MATLAB Tutorial
U(s) input
G(s)
Y(s) output
Outline
Outline
Starting Matlab
Basics
Modeling
Control toolbox
m file
M-file
When writing a program in matlab save it as mfile
( filename.m)
2 types of M-file
1- script (has no input and output, simply execute
commands)
2- function (need input, starts with keyword
function)
function [y z]=mfunc(x)
y=(x*x')^.5; % norm of x
z=sum(x)/length(x); %%% using 'sum' function
end
3
Polynomials
Present polynomial with coefficients vector
s 4 3s 3 2 s 1
x = [1 3 0 -2 1];
Poly converts roots to coefficients of a polynomial:
( s 2)( s 5)( s 6)
2,5,6
( s 2)( s 5)
P3=poly([-2 -5 -6])
rootsP3=roots(P3)
P5=conv([1 2],[1 5])
Polynomials
p=poly([-2 1 5])
R=roots(p)
x=-3:0.1:6;
y=p(1)*x.^3+p(2)*x.^2+p(3)*x+p(4);
plot(x,y)
grid
40
30
20
10
0
p=
-10
-20
-4
-7
10
-30
-40
-3
-2
-1
R=
5.0000
-2.0000
1.0000
5
Partial Fraction Expansion
numf=[1 1 3 1];
denf=[1 0 1];
[r,p,k]=residue(numf,denf)
Dynamic system Representation
using Transfer Function
U(s) input
Roots of numerators are
zeros of a system,
Roots of denominators are
poles of a system.
G(s)
Y(s) output
S-plane
pole
I
m
R
e
zero
Transfer Function in MATLAB
Command tf by defining the
Command zpk
Using s=tf(s), then for example:
8
Transfer Function in MATLAB
tf2zp: converts the numerator, denominator from coefficient to
roots.
[Z,P,K] = TF2ZP(NUM,DEN)
Ex.:
[z,p,k]=tf2zp([1 1],[1 2 1])
z=-1, p=-1;-1, k=1
zp2tf:
converts the numerator, denominator from roots to
[NUM,DEN] = ZP2TF(Z,P,K)
coefficient.
9
Interconnection between blocks
G=series(G1,G2) or alternatively:
u
G1(s)
G2(s)
G=parallel (G1,G2) or alternatively:
u
G1(s)
G2(s)
10
Interconnection between blocks
Feedback:
G1(s)
H(s)
or alternatively for Negative feedback:
11
Symbolic computation in MATLAB
Syms s t :defines s, and t as symbolic variable
syms s a t
1)G4=laplace(exp(t)):
2)G5=laplace(exp(-t)):
3)G6=laplace(sin(a*t)):
G4 =1/(s - 1)
G5 =1/(s + 1)
G6 =a/(a^2 + s^2)
Hint:ilaplace(F,s,t): computes Inverse Laplace transform of F on
the complex variable s and returns it as a function of the time, t.
ilaplace(a/(s^2+a^2),s,t)=(a*sin(t*(a^2)^(1/2)))/(a^2)^(1/2)
12
Symbolic computation in MATLAB
Ex.:A=[1,1;0,1];syms t; Q=expm(A*t)
Hint: expm(M) computes the matrix exponential
of M.
G=laplace(Q,t,s) gives:
G=
[ 1/(s - 1), 1/(s - 1)^2]
[
0, 1/(s - 1)]
13
System Response
SystemStep, impulse, other inputs
Matlab commands:
inputs
lsim
Simulate LTI model response to arbitrary
sys=tf(num,den);
t=0:dt:final_t;
u=f(t);
[y t]=lsim(sys,u,t)
input
step
step(sys)
response
Simulate LTI model response to step
special case of lsim
14
First order systems
Transient response:
x(t)=x0*exp(a*t)
if a<0,its stable.
sImplane
s=a
Re
15
Exp(a*t)
When a is a complex number:
t=0:0.1:5;
a=-1+4*i; % a is complex with negative real part
f=exp(a*t);
X=real(f);
Y=imag(f);
plot(X,Y)
xlabel('Re')
ylabel('Im')
axis('square')
Plot(t,f)
16
First order systems(contd)
When a is complex, with
Negative real part
in polar coordinates:
Rho=sqrt(X.^2+Y.^2);
Theta=atan2(Y,X);
polar(Theta,Rho)
17
Second
System
Secondorder
order systems
In Laplace domain:
Like mass-spring-damper
s=tf('s')
w=1;
zeta=[0.2 0.4 0.7 1 2];
for i=1:length(zeta)
G=w^2/(s^2+2*zeta(i)*w*s+w^2)
step(G,10)
hold on
end
18
Second order systems
Damping ratio is
constant, wn changes.
1.2
Im
Amplitude
s-plane
Step Response
1.4
Re
0.8
Damping ratio is 0.5:
Overshoots are equal.
0.6
0.4
0.2
0
0
0.5
s=tf('s')
zeta=0.5
w=[sqrt(12) 4 sqrt(20)];
for i=1:length(w)
G=(w(i))^2/(s^2+2*zeta*w(i)*s+(w(i))^2)
step(G,3)
hold on
end
1.5
2.5
Time (sec)
19
Second order systems
Undamped system(mass-spring)
Damping ratio is zero:
Step Response
2.5
w =1
w =2
2
1.5
Amplitude
w=[1 2];
for i=1:length(w)
G=tf(w(i)^2,[1 0
w(i)^2]);
step(G,20)
hold on
end
0.5
-0.5
10
Time (sec)
12
14
16
18
20
20
Dynamic system representation
ma F my u ky by
x1 y
x x2
1
x2 y
mx 2 u bx2 kx1
X AX BU
Y CX DU
A
B
1 x1 0
x 0
1
u (t )
x 2 k / m b / m x2 1 / m
u (t )
ky
by
C x
y x1 [1 0] 1 0
x2
Y ( s)
1
System Transfer Function
2
U ( s ) ms bs k
21
MATLAB code
k=.2;
b=.5;
m=1;
A=[0 1;-k/m -b/m];
B=[0;1/m];
C=[1 0];
D=0;
F=ss(A,B,C,D)
step(F)
[num den]=ss2tf(A,B,C,D)
Gs=tf(num,den)
% spring stiffness coefficient
% damping coefficient
% mass
% Represent A.
% Represent column vector B.
% Represent row vector C.
% Represent D.
% Create an LTI object and display.
% system transfer function
22
Step
StepResponse
Response
Step Response
Amplitude
10
15
20
25
30
Time (sec)
23
Ordinary differential equations
3
x2
function dx=lin1(t,x)
dx=zeros(2,1);
0
dx(1)=-x(1);
dx(2)=-2*x(2);
-1
A=[-1 0;0 -2];
-2
[u,v]=eig(A)
In workspace:
-3
[T,X]=ode23(@lin1,[0 10],
-3
-2
-1
0
1
2
x1
[a(i) b(j)]);
plot(X(:,1),X(:,2))
Hint:For using ode command, the diff. equations
[u.v]=eig(A)
should be written in the first order format,i.e. a second
u=
order diff. eq. should be written as two first order diff.
0
1
equations.
1
0
24
Nonlinear Differential eq. of a pendulum
1.5
Viscose Damping term
Gravity term
0.5
-0.5
[T,X]=ode23(@pendulum,[0 10],
[a(i) 0]);
plot(X(:,1),X(:,2
))
Angle
Angular
velocity
x2
function dx=pendulum(t,x)
dx=zeros(2,1)
dx(1)=x(2);
dx(2)=-0.5*x(2)-sin(x(1));
-1
-1.5
-2
-1.5
-1
-0.5
0
x1
0.5
1.5
0.5
-0.5
-1
-1.5
-2
10
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20
25
