1 Lab Experiment 1: Using MATLAB for Control Systems

Lab Experiment 1

Using MATLAB for Control Systems

Objectives:

This lab introduces MATLAB in the first part. The lab also provides tutorial of polynomials,
script writing and programming aspect of MATLAB fromcontrol systems viewpoint.

List of Equipment/Software

Following equipment/software is required:

• MATLAB

Deliverables

A complete lab report including the following:

• Summarized learning outcomes.

• MATLAB scripts and their results should be reported properly.

Part I: Introduction to MATLAB

The objective of this exercise will be to introduce you to the concept of mathematical
programming using the software called MATLAB. We shall study how to define variables,
matrices etc, see how we can plot results and write simple MATLAB codes.

MATLAB TUTORIAL

Reference: Engineering Problem Solving Using MATLAB, by Professor Gary Ford, University of California, Davis.

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Topics
 Introduction

 MATLAB Environment

 Getting Help

 Variables

 Vectors, Matrices, and Linear Algebra

 Plotting

Introduction
 What is MATLAB?
• MATLAB is a computer program that combines computation and
visualization power that makes it particularly useful tool for
engineers.
• MATLAB is an executive program, and a script can be made with a
list of MATLAB commands like other programming language.
 MATLAB Stands for MATrix LABoratory.
• The system was designed to make matrix computation particularly easy.

 The MATLAB environment allows the user to:

• manage variables
• import and export data
• perform calculations
• generate plots
• develop and manage files for use with MATLAB.

MATLAB
Environment
To start MATLAB:
START  PROGRAMS 
MATLAB 6.5  MATLAB
6.5
Or shortcut creation/activation
on the desktop

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Display Windows

Display Windows (con’t…)

 Graphic (Figure) Window
 Displays plots and graphs
 Created in response to graphics
commands.
 M-file editor/debugger window
 Create and edit scripts of commands called
M-files.

Getting Help

 type one of following commands in the command

window:
 help – lists all the help topic
 help topic – provides help for the specified topic
 help command – provides help for the specified command
 help help – provides information on use of the help command
 helpwin – opens a separate help window for navigation
 lookfor keyword – Search all M-files for keyword

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Variables
 Variable names:
 Must start with a letter
 May contain only letters, digits, and the underscore “_”
 Matlab is case sensitive, i.e. one & OnE are different variables.
 Matlab only recognizes the first 31 characters in a variable name.
 Assignment statement:
 Variable = number;
 Variable = expression;

Example: NOTE: when a semi-colon
>> tutorial = 1234; ”;” is placed at the end of
>> tutorial = 1234
tutorial = each command, the result
1234 is not displayed.

Variables (con’t…)
 Special variables:
 ans : default variable name for the result
 pi: π = 3.1415926…………
 eps: ∈ = 2.2204e-016, smallest amount by which 2 numbers can differ.
 Inf or inf : ∞, infinity
 NaN or nan: not-a-number
 Commands involving variables:
 who: lists the names of defined variables
 whos: lists the names and sizes of defined variables
 clear: clears all varialbes, reset the default values of special
variables.
 clear name: clears the variable name
 clc: clears the command window
 clf: clears the current figure and the graph window.

Vectors, Matrices and Linear Algebra

 Vectors
 Matrices
 Array Operations
 Solutions to Systems of Linear
Equations.

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Vectors
 A row vector in MATLAB can be created by an explicit list, starting with a left bracket,
entering the values separated by spaces (or commas) and closing the vector with a right
bracket.
 A column vector can be created the same way, and the rows are separated by semicolons.
 Example:
>> x = [ 0 0.25*pi 0.5*pi 0.75*pi pi ]
x=
0 0.7854 1.5708 2.3562 3.1416 x is a row vector.
>> y = [ 0; 0.25*pi; 0.5*pi; 0.75*pi; pi ]
y=
0
0.7854 y is a column vector.
1.5708
2.3562
3.1416

Vectors (con’t…)
 Vector Addressing – A vector element is addressed in MATLAB with an integer
index enclosed in parentheses.
 Example:
>> x(3)
ans =
1.5708  3rd element of vector x
 The colon notation may be used to address a block of elements.
(start : increment : end)
start is the starting index, increment is the amount to add to each successive index, and end
is the ending index. A shortened format (start : end) may be used if increment is 1.
 Example:
>> x(1:3)
ans =
0 0.7854 1.5708  1st to 3rd elements of vector x

NOTE: MATLAB index starts at 1.

Vectors (con’t…)
Some useful commands:

x = start:end create row vector x starting with start, counting by

one, ending at end

x = start:increment:end create row vector x starting with start, counting by

increment, ending at or before end
linspace(start,end,number) create row vector x starting with start, ending at
end, having number elements

length(x) returns the length of vector x

y = x’ transpose of vector x

dot (x, y) returns the scalar dot product of the vector x and y.

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Matrices
 A Matrix array is two-dimensional, having both multiple rows and multiple columns,
similar to vector arrays:
 it begins with [, and end with ]
 spaces or commas are used to separate elements in a row
 semicolon or enter is used to separate rows.

•Example:
A is an m x n matrix.
>> f = [ 1 2 3; 4 5 6]
f=
1 2 3
4 5 6
>> h = [ 2 4 6
1 3 5]
h=
2 4 6
1 3 5
the main diagonal

Matrices (con’t…)
 Magic Function
 For example you can generate a matrix by entering
>> m=magic(4)
It generates a matrix whose elements are such that the sum of all elements in
its rows, columns and diagonal elements are same
 Sum Function
 You can verify the above magic square by entering
>> sum(m)
 For rows take the transpose and then take the sum
>> sum(m’)
 Diag
 You can get the diagonal elements of a matrix by entering
>> d=diag(m)
>> sum(d)

Matrices (con’t…)
 Matrix Addressing:
-- matrixname(row, column)
-- colon may be used in place of a row or column reference to select
the entire row or column.
Example:
 recall:
>> f(2,3) f=
ans = 1 2 3
6 4 5 6
>> h(:,1) h=
ans = 2 4 6
2
1 3 5
1

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Matrices (con’t…)
Some useful commands:
zeros(n) returns a n x n matrix of zeros
zeros(m,n) returns a m x n matrix of zeros

ones(n) returns a n x n matrix of ones

ones(m,n) returns a m x n matrix of ones

rand(n) returns a n x n matrix of random number

rand(m,n) returns a m x n matrix of random number

size (A) for a m x n matrix A, returns the row vector [m,n]

containing the number of rows and columns in
matrix.

length(A) returns the larger of the number of rows or

columns in A.

Matrices (con’t…)
more commands
Transpose B = A’
Identity Matrix eye(n)  returns an n x n identity matrix
eye(m,n)  returns an m x n matrix with ones on the main
diagonal and zeros elsewhere.
Addition and subtraction C=A+B
C=A–B
Scalar Multiplication B = αA, where α is a scalar.
Matrix Multiplication C = A*B
Matrix Inverse B = inv(A), A must be a square matrix in this case.
rank (A)  returns the rank of the matrix A.
Matrix Powers B = A.^2  squares each element in the matrix
C = A * A  computes A*A, and A must be a square matrix.
Determinant det (A), and A must be a square matrix.
A, B, C are matrices, and m, n, α are scalars.

Array Operations
 Scalar-Array Mathematics
For addition, subtraction, multiplication, and division of an array by a
scalar simply apply the operations to all elements of the array.
 Example:
>> f = [ 1 2; 3 4]
f=
1 2
3 4
>> g = 2*f – 1 Each element in the array f is
g=
1 3 multiplied by 2, then subtracted
5 7 by 1.

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Array Operations (con’t…)

 Element-by-Element Array-Array Mathematics.
Operation Algebraic Form M ATLAB
Addition a+b a+b
Subtraction a–b a–b
Multiplication axb a .* b
Division a÷b a ./ b
Exponentiation ab a .^ b

 Example:
>> x = [ 1 2 3 ];
>> y = [ 4 5 6 ];
Each element in x is multiplied by
>> z = x .* y the corresponding element in y.
z=
4 10 18

Solutions to Systems of Linear Equations

 Example: a system of 3 linear equations with 3 unknowns (x1, x2, x3):
3x1 + 2x2 – x3 = 10
-x1 + 3x2 + 2x3 = 5
x1 – x2 – x3 = -1
Let :
3 2 1  x1  10 
A = −1 3 2 
x = x2  b=5 
     
 1 −1 −1  x3  −1

Then, the system can be described as:

Ax = b

Solutions to Systems of Linear Equations

(con’t…)
 Solution by Matrix Inverse:  Solution by Matrix Division:
Ax = b The solution to the equation
A-1Ax = A-1b Ax = b
x = A-1b can be computed using left division.
 MATLAB:  MATLAB:
>> A = [ 3 2 -1; -1 3 2; 1 -1 -1]; >> A = [ 3 2 -1; -1 3 2; 1 -1 -1];
>> b = [ 10; 5; -1]; >> b = [ 10; 5; -1];
>> x = inv(A)*b >> x = A\b
x= x=
-2.0000 -2.0000
5.0000 5.0000
-6.0000 -6.0000
Answer: Answer:
x1 = -2, x2 = 5, x3 = -6 x1 = -2, x2 = 5, x3 = -6

NOTE:
left division: A\b  b ÷ A right division: x/y  x ÷ y

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Plotting
 For more information on 2-D plotting, type help graph2d
 Plotting a point: the function plot () creates a
>> plot ( variablename, ‘symbol’) graphics window, called a Figure
window, and named by default
“Figure No. 1”

 Example : Complex number

>> z = 1 + 0.5j;
>> plot (z, ‘.’)

commands for axes:

command description

axis ([xmin xmax ymin ymax]) Define minimum and maximum values of the axes
axis square Produce a square plot
axis equal equal scaling factors for both axes
axis normal turn off axis square, equal
axis (auto) return the axis to defaults

Plotting (con’t…)
 Plotting Curves:
 plot (x,y) – generates a linear plot of the values of x (horizontal axis) and y
(vertical axis).

 semilogx (x,y) – generate a plot of the values of x and y using a logarithmic

scale for x and a linear scale for y

 semilogy (x,y) – generate a plot of the values of x and y using a linear scale
for x and a logarithmic scale for y.

 loglog(x,y) – generate a plot of the values of x and y using logarithmic scales

for both x and y

Plotting (con’t…)
 Multiple Curves:
 plot (x, y, w, z) – multiple curves can be plotted on the same graph by using
multiple arguments in a plot command. The variables x, y, w, and z are
vectors. Two curves will be plotted: y vs. x, and z vs. w.
 legend (‘string1’, ‘string2’,…) – used to distinguish between plots on the
same graph

 Multiple Figures:
 figure (n) – used in creation of multiple plot windows. place this command
before the plot() command, and the corresponding figure will be labeled as
“Figure n”
 close – closes the figure n window.
 close all – closes all the figure windows.

 Subplots:
 subplot (m, n, p) – m by n grid of windows, with p specifying the
current plot as the pth window

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Plotting (con’t…)
 Example: (polynomial function)
plot the polynomial using linear/linear scale, log/linear scale, linear/log scale, & log/log
scale:
y = 2x2 + 7x + 9

% Generate the polynomial:

x = linspace (0, 10, 100);
y = 2*x.^2 + 7*x + 9;

% plotting the polynomial:

figure (1);
subplot (2,2,1), plot (x,y);
title ('Polynomial, linear/linear scale');
ylabel ('y'), grid;
subplot (2,2,2), semilogx (x,y);
title ('Polynomial, log/linear scale');
ylabel ('y'), grid;
subplot (2,2,3), semilogy (x,y);
title ('Polynomial, linear/log scale');
xlabel('x'), ylabel ('y'), grid;
subplot (2,2,4), loglog (x,y);
title ('Polynomial, log/log scale');
xlabel('x'), ylabel ('y'), grid;

Plotting (con’t…)

Plotting (con’t…)
 Adding new curves to the existing graph:
 Use the hold command to add lines/points to an existing plot.
 hold on – retain existing axes, add new curves to current axes. Axes are
rescaled when necessary.
 hold off – release the current figure window for new plots
 Grids and Labels:

Command Description
grid on Adds dashed grids lines at the tick marks
grid off removes grid lines (default)
grid toggles grid status (off to on, or on to off)
title (‘text’) labels top of plot with text in quotes
xlabel (‘text’) labels horizontal (x) axis with text is quotes
ylabel (‘text’) labels vertical (y) axis with text is quotes
text (x,y,’text’) Adds text in quotes to location (x,y) on the current axes, where (x,y) is in
units from the current plot.

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Additional commands for plotting

color of the point or curve Marker of the data points Plot line styles
Symbol Color Symbol Marker Symbol Line Style
y yellow . • – solid line
m magenta o ° : dotted line
c cyan x × –. dash-dot line
r red + + –– dashed line
g green * ∗
b blue s □
w white d ◊
k black v ∇
^ ∆
h hexagram

Exercise 1:

Use Matlab command to obtain the following

a) Extract the fourth row of the matrix generated by magic(6)
b) Show the results of ‘x’ multiply by ‘y’ and ‘y’ divides by ‘x’.
Given x = [0:0.1:1.1] and y = [10:21]
c) Generate random matrix ‘r’ of size 4 by 5 with number varying between -8 and 9

Exercise 2:

Use MATLAB commands to get exactly as the figure shown below

x=pi/2:pi/10:2*pi;
y=sin(x);
z=cos(x);

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