Using MATLAB,

SIMULINK and
Control System Toolbox
A practical approach

Alberto Cavallo
Roberto Setola
Francesco Vasca

Prentice Hall
London New York Toronto Sydney Tokyo Singapore
Madrid Mexico City Munich

Contents

Introduction

MATLAB

2 Fundamentals
2.1 Keyboard input
2.2 Input from external files
2.3 Utility commands
2.4 Exercises

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3 Vector and matrix manipulation

3.1 Elements of a matrix
3.2 Interval representation
3.3 Matrix manipulation operations
3.4 Special matrices
3.5 Character strings
3.6 Advanced matrix manipulation techniques
3.7 Exercises

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4 Scalar operations
4.1 Arithmetic operations
4.2 Elementary and transcendental functions
4.3 Examples
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4.4 Logical and relational operators
4.5 Exercises

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Contents
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Matrix operations
5.1
5.2
5.3
5.4
5.5
5.6
5.7

Transpose
Algebraic operations
Matrix functions
Logic operations
Complements on matrices
More special matrices
Exercises

Polynomials
6.1
6.2
6.3

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Basic operations
Interpolation
Exercises

7 Graphics
7.1 2D graphics
7.2 Multiple plots
7.3 Axis scaling
7.4 Complex data
7.5 More 2D graphs
7.6 Plotting more graphs on the same window
7.7 3D graphics
7.8 Functions of two variables
7.9 Color in MATLAB
7.10 Parametric plots
7.11 Revolution surfaces
7.12 Printing graphics
7.13 Exercises

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8 Programming in MATLAB
8.1 Basic programming structures
8.2 Script files
8.3 Functions
8.4 Debugging programs
8.5 Exercises

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9 Numeric analysis
9.1 Infinitesimal analysis
9.2 Nonlinear equations and optimization
9.3 Differential equations
9.4 Exercises

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Contents
II

SIMULINK

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10 Fundamentals
10.1 Building a SIMULINK scheme
10.2 Analysis of the scheme
10.3 Exercises

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11 SIMULINK schemes
11.1 Using the mouse
11.2 Structural properties of the blocks
11.3 A nonlinear example
11.4 Sources and sinks
11.5 Some nonlinear blocks
11.6 Exercises

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12 Simulation in SIMULINK
12.1 Simulation problems
12.2 Integration methods
12.3 System with discontinuities
12.4 Time-varying systems
12.5 Exercises

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13 Multi-variable systems
13.1 Multi-variable schemes
13.2 Connections
13.3 An example: a planar manipulator
13.4 Exercises

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14 Group operation
14.1 Using the group option
14.2 Exercises

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15 Discrete-time systems
15.1 An example: the repopulation of a lake
15.2 Exercises

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16 Hybrid systems
16.1 Hybrid schemes
16.2 Exercises
17 Advanced topics
17.1 System analysis
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17.2 Using Mask
17.3 Customizing SIMULINK

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Contents
17.4 Exercises

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18 Blocks library
18.1
18.2
18.3
18.4
18.5
18.6
18.7

III

Sources
Sinks
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Discrete
Linear
Nonlinear
Connections
Extras

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Control System Toolbox

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19 Models for LTI systems

19.1 LTI system representations
19.2 Conversions among representations
19.3 Continuous to discrete conversion
19.4 Controllability and observability
19.5 Commands for other properties
19.6 Model order reduction
19.7 System connections
19.8 Exercises

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20 Time domain response

20.1 Unforced response
20.2 Step response
20.3 Impulse response
20.4 Response to any input
20.5 Exercises

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21 Frequency domain response

21.1 Bode plots
21.2 Nyquist plots
21.3 Nichols plots
21.4 Gain and phase margins
21.5 Exercises
22 Root locus
22.1 Root locus plot
22.2 Exercises

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Contents
23 State feedback
23.1 Feedback gain design
23.2 The observer
23.3 Linear quadratic optimal control
23.4 Kalman
23.5 Separation principle
23.6 Exercises

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filter-

24 Discrete functions
24.1 Discrete to continuous conversion
24.2 Properties
24.3 Model reduction
24.4 Time domain response
24.5 Frequency domain response
24.6 State feedback design
24.7 Exercises
25 Utility functions
25.1 Modeling
25.2 Time response
25.3 Frequency response
25.4 Lyapunov and Riccati equations

IV

A Advanced graphic functions

Graphic objects in MATLAB
Root
Figure
Axes
Line
Surface
Image
Text

B Graphic user interface design

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B.I Controls
B.2 Menu
B.3 Using the mouse
S-function
C.I Writing an S-function
C.2 Continuous-time systems

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Appendices
A.I
A.2
A.3
A.4
A.5
A.6
A.7
A.8

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Contents
C.3 Discrete-time systems
C.4 Hybrid systems
C.5 Observations

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References

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Index

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