MATLAB Tutorial

U(s) input

G(s)

Y(s) output

ENSC 383- Feedback Control

Summer 2010
TAs:Kaveh Kianfar, Esmaeil Tafazzoli

Outline
Outline

Starting Matlab
Basics
Modeling
Control toolbox

m
file
M-file
When writing a program in matlab save it as m-file
( 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 2s 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

1 -4 -7 10

-20
-30

R=

-40
-3

-2

-1

5.0000
-2.0000
1.0000

Partial Fraction Expansion

numf=[1 1 3 1];
denf=[1 0 1];
[r,p,k]=residue(numf,denf)

Dynamic system Representation

usingTransfer 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

Im

Re

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
coefficient. [NUM,DEN] = ZP2TF(Z,P,K)
9

Interconnection between blocks

G=series(G1,G2) or alternatively:
u

G1(s)

y
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:
lsim

Simulate LTI model response to arbitrary inputs

sys=tf(num,den);
t=0:dt:final_t;
u=f(t);
[y t]=lsim(sys,u,t)

step
step(sys)
response

Simulate LTI model response to step input

special case of lsim

14

First order systems

Transient response:
x(t)=x0*exp(a*t)
if a<0,its stable.

s-plane
Im
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

Step Response
1.4

Damping ratio is constant, wn

changes.
Im

Amplitude

s-plane

1.2

Re

0.8

Damping ratio is 0.5:

Overshoots are equal.

0.6

0.4

0.2

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 mx2 u bx2 kx1

X AX BU

Y CX DU
A
B

1 x1 0
x 0
1

u (t )
x2 k / m b / m x2 1 / m

u (t )

ky

by

x
1
y x1 [1 0] 0
x2

Y (s)
1

U ( s ) ms 2 bs k

System Transfer Function

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
6

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:
[T,X]=ode23(@lin1,[0 10], [a(i) b(j)]); -3-3
-2
-1
0
1
2
x1
plot(X(:,1),X(:,2))
[u.v]=eig(A)
Hint:For using ode command, the diff. equations
u=
should be written in the first order format,i.e. a second
0 1
order diff. eq. should be written as two first order diff.
1 0
equations.

24

Nonlinear Differential eq. of a pendulum

1.5

function dx=pendulum(t,x)
dx=zeros(2,1)
dx(1)=x(2);
dx(2)=-0.5*x(2)-sin(x(1));
Viscose Damping term

x2

0.5

Gravity term

-0.5

[T,X]=ode23(@pendulum,[0 10], [a(i) 0]);

plot(X(:,1),X(:,2))

-1

-1.5
-2

-1.5

-1

-0.5

0
x1

0.5

1.5

Angle

0.5

Angular velocity
-0.5

-1

-1.5

-2

10

12

14

16

18

20

25