and x(t) is
the position of the mass. 𝑥̇ is the first derivative of the position, which equals the
velocity of the mass. 𝑥̈ is the second derivative of the position, which equals the
acceleration of the mass.

The following figure shows this dynamic system.

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The goal is to view the position x(t) of the mass m with respect to time t. You can
calculate the position by integrating the velocity of the mass. You can calculate the
velocity by integrating the acceleration of the mass. If you know the force and mass, you
can calculate this acceleration by using Newton's Second Law of Motion, given by the
following equation:

Force = Mass × Acceleration

Therefore,

Acceleration = Force / Mass

Substituting terms from the differential equation above yields the following equation:

1
𝑥̈ = (𝐹 − 𝑐𝑥̇ − 𝑘𝑥)
𝑚

You will construct a simulation diagram that iterates the following steps over a period of
time.

→ Create the block diagram for the mass-spring-damper model above.

Instead of hard-coding the model parameters in the blocks you should refer to them as
variables set in an m-file.

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These variables should be configured:

• x_init
• dxdt_init
• m=
• c=
• k
• t_step_F
• F_O
• F_1

m-File

The following variables should then be set in the m-file:

x_init=4; %[m]. Initial position.

dxdt_init=0; %[m/s]. Initial Speed.
m=20; %[kg]
c=4; %[N/(m/s)]
k=2; %[N/m]
t_step_F=50; %[s]
F_O=0; %[N]
F_1=4; %[N]

→ Create the model of the system in Simulink, and then create a m-file where you
specify model and simulation parameters. Then use the sim function in order to run the
simulation within the m-file.

[End of Task]

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Task 3: Simulink Simulation

Given the autonomous system:

𝑥̇ = 𝑎𝑥
1
where 𝑎 = − ,where 𝑇 is the time constant
𝑇

The solution for the differential equation is found to be:

𝑥(𝑡) = 𝑒 𝑎𝑡 𝑥0

Set 𝑇 = 5 and the initial condition 𝑥(0) = 1.

Simulate the system in Simulink where we plot the solution 𝑥(𝑡) in the time interval
0 ≤ 𝑡 ≤ 25

[End of Task]

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

3 Debugging in MATLAB
Debugging is about different techniques for finding bugs (errors that make your code not
work as expected) in your code.

In all but the simplest programs, you are likely to encounter some type of unexpected
behavior when you run the program for the first time. Program defects can show up in
the form of warning or error messages displayed in the command window, programs
that hang (never terminate), inaccurate results, or some number of other symptoms.

It is difficult to write code without errors (bugs), but MATLAB have powerful Debugging
functionality, similar to other tools like, e.g., Visual Studio.

Why we call it debugging? They found a bug (actually a moth) inside a computer in 1947
that made the program not behaving as expected. This was the “first” real bug which
was debugged.

Step 1: Removing Warnings and Errors notified by MATLAB

The first step in order to avoid errors is to remove all warnings and errors notifies by
MATLAB in the Editor. On the right side of the Editor there will be shown symbols to
illustrate that MATLAB have found potential errors in your code.

Warnings - Click the symbols to get more information about a specific warning

Example:

30
31 3 Debugging in MATLAB

Errors - Click the symbols to get more information about a specific error

Example:

→ Take necessary actions in order to remove these Errors and Warnings!

Step 2: Using Debugging Tools and Techniques in the MATLAB Editor

In addition MATLAB have more sophisticated debugging tools we will learn more about
below. These are tools you use when your program is running.

Below we see the basic debugging functionality in MATLAB:

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32 3 Debugging in MATLAB

The MATLAB Debugger enables you to examine the inner workings of your program while
you run it. You can stop the execution of your program at any point and then continue
from that point, stepping through the code line by line and examining the results of each
operation performed. You have the choice of operating the debugger from the Editor
window that displays your program, from the MATLAB command line, or both.

3.1 The Debugging Process

You can step through the program right from the start if you want. For longer programs,
you will probably save time by stopping the program somewhere in the middle and
stepping through from there. You can do this by approximating where the program code
breaks and setting a stopping point (or breakpoint) at that line. Once a breakpoint has
been set, start your program. The MATLAB Editor/Debugger window will show a green
arrow pointing to the next line to execute. From this point, you can examine any values
passed into the program, or the results of each operation performed. You can step
through the program line by line to see which path is taken and why. You can step into
any functions that your program calls, or choose to step over them and just see the end
results. You can also modify the values assigned to a variable and see how that affects
the outcome.

When the program is in debug-mode, the command prompt is changed to “K>>” and the
following message appears in the status bar:

Your code could look something like this:

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33 3 Debugging in MATLAB

A red circle indicates that you have set a breakpoint, which means your program
will stop at this place in your code and wait for further instructions from you.
The green arrow indicates at what line your program is at the moment.

Now you can use the “debugging toolbar” to step through your code:

The “debugging toolbar” contains the following buttons:

Set/Clear Breakpoint

Clear all Breakpoints

Step through the program, line by line

Step in (to a function, etc.)

Step out (of a function, etc.)

Continue

Exit Debug mode

Task 4: Debugging

Create a similar program like this:

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34 3 Debugging in MATLAB

Set a Breakpoint inside the loop and use the Debugging functionality to step through the
program and watch the result in each iteration.

Test all the different buttons in the “debugging toolbar”:

In addition you should open some of your previous programs you have made, and try the
debugging tools on them.

[End of Task]

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

4 More about Functions
4.1 Getting the Input and Output
Arguments
A function may have several inputs and several outputs. Use nargin and nargout to
determine the number of input and output arguments in a particular function call. Use
nargchk and nargoutchk to verify that your function is called with the required number
of input and output arguments.

Example:
We create the following function:

function [x,y] = myfunc(a,b,c,d)

disp(nargchk(2,4,nargin)) % Allow 2 to 4 inputs
disp(nargoutchk(0,2,nargout)) % Allow 0 to 2 outputs

x = a + b;
y = a * b;

if nargin == 3
x = a + b + c;
y = a * b * c;
end

if nargin == 4
x = a + b + c + d;
y = a * b * c * d;
end

We test the function in the Command window with different inputs and outputs:

>> [x, y] = myfunc(1,2)

x =
3
y =
2
>> [x, y] = myfunc(1,2,3)
x =
6

35
36 4 More about Functions

y =
6
>> [x, y] = myfunc(1,2,3,4)
x =
10
y =
24
>> [x] = myfunc(1,2)
x =
3
>> [x, y, z] = myfunc(1,2)
??? Error using ==> myfunc
Too many output arguments.

>> myfunc(1,2)
ans =
3
>>

Note! In newer versions of MATLAB, the error function is recommended instead of the
disp function, but both should work.

[End of Example]

Task 5: Create a Function

You may have experienced standing on top of a hill or mountain, and it feels you can see
everything. How far can you really see? It depends on the height of the mountain and the
radius of the earth, as shown in the sketch below.

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In this task we will create a function that finds the distance to the horizon 𝑥ℎ .

You may use the Pythagorean law to find 𝑥ℎ :

𝑅2 = 𝑥ℎ2 = (𝑅 + ℎ)2 ⇔ 𝑥ℎ = √ℎ(2𝑅 + ℎ)

𝐷 is the diameter of the earth, 𝑅 is the radius of the earth, ℎ is your height above the
earth, where you are standing on a mountain. The radius on the earth is 𝑅 = 6378𝑘𝑚.

→ Create a function that finds xh from input parameter h,

>>xh=horizon(h)

How far can you see if you are on top of the Mount Everest?

Make sure the function may handle vector inputs and create a help text for the function
that describes what the function is doing.

→ Create a script where you use the function to plot h vs. xh where h is a vector from 1 to
8000 meters. Create labels, title and a legend in the plot.

[End of Task]

Task 6: Optional Inputs: Using nargin and nargchk

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

38 4 More about Functions

The distance to the horizon is quite different on the moon than on the earth because the
radius is different for each.

→ Extend your function so that R could be an optional input to the function, e.g.:

>>xh=horizon(h,R)

If xh=horizon(h)is used, R is assumed to be R=6378km (the earth).

→ Use nargin to solve the problem. Use also nargchk to validate the number of inputs.

How far could you see if the moon had a mountain similar to Mount Everest? The radius
on the moon is 𝑅 = 1737𝑘𝑚.

[End of Task]

Task 7: Optional Outputs: Using nargout and

nargoutchk

Let say we also may want to find the angle (a) between radius to the horizon and the
observer (you are standing on top of the mountain). See the illustration above.

→ Extend your function so that the angle 𝒂 could be an optional output from the
function, e.g.:

>>[xh,a]=horizon(h,R)

If xh=horizon(h,R) is used, a should be ignored (only xh is calculated).

→ Use nargout to solve the problem. Use also nargoutchk to validate the number of
outputs.

The angle 𝑎 is given by:

𝑥ℎ 𝑥ℎ
tan 𝑎 = ⇔ 𝑎 = atan ( )
𝑅 𝑅
Note! You have to convert from radians to degrees (2𝜋 = 360𝑜 ). Use your function r2d
which you created in a previous task.

[End of Task]

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

5 More about Plots
MATLAB have advance Plot functionality. We have already used the plot functionality in
MATLAB in a dozen of examples. In this chapter we will learn more about the advanced
plotting functionality that MATLAB offers.

5.1 LaTEX or TEX Commands

When using labels, legends, and titles in a plot you sometimes want use more advanced
labels, titles, legend such as:
5
“Solution of ∫1 sin(𝑥) 𝑑𝑥”

This is done by using LaTeX or TeX commands.

In LaTeX typesetting, mathematical expressions are bracketed by the $$ symbol. Using $

bracketing, indicates in-line math.

Example:
The MATLAB code:

legend({'$$\frac{-b \pm \sqrt{b^{2}-4ac}}{2a}$$'},

'Interpreter', 'LaTeX')

title({'Equation: $\frac{-b \pm \sqrt{b^{2}-4ac}}{2a}$'},

'Interpreter', 'LaTeX')

gives the following plot:

39
40 5 More about Plots

[End of Example]

See Appendix B: Mathematics characters.

Task 8: LATEX Commands

Use MATLAB to create the following plot:

[End of Task]

Task 9: 3D Plot

Use your xh=horizon(h,R) from a previous task to create a mesh plot where you
plot xh for different values of h and R respectively.

Tip! Call the function in nested For Loops for different values for h and R respectively.

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

41 5 More about Plots

[End of Task]

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

6 Using Cells in the MATLAB
Editor
You may structure MATLAB code in the editor by defining text cells. A text cell is initiated
by putting the symbol %% (double % character) in the first position of a line. The cell
ends on the line preceding the next %% symbol. After the %% symbol, a space should
be inserted, followed by a descriptive text. The MATLAB Editor marks a cell by framing it
with a yellow box: when you put the cursor in a cell, the frame is shown. In order for this
to work, the Cell Mode must have been Enabled, see the Cell menu of the MATLAB
editor.

Below we see an example:

42
43 6 Using Cells in the MATLAB Editor

The Cells Toolbar in the Editor:

Why Use Cells?

M-files often have a natural structure consisting of multiple sections. Especially for
larger files, you typically focus efforts on a single section at a time, working with the
code in just that section. Similarly, when conveying information about your M-files to
others, often you describe the sections of the code. To facilitate these processes, use
M-file cells, where cell means a section of code. Specifically, MATLAB uses cells for
Rapid code iteration in the Editor/Debugger — this makes the experimental phase of
your work with M-file scripts easier.

Task 10: Using Cells

Use one of your previous scripts and divide your code into different cells. Run the
different Cells individually.

Use the Cells tools to browse between the different Cells in your script.

[End of Task]

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

7 Importing Data
It is often needed to import data into MATLAB for analysis and calculations, it could be
data in a spreadsheet or logged data from a DAQ device that you want to analyze.
MATLAB have powerful tools for both importing and exporting data.

Given an Excel file:

To open the Import Wizard, use File → Import Data …:

Or in newer versions of MATLAB:

A File dialog appears:

44
45 7 Importing Data

Select, e.g., a Excel Spreadsheet File, and the Import Wizard appears:

Clicking Finish and the data from the Excel file will be available in MATLAB:

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

46 7 Importing Data

Before you start, you should watch the video “Importing Data from Files”.

The video is available from:

https://www.halvorsen.blog/documents/teaching/courses/matlab/matlab3.php

Task 11: Import Data

Create a spreadsheet file with some data (or use an existing spreadsheet with data if
you have) and import the data into MATLAB.

Plot the data in MATLAB.

[End of Task]

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

8 Structures and Cell Arrays
Historically, the matrix was the only data type in MATLAB. Vectors and scalars are
special cases of the general matrix. Now some new and important data structures have
arrived. One is the multi-dimensional array, which just extends the matrix to more than
two dimensions. More important are the structure and the cell array.

In this chapter we will use these new data structures.

Before you start, you should watch the video “Introducing Structures and Cell
Arrays”

The video is available from:

https://www.halvorsen.blog/documents/teaching/courses/matlab/matlab3.php

8.1 Structures
A structure is a data structure that can hold diverse data types, not necessarily
numbers, and with named data containers called fields, similar to a record with fields in
a database.

Example:

>>tank.height = 0.4;
>>tank.diameter = 0.5;
>>tank.type = 'cylinder';
>>tank
tank = height: 0.4000
diameter: 0.5000
type: 'cylinder'

[End of Example]

Task 12: Using Structures

Create a function that calculates the volume of different objects, such as a cylinder, a
sphere, etc.

47
48 8 Structures and Cell Arrays

Use Structures to solve the problem.

[End of Task]

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

9 Alternatives to MATLAB
Here are some other alternatives to MATLAB worth mention:

• Python
• Octave
• Scilab and Scicos
• LabVIEW

9.1 Python
Python is a widely used high-level, general-purpose, interpreted, dynamic programming
language.

You can install a basic Python IDE from www.python.org.

For more MATLAB look and feel the Anaconda Python distribution is recommended (with
all major Scientific packages included, such as NumPy, SciPy, Matplotlib...).

The Spyder IDE is also included (which has much more features than the basic IDE).

I have written the following Python textbooks:

Python Programming: This is a textbook in Python Programming with lots of Practical

Examples and Exercises. You will learn the necessary foundation for basic programming
with focus on Python.

Python for Science and Engineering: This is a textbook in Python Programming with
lots of Examples, Exercises, and Practical Applications within Mathematics,
Simulations, etc. The focus is on numerical calculations in mathematics and
engineering. Necessary theory is presented in addition to many practical examples.

49
50 9 Alternatives to MATLAB

Python Programming Python for Science and Engineering

These textbooks can be downloaded for free. These textbooks have many of the same
examples and exercises you find in the MATLAB textbooks.

For more information, please see the following:

https://www.halvorsen.blog/documents/programming/python/

9.2 Octave
Octave is a free software tool for numerical analysis and visualization. The function and
command syntax are very similar to MATLAB. Many contributed functions packages (like
the toolboxes in MATLAB) are available. They cover control theory, signal processing,
simulation, statistics etc. They are installed automatically when you install Octave.

There is no SIMULINK-like tool in Octave, but there are many simulation functions (as in
Control System Toolbox in MATLAB).

• Read more about Octave on their Homepage:

http://www.gnu.org/software/octave/

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51 9 Alternatives to MATLAB

• Read more about Octave on Wikipedia:

http://en.wikipedia.org/wiki/GNU_Octave

9.3 Scilab and Scicos

Scilab is a free scientific software package for numerical computations providing a
powerful open computing environment for engineering and scientific applications.

Scilab is an open-source software. Since 1994 it has been distributed freely along with
the source code via the Internet. It is currently used in educational and industrial
environments around the world.

Scilab is quite like MATLAB, and the range of functions are comparable.

Octave is more like MATLAB than to Scilab. One problem with Octave has been that data
plotting is more cumbersome in Octave than in Scilab.

One nice thing about Scilab is that you get Scicos automatically installed when you
install Scilab. Scicos is a block-diagram based simulation tool like Simulink and
LabVIEW Simulation Module.

• Read more about Scilab on their Homepage: http://www.scilab.org/

• Read more about Scilab on Wikipedia: http://en.wikipedia.org/wiki/Scilab

9.4 LabVIEW
LabVIEW is a graphical programming language, and it is well suited for Control and
Simulation applications.

In this chapter we will use LabVIEW to create a block diagram model and simulate it,
similar to what we have done in Simulink.

9.4.1 The LabVIEW Environment

LabVIEW programs are called Virtual Instruments, or VIs, because their appearance and
operation imitate physical instruments, such as oscilloscopes and multimeters.
LabVIEW contains a comprehensive set of tools for acquiring analyzing, displaying, and
storing data, as well as tools to help you troubleshoot your code.

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52 9 Alternatives to MATLAB

When opening LabVIEW, you first come to the “Getting Started” window.

In order to create a new VI, select “Blank VI” or in order to create a new LabVIEW
project, select “Empty project”.

When you open a blank VI, an untitled front panel window appears. This window
displays the front panel and is one of the two LabVIEW windows you use to build a VI.
The other window contains the block diagram. The sections below describe the front
panel and the block diagram.

9.4.2 Front Panel

When you have created a new VI or selected an existing VI, the Front Panel and the
Block Diagram for that specific VI will appear.

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53 9 Alternatives to MATLAB

In LabVIEW, you build a user interface, or front panel, with controls and indicators.
Controls are knobs, push buttons, dials, and other input devices. Indicators are graphs,
LEDs, and other displays.

You build the front panel with controls and indicators, which are the interactive input
and output terminals of the VI, respectively. Controls are knobs, push buttons, dials,
and other input devices. Indicators are graphs, LEDs, and other displays. Controls
simulate instrument input devices and supply data to the block diagram of the VI.
Indicators simulate instrument output devices and display data the block diagram
acquires or generates.

E.g., a “Numeric” can either be a “Numeric Control” or a “Numeric Indicator”, as seen

below.

I you select a “Numeric Control”, it can easy be changed to an “Numeric Indicator” by

right click on the object an select “Change to Indicator”

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54 9 Alternatives to MATLAB

Or opposite, I you select a “Numeric Indicator”, it can easy be changed to an “Numeric

Control” by right click on the object an select “Change to Control”

The difference between a “Numeric Control” and a “Numeric Indicator” is that for a
“Numeric Control” you may enter a value, while the “Numeric Indicator” is read-only,
i.e., you may only read the value, not change it.

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

55 9 Alternatives to MATLAB

The appearance is also slightly different, the “Numeric Control” has an increment and
an decrement button in front, while the “Numeric Indicator” has a darker background
color in order to indicate that its read-only.

9.4.3 Block Diagram

After you build the user interface, you add code using VIs and structures to control the
front panel objects. The block diagram contains this code. In some ways, the block
diagram resembles a flowchart.

After you build the front panel, you add code using graphical representations of
functions to control the front panel objects. The block diagram contains this graphical

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

56 9 Alternatives to MATLAB

source code. Front panel objects appear as terminals, on the block diagram. Block
diagram objects include terminals, subVIs, functions, constants, structures, and wires,
which transfer data among other block diagram objects.

9.5 Mathematics in LabVIEW

When it comes to mathematics and numerical techniques, LabVIEW offers functionality
similar to what exists in MATLAB.

Below we see the Mathematics palette in LabVIEW:

Here we have functionality for:

• Basic math operations

• Linear Algebra
• Curve Fitting
• Interpolation
• Integration and Differentiation
• Statistics
• Optimization
• Differential Equations (ODEs)
• Polynomials
• MATLAB integration (MATLAB Script)
• etc.

Below we will take a closer look at some of these functions.

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57 9 Alternatives to MATLAB

9.5.1 Basic Math

LabVIEW have lots of functionality for basic math operations, trigonometric functions,
etc.

Numeric Palette in LabVIEW:

Below we see the Numeric palette in LabVIEW:

Here we have basic math functions, such as Add, Subtract, Multiply, Divide, etc.

Example:

Below we see a simple example using the basic math features:

Block Diagram: Front Panel:

[End of Example]

9.5.2 Linear Algebra

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

58 9 Alternatives to MATLAB

LABVIEW have lots of VIs (functions) for Linear Algebra. Below we see the Linear Algebra
palette in LabVIEW:

Linear Algebra Palette in LabVIEW:

In LabVIEW is a matrix defined as a 2-dimensional array, while a vector is defined as a 1

dimensional array, see Figure below:

9.5.3 Curve Fitting

LabVIEW offers lots of functionality for Curve Fitting.

Fitting palette in LabVIEW:

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59 9 Alternatives to MATLAB

9.5.4 Interpolation
LabVIEW offers lots of functionality for Interpolation.

Interpolation & Extrapolation palette in LabVIEW:

9.5.5 Integration and Differentiation

LabVIEW offers lots of functionality for numerical integration and differentiation.

Integration and Differentiation palette in LabVIEW:

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60 9 Alternatives to MATLAB

9.5.6 Statistics
LabVIEW offers lots of functionality for Statistics, including basic functionality for
finding mean, median, standard deviation, etc.

Probability and Statistics palette in LabVIEW:

9.5.7 Optimization
LabVIEW offers lots of functionality for Optimization.

Optimization palette in LabVIEW:

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61 9 Alternatives to MATLAB

9.5.8 Differential Equations (ODEs)

LabVIEW offers lots of functionality for solving Differential Equations.

Ordinary Differential Equations palette in LabVIEW:

9.5.9 Polynomials
LabVIEW offers lots of functionality for creating and manipulating Polynomials.

Polynomial palette in LabVIEW:

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62 9 Alternatives to MATLAB

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

Appendix A – MathScript
Functions
Here are some descriptions for the most used MathScript functions used in this course.

Function Description Example

>X = [0:0.01:1];
plot Generates a plot. plot(y) plots the columns of y against
>Y = X.*X;
the indexes of the columns. >plot(X, Y)
>num=[1];
tf Creates system model in transfer function form. You also
>den=[1, 1, 1];
can use this function to state-space models to transfer >H = tf(num, den)
function form.
>num=[1]
poles Returns the locations of the closed-loop poles of a system
>den=[1,1]
model. >H=tf(num,den)
>poles(H)
>[num, den, delay, Ts] =
tfinfo Returns information about a transfer function system
tfinfo(SysInTF)
model.
>num=[1,1];
step Creates a step response plot of the system model. You
>den=[1,-1,3];
also can use this function to return the step response of >H=tf(num,den);
the model outputs. If the model is in state-space form, >t=[0:0.01:10];
>step(H,t);
you also can use this function to return the step response
of the model states. This function assumes the initial
model states are zero. If you do not specify an output, this
function creates a plot.
>t = [0:0.1:10]
lsim Creates the linear simulation plot of a system model. This
>u = sin(0.1*pi*t)'
function calculates the output of a system model when a >lsim(SysIn, u, t)
set of inputs excite the model, using discrete simulation.
If you do not specify an output, this function creates a
plot.
>K = 1;
Sys_order1 Constructs the components of a first-order system model
>tau = 1;
based on a gain, time constant, and delay that you >H = sys_order1(K, tau)
specify. You can use this function to create either a state-
space model or a transfer function model, depending on
the output parameters you specify.
>dr = 0.5
Sys_order2 Constructs the components of a second-order system
>wn = 20
model based on a damping ratio and natural frequency >[num, den] = sys_order2(wn, dr)
you specify. You can use this function to create either a >SysTF = tf(num, den)
>[A, B, C, D] = sys_order2(wn,
state-space model or a transfer function model, dr)
depending on the output parameters you specify. >SysSS = ss(A, B, C, D)
>[dr, wn, p] = damp(SysIn)
damp Returns the damping ratios and natural frequencies of the
poles of a system model.
>Kc = 0.5;
pid Constructs a proportional-integral-derivative (PID)
>Ti = 0.25;
controller model in either parallel, series, or academic >SysOutTF = pid(Kc, Ti,
form. Refer to the LabVIEW Control Design User Manual 'academic');
for information about these three forms.
>C1 = [1, 2, 3];
conv Computes the convolution of two vectors or matrices.
>C2 = [3, 4];
>C = conv(C1, C2)
>Hseries = series(H1,H2)
series Connects two system models in series to produce a
model SysSer with input and output connections you
specify

63
64 Appendix A – MathScript Functions
>SysClosed = feedback(SysIn_1,
feedback Connects two system models together to produce a
SysIn_2)
closed-loop model using negative or positive feedback
connections
>A = eye(2)
ss Constructs a model in state-space form. You also can use
>B = [0; 1]
this function to convert transfer function models to state- >C = B'
space form. >SysOutSS = ss(A, B, C)
>A = [1, 1; -1, 2]
ssinfo Returns information about a state-space system model.
>B = [1, 2]'
>C = [2, 1]
>D = 0
>SysInSS = ss(A, B, C, D)
>[A, B, C, D, Ts] =
ssinfo(SysInSS)
>[num, den] = pade(delay, order)
pade Incorporates time delays into a system model using the
>[A, B, C, D] = pade(delay,
Pade approximation method, which converts all order)
residuals. You must specify the delay using the set
function. You also can use this function to calculate
coefficients of numerator and denominator polynomial
functions with a specified delay.
>num=[4];
bode Creates the Bode magnitude and Bode phase plots of a
>den=[2, 1];
system model. You also can use this function to return the >H = tf(num, den)
magnitude and phase values of a model at frequencies >bode(H)
you specify. If you do not specify an output, this function
creates a plot.
>[mag, wout] = bodemag(SysIn)
bodemag Creates the Bode magnitude plot of a system model. If
>[mag, wout] = bodemag(SysIn,
you do not specify an output, this function creates a plot. [wmin wmax])
>[mag, wout] = bodemag(SysIn,
wlist)
>num = [1]
margin Calculates and/or plots the smallest gain and phase
>den = [1, 5, 6]
margins of a single-input single-output (SISO) system >H = tf(num, den)
model. The gain margin indicates where the frequency margin(H)
response crosses at 0 decibels. The phase margin
indicates where the frequency response crosses -180
degrees. Use the margins function to return all gain and
phase margins of a SISO model.
>[gmf, gm, pmf, pm] = margins(H)
margins Calculates all gain and phase margins of a single-input
single-output (SISO) system model. The gain margins
indicate where the frequency response crosses at 0
decibels. The phase margins indicate where the
frequency response crosses -180 degrees. Use the margin
function to return only the smallest gain and phase
margins of a SISO model.

For more details about these functions, type “help cdt” to get an overview of all the
functions used for Control Design and Simulation. For detailed help about one specific
function, type “help <function_name>”.

Plots functions: Here are some useful functions for creating plots: plot, figure, subplot,
grid, axis, title, xlabel, ylabel, semilogx – for more information about the plots
function, type “help plots”.

MATLAB Course - Part III: Simulink and Advanced Topics in MATLAB

Appendix B: Mathematics
characters

65
 Hans-Petter Halvorsen

E-mail: [email protected]
Blog: http://www.halvorsen.blog

University of South-Eastern Norway

www.usn.no
Simulink and Advanced
Topics in MATLAB