MATLAB Tutorial

Jitkomut Songsiri

Department of Electrical Engineering, Faculty of Engineering, Chulalongkorn University

Room 404, EE Bldg. June 15, 2005

Lecture 1 Introduction

MATLAB is a computer program that can be very helpful in solving the kinds of mathematical problems you will frequently encounter. MATLAB can solve a wide variety of numerical problems, from the very basic to complex problems. MATLAB can be used to plot several kinds of graphs

MATLAB is supported to Windows, Mac OS X, and Linux platforms.

Introduction

Other Scientic Computing Softwares

12

Software Windows Linux Free Software Mathematica http://www.wolfram.com/products/mathematica/index.html    SciLab http://scilabsoft.inria.fr/    Octave http://www.octave.org    Maple http://www.maplesoft.com   

Matlab tutorial, June 15, 2005

Lecture 2 Variables

Double array Char array

Variables

Double array

21

Generate at the command line. >> x = 1 x = 1 >> y = [1 2] y = 1 2 >> z = [1 -1 0; 0 1 -1; 0 0 z = 1 -1 0 0 1 -1 0 0 1 >> whos x y z Name Size Bytes x 1x1 8 double y 1x2 16 double z 3x3 72 double
Matlab tutorial, June 15, 2005

A scalar, a vector , or a matrix is stored as a double array with dierent sizes. A polynomial is also stored as a row vector. 1] q (s) = s2 + 5s + 2 >> q = [1 5 2]

Class array array array

Variables

Char array

22

Generate at the command line.

>> str = hello str = hello >> whos str Name Size Bytes Class str 1x5 10 char array Grand total is 5 elements using 10 bytes

str is stored in a char array whose size is equal to the number of characters

Matlab tutorial, June 15, 2005

Lecture 3 Help and Matlab environment

The help command The lookfor command The help desk and link to the mathworks The workspace The save command The search path Disk le manipulation

Help and Matlab environment

The help command

31

To get syntax and instructions for inv, help inv INV Matrix inverse. INV(X) is the inverse of the square matrix X. A warning message is printed if X is badly scaled or nearly singular. See also SLASH, PINV, COND, CONDEST, LSQNONNEG, LSCOV. All functions are organized into directories, e.g., all linear algebra functions are in matfun. To list the name and description of functions in matfun, help matfun
Matlab tutorial, June 15, 2005

Help and Matlab environment

The help command (cont.)

32

Alternatively, to list the name only, what matfun The command help alone lists all the directories, help HELP topics: matlab\general matlab\ops matlab\lang ... - General purpose commands - Operators and special . . . - Programming language . . .

Matlab tutorial, June 15, 2005

Help and Matlab environment

The help command (cont.)

33

The help window Select Help Window under the Help menu (on PCs) Click the question mark on the menu bar (on PCs) Type helpwin

Help window gives the same information as help,

Matlab tutorial, June 15, 2005

Help and Matlab environment

The lookfor command

34

Search for functions based on a keyword. Search through the rst line of help text. Return the rst line containing a keyword.

For example, help inverse inverse.m not found One should type lookfor inverse
Matlab tutorial, June 15, 2005

Help and Matlab environment

The lookfor command

35

Results: INVHILB ACOS ASIN ATAN ERFINV INV PINV ... Inverse Hilbert matrix. Inverse cosine. Inverse sine. Inverse tangent. Inverse error function. Matrix inverse. Pseudoinverse.

Adding the option -all, lookfor -all inverse searches the entire help text (not just the rst line).
Matlab tutorial, June 15, 2005

Help and Matlab environment

The help desk

36

The Matlab Help Desk

Provide access to helps and references stored in your system. Many documents in HTML format. Access via internet web browser. Select the Help Desk under the Help menu (on PCs). Type helpdesk on the workspace.

Note This gives more details than help.

Matlab tutorial, June 15, 2005

Help and Matlab environment

The workspace

37

The area of memory. Accessible from the command line. The commands who and whos show the current contents. who a short list whos size and storage information For example, (variables from the Variables Lecture ) >> who Your variables are: A P sysss B Z sysssz C den systf D num systfz K str syszpk
Matlab tutorial, June 15, 2005

syszpkz x y z

Help and Matlab environment

The workspace (cont.)

38

Results from whos >> whos Name A B C D K P Z den num str sysss sysssz ...
Matlab tutorial, June 15, 2005

Size 2x2 2x1 1x2 1x1 1x1 1x2 1x1 1x3 1x2 1x5 1x1 1x1

Bytes 32 16 16 8 8 16 8 24 16 10 2824 2824

Class double array double array double array double array double array double array double array double array double array char array ss object ss object

Help and Matlab environment

The workspace (cont.)

39

To delete all the existing variables from the workspace, enter the command clear clear To delete specic variables use the commend clear followed by variables clear A B C D

Matlab tutorial, June 15, 2005

Help and Matlab environment

The save command

3 10

Save the contents of the workspace as a MAT-le Read the MAT-le with command load

Save all contents to var_data.mat: save var data Save specic contents: save var data systf

sysss

syszpk

Append the data to var_data.mat: save -append var data systf Restore the saved data to workspace: load var data
Matlab tutorial, June 15, 2005

sysss

syszpk

Help and Matlab environment

The search path

3 11

To view the search path, Type path. Choose Set Path from the File menu (on PCs). Disk le manipulation Generic system commands: dir, type, delete, and cd. MATLAB dir type delete cd MS-DOS dir type del chdir UNIX ls cat rm cd

Matlab tutorial, June 15, 2005

Lecture 4 The command window

The format command Suppressing output Long command lines Command line editing

The command window

The format command

41

specify the displayed numeric format does not aect computation Example. Display x in dierent formats x = [4/3 1.2345e-6] format short 1.3333 0.0000 format short e 1.3333e+000 1.2345e-006 format short g 1.3333 1.2345e-006 format long 1.33333333333333 0.00000123450000
Matlab tutorial, June 15, 2005

The command window

The format command (con.)

42

format long e 1.333333333333333e+000 1.234500000000000e-006 format long g 1.33333333333333 1.2345e-006 format bank 1.33 0.00 format rat 4/3 1/810045 format hex 3ff5555555555555 3eb4b6231abfd271 Note For proper spacing, use Fixedsys or Courier.
Matlab tutorial, June 15, 2005

The command window

Suppressing output

43

Matlab automatically displays results. Need no display. End the line with ;. Useful for: Large outputs, Scripts and functions. Multiple expressions in one line. Separate each with ;. a = 1; b = a+1; Force to display results. Use , instead. a = 1, b = a+1, a = 1 b = 2
Matlab tutorial, June 15, 2005

The command window

Long command lines

44

Statement does not t in one line. Use three periods, then Enter. s = 1 -1/2 + 1/3 ... -1/4 + 1/5 - 1/6 ... + 1/7 - 1/8 + 1/9 ... - 1/10 + 1/11 - 1/12 s = 0.6532 Note Blank spaces around =, +, and - are optional. Frequently used inside scripts and functions

Matlab tutorial, June 15, 2005

The command window

Command line editing

45

Suppose you mistakenly enter x = (1 + sqt(5))/2 Undefined function or variable sqt The error is due to the misspell of sqrt. Solutions: Press the key to correct; Guide Matlab with a few characters, and press ; Use command history window.

Matlab tutorial, June 15, 2005

The command window

Command line editing (con.)

46

Command line editing keys. Ctrl + Ctrl + Ctrl + p Ctrl + n Ctrl + b Ctrl + f Ctrl + r Ctrl + l Recall previous line Recall next line Move back one character Move forward one character Move right one word Move left one word

Matlab tutorial, June 15, 2005

The command window

Command line editing (con.)

47

Home End Esc Del

Ctrl + a Move to beginning of line Ctrl + e Move to end of line Ctrl + u Clear line Ctrl + d Delete character at cursor

Backspace Ctrl + h Delete character before cursor Ctrl + k Delete to end of line

Matlab tutorial, June 15, 2005

Lecture 5 Elementary Mathematical Functions

The commands are listed in elfun category >> help elfun Elementary math Trigonometric. sin sinh asin asinh cos cosh acos acosh tan tanh ... functions. Sine. Hyperbolic sine. Inverse sine. Inverse hyperbolic sine. Cosine. Hyperbolic cosine. Inverse cosine. Inverse hyperbolic cosine. Tangent. Hyperbolic tangent

Elementary Mathematical Functions

Example Usages

51

Example 1 Check the validation of Euler formula ej = cos + j sin by using the command exp sin cos - Exponential - Sine - Cosine

>> theta= pi/3; >> exp(j*theta) ans = 0.5000 + 0.8660i >> cos(theta)+j*sin(theta) ans = 0.5000 + 0.8660i
Matlab tutorial, June 15, 2005

Elementary Mathematical Functions

Example Usages (con.)

52

Example 2 Find the absolute value of a complex number, z = a + jb |z | = a2 + b2 by using the command abs real imag sqrt Absolute value Complex real part Complex imaginary part Square root

>> z = 3+j*4 ; >> abs(z) ans = 5 >> sqrt(real(z)^2+imag(z)^2) ans = 5

Matlab tutorial, June 15, 2005

Lecture 6 Matrix operations

Generating matrices Loading matrices Concatenation Manipulating rows and columns Matrix relating function

Matrix operations

Generating matrices

61

Generate at the command line. A = [1 -1 0; 0 1 -1; 0 0 1] A = 1 -1 0 0 1 -1 0 0 1 The numeric format of the command window is specied by the format command: Several interesting functions, ones(n,m), zeros(n,m), eye(n).
Matlab tutorial, June 15, 2005

Matrix operations

Generating matrices (cont.)

62

Generate via M-le editor. A = [ 1 -1 0 0 1 -1 0 0 1 ] Save as an M-le, say mat_gen.m, and run at the command line, mat gen.m A = 1 -1 0 0 1 -1 0 0 1 The extension .m can be omitted.
Matlab tutorial, June 15, 2005

Matrix operations

Loading matrices

63

The load command Read binary les (MAT les) Read text les Text les must be a rectangular table of numbers, separated by blanks. For example, create outside Matlab : 16 3 2 5 10 11 8 4 7 Save as matrix.txt, and run load matrix.txt
Matlab tutorial, June 15, 2005

Matrix operations

Concatenation

64

Concatenate matrices to a bigger matrix: A = [B C; D]

# of rows of B = C , # of columns of D = B + C . 1 1 0 For example, we can get A = 0 1 1 from 0 0 1 1 1 , 0 1 0 , 1

B =
Matlab tutorial, June 15, 2005

C =

D =

0 0 1 .

Matrix operations

Manipulating rows and columns

65

Access a row. X = A(3,:) X = 0 0 1

Access a column. Y = A(:,2) Y = -1 1 0

Replace a row A(2,:) = [1 2 3] A = 1 -1 0 1 2 3 0 0 1

Matlab tutorial, June 15, 2005

Matrix operations

Manipulating rows and columns (cont.)

66

Delete a row.

A(2,:) = [ ] A = 1 -1 0 0 0 1

Obtain a part of matrix. Apply vector subscript.

X = A([1 2],[2 3]) X = -1 0 1 -1

Matlab tutorial, June 15, 2005

Matrix operations

Matrix relating functions

67

Basic arithmetic functions: plus(A,B) or A + B, minus(A,B) or A - B, mtimes(A,B) or A*B, A^b. A scalar is applied to any matrix elementwisely. Other linear algebraic functions: det(A), trace(A), A, inv(A).
Matlab tutorial, June 15, 2005

Matrix operations

Matrix relating functions

68

1 1 0 Examples for A = 0 1 1. 0 0 1 det(A) ans = 1 A ans = 1 0 0 -1 1 0 0 -1 1 trace(A) ans = 3 inv(A) ans = 1 1 1 0 1 1 0 0 1

Matlab tutorial, June 15, 2005

Matrix operations

Matrix relating functions (cont.)

69

size and length: size of matrices; length of vectors; outputs of size: Suppose B = X = size(B) X = 2 3 1 1 0 . 0 1 1 [Y, Z] = size(B) Y = 2 Z = 3

To get # of rows or columns, specify 1 or 2 as the second argument, respectively. X = size(B,1) X = 2

Matlab tutorial, June 15, 2005

Y = size(B,2) Y = 3

Lecture 7 Graphics in Matlab

Plotting Figure windows Add plots to an existing gure Subplots Print graphics

Graphics in Matlab

Plotting

71

Dierent forms of plot. plot(y) y vs indices of elements. plot(x,y) y vs x. For example, to plot sin(x) from 0 to 2 : x = 0:pi/100:2*pi; y = sin(x); plot(x,y) Note The ; is used to suppressed the output.
Matlab tutorial, June 15, 2005

Graphics in Matlab

Plotting: Axis title and label

72

xlabel(x (rad)) ylabel(Sine of x) title(Sine Function,FontSize,12)

Sine Function
1

0.8

0.6

0.4

0.2 Sine of x

0.2

0.4

0.6

0.8

3 x (rad)

Matlab tutorial, June 15, 2005

Graphics in Matlab

Plotting: Multiple data sets in single graph

73

y1= sin(x); y2 = sin(x-.25); y3 = sin(x-.5); plot(x,y1,x,y2,x,y3)

The legend command help identify each plot.

legend(sin(x),sin(x-.25),sin(x-.5))

Matlab tutorial, June 15, 2005

Graphics in Matlab

Plotting (cont.)

74

1 sin(x) sin(x.25) sin(x.5)

0.8

0.6

0.4

0.2

0.2

0.4

0.6

0.8

Matlab tutorial, June 15, 2005

Graphics in Matlab

Plotting: Line styles, markers, and colors

75

plot(x,y,color style marker)

color_style_marker is a string dening a color, a line style, and a marker type:

Colors: c m y r cyan, magenta, yellow, red, g b w k green blue white black

Matlab tutorial, June 15, 2005

Graphics in Matlab

Plotting: Line styles and marker types

76

Line styles: - solid -- dashed Marker types: + o * x plus sign, o sign, star sign, x sign, s d ^ v square diamond up triangle down triangle p h > < pentagram hexagram right triangle left triangle : dotted -. dash-dot

Note again that you can edit colors, line styles, and markers interactively.
Matlab tutorial, June 15, 2005

Graphics in Matlab

Plotting examples

77

Example 1: Red dotted line, plus sign. plot(x,y,r:+)

Example 2: Black squares, no line. plot(x,y,ks)

Example 3: # of markers < # plotting points. x1 = 0:pi/100:2*pi; x2 = 0:pi/10:2*pi; plot(x1,sin(x1),r:,x2,sin(x2),r+)

Matlab tutorial, June 15, 2005

Graphics in Matlab

Plotting examples (cont.)

78

0.8

0.6

0.4

0.2

0.2

0.4

0.6

0.8

Matlab tutorial, June 15, 2005

Graphics in Matlab

Figure windows

79

For any graphing functions, No gure window. open a new one. One gure window. use the existing one. Many gure windows. chooses the current gure Make gure #n a current gure. figure(n) Open blank gure. figure

Matlab tutorial, June 15, 2005

Graphics in Matlab

Add plots to an existing gure

7 10

The command hold prepares to add a new graph to the existing axis. sys = tf(1,[1 2 3]) [y1,t1] = step(sys); plot(t1,y1,--) hold on [y2,t2] = impulse(sys); plot(t2,y2,:) hold off Toggle holding states : sys = tf(1,[1 2 3]) [y1,t1] = step(sys); plot(t1,y1,--) hold Current plot held [y2,t2] = impulse(sys); plot(t2,y2,:) hold Current plot released
Matlab tutorial, June 15, 2005

Graphics in Matlab

Adding plots to an existing graph (cont.)

7 11

0.4

0.35

0.3

0.25

0.2

0.15

0.1

0.05

0.05

Matlab tutorial, June 15, 2005

Graphics in Matlab

Subplots

7 12

The subplot command: Display multiple plots in one window. Print multiple plots on one piece of paper. Type subplot(m,n,p): Partition a window into an m n table of subplots. Select the pth subplot. Figure # runs from and from .

Matlab tutorial, June 15, 2005

Graphics in Matlab

Subplots (cont.)

7 13

t = 0:pi/10:2*pi; [X,Y,Z] = cylinder(4*cos(t)); subplot(2,2,1); mesh(X) subplot(2,2,2); mesh(Y) subplot(2,2,3); mesh(Z) subplot(2,2,4); mesh(X,Y,Z)
5 5

5 40 30 20 0 10 0 20

5 40 30 20 0 10 0 20

0.5

0.5

0 40 20 0 10 0 30 20

0 5 0 5 5 5 0

Matlab tutorial, June 15, 2005

Graphics in Matlab

Saving and Exporting

7 14

Saving a gure

Select Save from the File menu. The standard format is FIG.

Exporting gure

Select Export from the File menu.

A EPS format L TEX EMF format MS Powerpoint

Matlab tutorial, June 15, 2005

Lecture 8 M-Files

An M-File is used to Store the set of commands to be executed at once Create your own function

M-Files

Script M-le

81

For example, save the commands from Graphics in Matlab Lecture to a le named plotsine.m

The command >> plotsine gives the same results as we did and all variables are shown in the workspace.
Matlab tutorial, June 15, 2005

M-Files

My function

82

For example, to calculate age from a given birthdate, we develop a function named cal age.m in Matlab editor. % % % % % CAL_AGE(MONTH,YEAR) give the age of a person by assigning month and year of the birthdate. MONTH and YEAR are specified in numeric format and your age will be returned. [yr,mo] = CAL_AGE(7,1978);

function[yr,mo] = cal_age(month,year) today = clock; % get the current date from clock command yr = today(1)-year- (month > today(2)) ; % year difference mo = today(2)-month + 12*(today(2) < month); % month difference fprintf(Your age is %d years %d months,yr,mo) % print the result end

Matlab tutorial, June 15, 2005

M-Files

My function (cont.)

83

First, type the information of this function and comment it. This message will be displayed when we run help command. >> help cal age CAL_AGE(MONTH,YEAR) give the age of a person by assigning month and year of the birthdate. MONTH and YEAR are specified in numeric format and your age will be returned. [yr,mo] = CAL_AGE(7,1978); Second, dene input arguments and returned values. Terminate the function by using end function[yr,mo] = cal age(month,year) . . end
Matlab tutorial, June 15, 2005

M-Files

My function (cont.)

84

Third, insert your codes and save this le with the extension .m Your function will be executed by using the lename as a command >> [yr,mo] = CAL_AGE(7,1978)

Your age is 26 years 10 months yr = 26 mo = 10 Note: Variables dened in a function are local. They will not be shown in the workspace. The function can be run only if you are in the same path as the le is kept.
Matlab tutorial, June 15, 2005

Lecture 9 Control Systems Toolbox

TF, SS, ZPK object Frequently Used Commands Classical Design Time-domain analysis Frequency-domain analysis Simulink

Control Systems Toolbox

TF Object

91

A tf object is a continuous-time or a discrete-time transfer function created by tf command. Dene the numerator and denominator of a transfer function. >> num = [1 2]; den = [1 2 1] ; num and den which are stored as double arrays represent the coecients of the numerator and denominator, respectively. Create a continuous-time transfer function. Create a discrete-time transfer function and specify the sampling time (1 sec). >> systf = tf(num,den) Transfer function: s + 2 ------------s^2 + 2 s + 1 >> systfz = tf(num,den,1) Transfer function: z + 2 ------------z^2 + 2 z + 1 Sampling time: 1
Matlab tutorial, June 15, 2005

Control Systems Toolbox

SS Object

92

An SS Object is a continuous-time or a discrete-time state-space model. Dene state-space system matrices. >> A = [-0.5 0; 0 -0.2] ; B = [1; 0] ; C =[1 0 ] ; D = 0 ; Create a continuous-time state-space model. >> sysss = ss(A,B,C,D) a = x1 x2 x1 -0.5 0 x2 0 -0.2 c = y1 x1 1 x2 0 b = x1 x2 d = y1 u1 0 u1 1 0

Continuous-time model.
Matlab tutorial, June 15, 2005

Control Systems Toolbox

SS Object (cont.)

93

Create a discrete-time state-space model and specify the sampling time (1 sec). >> sysssz = ss(A,B,C,D,1) a = x1 x2 x1 -0.5 0 x2 0 -0.2 c = y1 x1 1 x2 0 b = x1 x2 d = y1 u1 0 u1 1 0

Sampling time: 1 Discrete-time model.

Matlab tutorial, June 15, 2005

Control Systems Toolbox

ZPK Object

94

A ZPK Object is a zero-pole-gain model.

Dene zeros (Z), poles (P), and gain (K) of a transfer function. >> Z = -0.5 ; P = [-0.7 -1] ; K = 1 ;

Create a continuous-time ZPK model. >> syszpk = zpk(Z,P,K) Zero/pole/gain: (s+0.5) ------------(s+0.7) (s+1)

Create a discrete-time ZPK model with the sampling time = 1 sec. >> syszpkz = zpk(Z,P,K,1) Zero/pole/gain: (z+0.5) ------------(z+0.7) (z+1) Sampling time: 1

Matlab tutorial, June 15, 2005

Control Systems Toolbox

Frequently Used Commands

95

Three combinations of conversions among TF, SS, ZPK. Conversion between continuous and discrete models. System poles, zeros, and eigenvalues.

Matlab tutorial, June 15, 2005

Control Systems Toolbox

Conversion among TF, SS, ZPK

ss2tf tf2zp zp2tf zp2ss

96

TF : Transfer Function SS : State Space Model ZPK : Zeros, Poles, and Gain

ss2zp tf2ss

For example, convert G(s) =

(s + 1) to the state-space model. 2 (s + 4s + 5) >> num = [1 1]; den = [1 4 5]; >> [a,b,c,d] = tf2ss(num,den) a = b = -4 -5 1 1 0 0 c = d = 1 1 0
Matlab tutorial, June 15, 2005

Control Systems Toolbox

Conversion between Continuous-Time and Discrete-Time Models

97

c2d : Conversion of continuous-time models to discrete time. d2c : Conversion of discrete-time models to continuous time.
s+1) For example, convert G(s) = (s2(+4 to a discrete model by assuming Zero-Order hold on s+5) the inputs with the sampling time = 0.1 sec.

>> systf = tf(num,den) Transfer function: s + 1 ------------s^2 + 4 s + 5 Create a TF object

>> sysd = c2d(systf,0.1,zoh) Transfer function: 0.08611 z - 0.07791 ---------------------z^2 - 1.629 z + 0.6703 Sampling time: 0.1 Convert to the discrete-time model.

Matlab tutorial, June 15, 2005

Control Systems Toolbox

Poles, Zeros, and Eigenvalues

98

According to systf created in the previous slide, we calculate poles, zeros and eigenvalues of the system by the following command. >> pole(systf) ans = -2.0000 + 1.0000i -2.0000 - 1.0000i >> zero(systf) ans = -1 >> eig(systf) ans = -2.0000 + 1.0000i -2.0000 - 1.0000i

The input arguments of pole and zero are LTI models (SS or TF object) The input argument of eig could be: 1. An LTI model (SS or TF object) 2. A square matrix

Matlab tutorial, June 15, 2005

Control Systems Toolbox

Classical Design

99

rlocus computes and plots the root locus of a single-input, single-output LTI model sisotool A Graphical User Interface that allows you to design single-input/single-output (SISO) compensators.
Root Locus 2

1.5

0.5 Imaginary Axis

0.5

1.5

2 10

4 Real Axis

rlocus
Matlab tutorial, June 15, 2005

sisotool

Control Systems Toolbox

Root Loci

9 10

In plotting root loci with MATLAB, we deal with the system equation in the form of 1 + KG(s) = 0 For example, let G(s) = (s + 1) . 2 (s + 4s + 5)

>> >> >> >> >> >> >> >>

num=[1 1];den = [1 4 5]; [a,b,c,d]=tf2ss(num,den); systf = tf(num,den); sysss=ss(a,b,c,d); rlocus(num,den) rlocus(systf) rlocus(a,b,c,d) rlocus(sysss)

Create LTI models in various types

The command can be used with all model types.

Matlab tutorial, June 15, 2005

Control Systems Toolbox

Root Loci (cont.)

Root Locus Root Locus 1.5

9 11

1.5

0.5

0.5

Imaginary Axis

Imaginary Axis

System: systf2 Gain: 1.66 Pole: 3.99 Damping: 1 Overshoot (%): 0 Frequency (rad/sec): 3.99

0.5

0.5

1.5 4.5

3.5

2.5 Real Axis

1.5

0.5

1.5 4.5

3.5

2.5 Real Axis

1.5

0.5

Clicking at a point on root locus returns the closed-loop poles, feedback gain (K ), and other parameters. The user is able to design the gain (K ) by dragging mouse to the appropriate point corresponding to the desired closed-loop pole and time response specication.
Matlab tutorial, June 15, 2005

Control Systems Toolbox

SISOTOOL

9 12

This GUI lets you design single-input/single-output (SISO) compensators by interacting with the root locus, Bode, and Nichols plots of the open-loop system.

1. Current parameters of the Compensator 2. Conguration of Feedback System 3. Root Locus 4. Open-Loop Bode Plot

Matlab tutorial, June 15, 2005

Control Systems Toolbox

SISOTOOL (cont.)

9 13

The structure of the compensator can be customized.

Matlab tutorial, June 15, 2005

Step response, Closed-Loop Bode plot, and other loop responses are provided in analysis menu.

Control Systems Toolbox

Time-domain analysis

9 14

step Step response impulse Impulse response initial Response of state-space system with given initial conditions.

Matlab tutorial, June 15, 2005

Control Systems Toolbox

Step response

9 15

The step response of G(s) from t = 0 to t = 5 can be obtained by:

Step Response 0.35

0.3

0.25

0.2 Amplitude 0.15 0.1 0.05 0

0.5

1.5

2.5 Time (sec)

3.5

4.5

>> step(systf,5)
Matlab tutorial, June 15, 2005

Control Systems Toolbox

Impulse response

9 16

The impulse response of G(s) from t = 0 to t = 5 can be obtained by:

Impulse Response 1.2

0.8

0.6 Amplitude 0.4 0.2 0 0.2

0.5

1.5

2.5 Time (sec)

3.5

4.5

>> impulse(systf,5)
Matlab tutorial, June 15, 2005

Control Systems Toolbox

Initial response

9 17

The inital response of G(s) from t = 0 to t = 5 with a given initial condition (x0 = [1 1]) can be obtained by:
Response to Initial Conditions 1

0.8

0.6

0.4

Amplitude

0.2

0.2

0.4

0.6

0.8

0.5

1.5

2.5 Time (sec)

3.5

4.5

>> inital(sysss,[-1 1],5) Note: The rst argument of command initial must be an SS object or state-space model.
Matlab tutorial, June 15, 2005

Control Systems Toolbox

Frequency-domain analysis

9 18

bode Bode diagrams of the frequency response nyquist Nyquist plot freqresp Frequency response over a frequency grid ltiview Response analysis GUI (LTI Viewer)

Matlab tutorial, June 15, 2005

Control Systems Toolbox

Bode

9 19

Draw a Bode plot of open-loop system G(s).

Bode Diagram 10

>> bode(systf) The following command return the response magnitudes and phases in degrees along with the frequency data. >> [MAG,PHASE,W] = bode(systf); >> MAG MAG(:,:,1) = 0.2008

15

Magnitude (dB) Phase (deg)

20

25

30

35

40 45

45

90 10
1

10

10 Frequency (rad/sec)

10

>> PHASE PHASE(:,:,1) = 1.1275

Note: The argument of bode is any kind of LTI models.

Matlab tutorial, June 15, 2005

Control Systems Toolbox

Nyquist

9 20

The command nyquist draws the Nyquist plot of G(s). >> nyquist(systf)
Nyquist Diagram 1 0.8

0.6

0.4

0.2 Imaginary Axis

0.2

0.4

0.6

0.8

1 1

0.8

0.6

0.4 Real Axis

0.2

0.2

0.4

Note: The argument of nyquist is any kind of LTI models.

Matlab tutorial, June 15, 2005

Control Systems Toolbox

Frequency Response

9 21

The frequency response of G(s) (jw + 1) s+1 s=jw G(jw) = G (s ) = 2 s + 4s + 5 (w2 + 4jw + 5) can be computed by : 1. Specifying a vector of frequency grid >> w = logspace(-2,3,500) 0.0100 0.0102 ... 2. Generating the command >> Gjw = freqresp(systf,w) Gjw(:,:,1) = 0.2000 + 0.0004i Gjw(:,:,2) = 0.2000 + 0.0004i ...
Matlab tutorial, June 15, 2005

The commands mag(Gjw) and phase(Gjw) give the same results as that obtained from bode command.

Control Systems Toolbox

Response analysis GUI: LTI Viewer

9 22

The LTI Viewer is an interactive graphical user interface (GUI) for analyzing the time and frequency responses of linear systems and comparing many systems in the same time. A blank viewer is run by >> ltiview

Matlab tutorial, June 15, 2005

Control Systems Toolbox

Response analysis GUI: LTI Viewer (cont.)

9 23

1. Import the data to the viewer

Choose the variable systf available in the workspace.

Matlab tutorial, June 15, 2005

Control Systems Toolbox

Response analysis GUI: LTI Viewer (cont.)

9 24

2. Select the option of graphs to be displayed. For example, step and bode response will be shown in the same window.

Matlab tutorial, June 15, 2005

Control Systems Toolbox

Simulink

9 25

Simulink is a tool for creating a diagram of a particular system and simulating its time response. See an example in the class.

Matlab tutorial, June 15, 2005

Control Systems Toolbox

References

9 26

[1] Matlab Help [Computer Software], The Mathworks Inc., version 6.5.0.180913a, Release 13, 2002. [2] W. Khaisongkram, MATLAB Tutorial, CSRL, Dept. of Electrical Engineering, Chulalongkorn University, July 2004.

Matlab tutorial, June 15, 2005