Basic MATLAB®, Simulink®, and Stateflow®

445 Pages·2007·14.125 MB·English

by  Colgren, Richard

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Basic MATLAB , Simulink ,
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and Stateflow
Richard Colgren
The University of Kansas
Lawrence, Kansas
EDUCATION SERIES
Joseph A.Schetz
Series Editor-in-Chief
VirginiaPolytechnic Instituteand State University
Blacksburg,Virginia
Publishedby
AmericanInstituteofAeronauticsandAstronautics,Inc.
1801AlexanderBellDrive,Reston,VA20191-4344
MATLABw,Simulinkw,Statefloww,HandleGraphicsw,Real-TimeWorkshopw,andxPCTargetboxw
areregisteredtrademarksofTheMathWorks,Inc.
AmericanInstituteofAeronauticsandAstronautics,Inc.,Reston,Virginia
1 2 3 4 5
LibraryofCongressCataloging-in-PublicationData
Colgren,RichardD.(RichardDean).
BasicMATLAB,Simulink,andStateflow/RichardColgren.
p.cm.--(Educationseries)
ISBN-13:978-1-56347-838-3
ISBN-10:1-56347-838-2(hardcover:alk.paper)
1. MATLAB.2. SIMULINK.3. Stateflow.4. Computersimulation—Computer
programs.5. Engineeringmathematics.6. Aeronautics—Mathematics. I.Title.
TA345.C5982007
620.001013--dc22
2006101307
Copyright2007bytheAmericanInstituteofAeronauticsandAstronautics,Inc.Allrightsreserved.
PrintedintheUnitedStatesofAmerica.Nopartofthispublicationmaybereproduced,distributed,
ortransmitted,inanyformorbyanymeans,orstoredinadatabaseorretrievalsystem,withoutthe
priorwrittenpermissionofthepublisher.
Dataandinformationappearinginthisbookareforinformationalpurposesonly.AIAAisnotrespon-
sibleforanyinjuryordamageresultingfromtheuseorreliance,nordoesAIAAwarrantthattheuseor
reliancewillbefreefromprivatelyownedrights.
Main AIAA Web Site Programs README File
February 2007
The folder, Main AIAA Web Site Programs, contains files that are provided
to assist the user in replicating the problems and examples covered in each
chapter of the book, Basic MATLAB, Simulink, and Stateflow. The files are
arranged by chapter number. These files were created using MATLAB™
Version 7.3.0.267 (R2006b).
MATLAB License Number: DEMO
Operating System: Microsoft Windows XP Version 5.1 (Build 2600: Service
Pack 2) Java VM Version: Java 1.5.0 with Sun Microsystems Inc. Java
Hotspot™ Client VM mixed mode.
Copyright © 2007 by the American Institute of Aeronautics and
Astronautics, Inc.
Preface
Thisbookisbasedonmaterialsdevelopedduringmorethan22yearsofteaching
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MATLAB ,Simulink ,andStateflow inavarietyofformatstoadiverserange
of audiences. Most of these courses required little to no background in any of
these tools from these students. The book can be used for self-instruction on
all three of these topics. All of these tools are relatively easy to use once the
basics are understood. The hands-on approach taken in this book is designed to
provide the user with just such a background. This book is in no way meant to
be comprehensive in its coverage of these three tool sets. A comprehensive
book on MATLAB was possible 20 years ago. However, with the vast number
of toolboxes and model libraries available today, a comprehensive coverage of
these three subjects would require a bookshelf,notasingle book.
Whenusedasaclassroomtext,thisbookisformattedtosupportaMATLAB/
Simulink/Stateflow course designed to take a total of approximately 40 hours,
including in-class exercises. However, the course is designed to be modular
and thus flexible for use in a variety of teaching and time formats. As a class,
this course is best offered within a computer laboratory environment, with the
studentsworking inreal time on examplesalongwith the instructor.
NotethatallthematerialscoveredwithinthisbookweregeneratedusingVersion
7.3 of MATLAB (Release 2006b) and all associated toolbox versions. The Math-
Worksisnowsupportingatwice-yearlyreleaseschedule,witheachServicePackpro-
viding minor upgrades and some new features. These added improvements are
designed to have little effect on the vast majority of capabilities offered by this
largefamilyofanalysistoolsandthusarerelativelyseamlesstotheuser.
Theformatrecommendedforthiscourseasofferedwithinacomputerlabora-
tory environment isasfollows.
1) A lecture is given on a MATLAB, Simulink, or Stateflow topic from the
appropriate chapter in this book. The students work through the materials on
theircomputerswhiletheinstructorsimilarlyworksthroughthelecturematerials.
2)Thestudentsworkthroughanexercisegivenattheendofthechapterafter
the lecture.
3)Anappropriatebreakisgivenattheendoftheexercise.Studentscomplet-
ingthe exercise early may work onotherside topics.
4)Afterwardtheinstructorassignsexercisesorhomeworkforthestudentsto
complete.
RichardColgren
January2007
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Table of Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
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Basic MATLAB
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Chapter 1. Introduction toMATLAB . . . . . . . . . . . . . . . . . . . . . 3
1.1 Introduction and Objectives. . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 Transpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4 Addition andSubtraction. . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.5 Multiplication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.6 Division . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.7 Formats. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.8 MatrixFunctions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.9 Colon Operator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.10 Useful Interface GUIs. . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.11 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Chapter 2. Plottingand Graphics . . . . . . . . . . . . . . . . . . . . . . . 43
2.1 Introduction and Objectives. . . . . . . . . . . . . . . . . . . . . . . . 43
2.2 Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.3 Log and Semilog Plots . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.4 Polar Plots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.5 Subplots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
2.6 Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
2.7 Mesh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
2.8 Contour Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
2.9 FlowDiagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
2.10 Movies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
2.11 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
ix
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Chapter 3. Introduction to MATLAB Toolboxes . . . . . . . . . . . . . 61
3.1 Introductionand Objectives. . . . . . . . . . . . . . . . . . . . . . . . 61
3.2 ContinuousTransferFunctions. . . . . . . . . . . . . . . . . . . . . . 61
3.3 Root Locus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.4 Stepand Impulse Responses . . . . . . . . . . . . . . . . . . . . . . . 64
3.5 Bode Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
3.6 Nichols Chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
3.7 Nyquist Chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
3.8 Linear Quadratic Regulator . . . . . . . . . . . . . . . . . . . . . . . . 69
3.9 State-Space Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
3.10 DigitalDesign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
3.11 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
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Chapter 4. Introduction to MATLAB Cells, Structures, and M-Files 95
4.1 Introductionand Objectives. . . . . . . . . . . . . . . . . . . . . . . . 95
4.2 Cells . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
4.3 Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4.4 M-Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
4.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
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Chapter 5. HandleGraphics and User Interfaces . . . . . . . . . . . . 105
5.1 Introductionand Objectives. . . . . . . . . . . . . . . . . . . . . . . 105
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5.2 Handle Graphics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
5.3 Graphical UserInterface Development Environment . . . . . . . 112
5.4 LayoutEditor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
5.5 PropertyInspector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
5.6 MenuEditor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
5.7 Compiling aStand-AloneExecutable. . . . . . . . . . . . . . . . . 125
5.8 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
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Chapter 6. Introduction to MATLAB MEX-Files . . . . . . . . . . . . 129
6.1 Introductionand Objectives. . . . . . . . . . . . . . . . . . . . . . . 129
6.2 DynamicallyLinked Subroutines: MEX-Files. . . . . . . . . . . . 129
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6.3 MATLAB EngineLibrary. . . . . . . . . . . . . . . . . . . . . . . 142
6.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
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Basic Simulink
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Chapter 7. Brief Introduction toSimulink and Stateflow . . . . . . 153
7.1 Introductionand Objectives. . . . . . . . . . . . . . . . . . . . . . . 153
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7.2 Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
7.3 Van derPolEquation. . . . . . . . . . . . . . . . . . . . . . . . . . . 153
7.4 Conditional System Model . . . . . . . . . . . . . . . . . . . . . . . 158
TABLE OF CONTENTS xi
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7.5 Combined Simulink andStateflow Systems. . . . . . . . . . . 161
7.6 Model Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
7.7 F-14 ControlSystem . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
7.8 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
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Chapter 8. Introduction toSimulink . . . . . . . . . . . . . . . . . . . . . 175
8.1 Introduction and Objectives. . . . . . . . . . . . . . . . . . . . . . . 175
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8.2 Standard Simulink Libraries. . . . . . . . . . . . . . . . . . . . . . 175
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8.3 Simulink Aerospace Blockset. . . . . . . . . . . . . . . . . . . . . 191
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8.4 Simulink Installation and Demonstrations . . . . . . . . . . . . . 194
8.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
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Chapter 9. Buildinga SimpleSimulink Model . . . . . . . . . . . . . . 209
9.1 Introduction and Objectives. . . . . . . . . . . . . . . . . . . . . . . 209
9.2 Population Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
9.3 Analyzing the Population Model. . . . . . . . . . . . . . . . . . . . 238
9.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
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Chapter 10. Building Simulink Linear Models . . . . . . . . . . . . . . 243
10.1 Introduction and Objectives . . . . . . . . . . . . . . . . . . . . . . 243
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10.2 TransferFunction ModelinginSimulink . . . . . . . . . . . . . 243
10.3 Zero-Pole Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
10.4 State-Space Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
10.5 Conclusion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
Chapter 11. LTI Viewer and SISO Design Tool . . . . . . . . . . . . . . 261
11.1 Introduction and Objectives . . . . . . . . . . . . . . . . . . . . . . 261
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11.2 Introduction tothe Simulink LTI Viewer. . . . . . . . . . . . . 261
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11.3 Using the Simulink LTI Viewer. . . . . . . . . . . . . . . . . . . 262
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11.4 Equivalent Simulink LTI Models. . . . . . . . . . . . . . . . . . 283
11.5 SISODesign Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
11.6 Conclusion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
Chapter 12. Buildinga Multiple-Input,Multiple-Output
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Simulink Model . . . . . . . . . . . . . . . . . . . . . . . . . . 297
12.1 Introduction and Objectives . . . . . . . . . . . . . . . . . . . . . . 297
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12.2 System Modeling inSimulink . . . . . . . . . . . . . . . . . . . . 297
12.3 Parameter Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . 297
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12.4 MATLAB Simulation Interface. . . . . . . . . . . . . . . . . . . 315
12.5 Subsystems,Masking, andLibraries. . . . . . . . . . . . . . . . . 316
12.6 Vector Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
12.7 Using Vector Signals forMath Functions . . . . . . . . . . . . . 325
12.8 Conclusion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
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Chapter 13. Building Simulink S-Functions . . . . . . . . . . . . . . . . 335
13.1 IntroductionandObjectives . . . . . . . . . . . . . . . . . . . . . . 335
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13.2 Simulink S-Functions. . . . . . . . . . . . . . . . . . . . . . . . . 335
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13.3 Simulink C andS-Function Example,
Van derPolEquation . . . . . . . . . . . . . . . . . . . . . . . . . . 336
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13.4 Simulink C andS-Function BuilderExample,
VanderPolEquation. . . . . . . . . . . . . . . . . . . . . . . . . 342
13.5 Exampleof a FORTRAN S-Function. . . . . . . . . . . . . . . . 352
13.6 Exampleof a CMEX S-FunctionGateway. . . . . . . . . . . . . 354
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13.7 Simulink BlockDiagram Using S-Function. . . . . . . . . . . 358
13.8 Conclusion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
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Basic Stateflow
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Chapter 14. Introduction to Stateflow . . . . . . . . . . . . . . . . . . . . 369
14.1 IntroductionandObjectives . . . . . . . . . . . . . . . . . . . . . . 369
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14.2 Opening, Executing, and Saving Stateflow Models . . . . . . 369
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14.3 Constructing aSimpleStateflow Model. . . . . . . . . . . . . . 376
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14.4 Using aStateflow TruthTable. . . . . . . . . . . . . . . . . . . . 410
14.5 Conclusion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
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Appendix A. Historyof MATLAB and The MathWorks,Inc. . . . . 425
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Appendix B. TuningMATLAB , Simulink , and
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Stateflow Solvers . . . . . . . . . . . . . . . . . . . . . . . . . 429
B.1 ImprovingSimulation Performance and Accuracy. . . . . . . . . 429
B.2 Selecting Solvers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
B.3 Non-Real-Time and Real-Time Simulations. . . . . . . . . . . . . 436
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Appendix C. MATLAB ,Simulink , and Stateflow
QuickReferenceGuide . . . . . . . . . . . . . . . . . . . . . 437
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477
SupportingMaterials. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
1
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Introduction to MATLAB
1.1 Introduction and Objectives
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MATLAB is a high-performance language for technical computing. It
integrates computation, visualization, and programming in an easy-to-use
environmentwhereproblemsandsolutionsareexpressedinfamiliarmathemat-
ical notation. This chapter introduces some of the basic matrix computational
tools and graphical user interfaces (GUIs) that are available in MATLAB
through the main Command Window.
Upon completion of this chapter, the reader will be able to 1) identify some
basic computational tools and commands in MATLAB; 2) identify the various
components of the MATLAB GUI; 3) input commands into the Command
Window; 4) obtain help information using on-line help utilities, local contacts,
users groups,and The MathWorksWeb site and help lines.
OnWindowsplatforms,tostartMATLAB,double-clicktheMATLABshort-
cut icon on your Windowsdesktop(see Fig. 1.1).
Fig.1.1
OnUNIXplatforms,tostartMATLAB,typematlabattheoperatingsystem
prompt.
After you have started the MATLAB program, the standard main MATLAB
interface window appearsasshown inFig.1.2.
Youcanchangethewayyourdesktoplooksbyopening,closing,moving,and
resizing the tools on it. Use the View menu toopen or close the tools. You can
alsomovetoolsoutsidethedesktopormovethembackontothedesktop.Allthe
desktop tools provide common features such as context menus and keyboard
shortcuts.Youcanspecifycertaincharacteristicsforthedesktoptoolsbyselect-
ing Preferences from the File menu. For example, you can specify the font
characteristics for Command Window text. For more information on this or
any topic, click the Help button in the Preferences dialog box.
3
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4 BASIC MATLAB , SIMULINK , AND STATEFLOW
Fig.1.2
In the discussion to follow, the given commands will be entered using the
Command Window. Statements you enter into the Command Window are
logged into the Command History. In the Command History window, you
can view previously run statements and copy and execute selected statements.
You can also use the up and down arrows on your keyboard to place previous
commands directly into the Command Window for execution.
YoucanrunexternalprogramsfromtheMATLABCommandWindow.The
exclamationpoint!indicatesthattherestoftheinputlineisacommandtotheoper-
atingsystem.Thisisusefulforinvokingutilitiesorrunningotherprogramswithout
quittingMATLAB.TheMATLABStartbutton provideseasyaccessto
tools,demos,anddocumentation.Justclickonthebuttontoseetheoptions.
MATLABfileoperationsusethecurrentdirectoryandthesearchpathasrefer-
encepoints.Anyfileyouwanttorunmusteitherbeinthecurrentdirectoryoron
thesearchpath.Aquickwaytovieworchangethecurrentdirectoryisbyusing
the Current Directory field inthe desktoptoolbar.
TheMATLABworkspaceconsistsofarraysormatricesgeneratedduringyour
MATLABsessionandstoredinmemory.Youaddvariablestotheworkspaceby
using functions, running M-files, andloadingsaved workspaces.
1.2 Entry
To enter a matrix, spaces or commas are put between the elements. Semico-
lons or returns are used to separate the rows. Note that semicolons at the end
of a command suppress the echo print. Brackets are placed around the matrix
data.Forexample, toenter a3-by-3matrix A, type
(cid:2)A5[12 3;45 6;7 80]