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Introduction to MATLAB

MT 461 – Path Planning for Mobile Robots

Outline:
 What is MATLAB?
 MATLAB Screen
 Variables, array, matrix, indexing
 Operators (Arithmetic, relational, logical )
 Display Facilities
 Flow Control
 Using of M-File
 Writing User Defined Functions
 Conclusion
What is MATLAB?
 MATLAB (matrix laboratory) is basically a high
level language which has many specialized
toolboxes for making things easier for us.

 It is a proprietary programming language

developed by MathWorks, MATLAB allows
matrix manipulations, plotting of functions and
data, implementation of algorithms, creation of
user interfaces, and interfacing with programs
written in other languages, including C, C++, C#,
Java, Fortran and Python.
What are we interested in?
 MATLAB is too broad for our purposes in
this course.
 The features we are going to require is
MATLAB
Series of
MATLAB
commands
Command
m-files mat-files
Line

functions Command execution Data

Input like DOS command storage/
Output window loading
capability
 MATLAB Screen
 Command Window
 type commands

 Current Directory
 View folders and m-files

 Workspace
 View program variables
 Double click on a variable
to see it in the Array Editor

 Command History
 view past commands
 save a whole session
using diary
 Variables
 No need for types. i.e.,

int a;
double b;
float c;

 All variables are created with double precision unless

specified and they are matrices.
Example:
>>x=5;
>>x1=2;

 After these statements, the variables are 1x1 matrices

with double precision
 Array, Matrix
 a vector x = [1 2 5 1]

x =
1 2 5 1

 a matrix x = [1 2 3; 5 1 4; 3 2 -1]

x =
1 2 3
5 1 4
3 2 -1

 transpose y = x’ y =
1
2
5
1
 Long Array, Matrix
 t =1:10

t =
1 2 3 4 5 6 7 8 9 10
 k =2:-0.5:-1

k =
2 1.5 1 0.5 0 -0.5 -1

 B = [1:4; 5:8]

x =
1 2 3 4
5 6 7 8
 Generating Vectors from functions
 zeros(M,N) MxN matrix of zeros x = zeros(1,3)
x =
0 0 0

 ones(M,N) MxN matrix of ones

x = ones(1,3)
x =
1 1 1
 Matrix Index
 The matrix indices begin from 1 (not 0)
 The matrix indices must be positive integer
Given:

A(-2), A(0)

Error: ??? Subscript indices must either be real positive integers or logicals.

A(4,2)
Error: ??? Index exceeds matrix dimensions.
 Concatenation of Matrices
 x = [1 2], y = [4 5], z=[ 0 0]

A = [x y]

1 2 4 5

B = [x ; y]

1 2
4 5

C = [x y ;z]
Error:
??? Error using ==> vertcat CAT arguments dimensions are not consistent.
Operators (arithmetic)
+ addition
- subtraction
* multiplication
/ division
^ power
‘ complex conjugate transpose
Matrices Operations

Given A and B:

Addition Subtraction Product Transpose

Operators (Element by Element)

.* element-by-element multiplication
./ element-by-element division
.^ element-by-element power
 The use of “.” – “Element” Operation
A = [1 2 3; 5 1 4; 3 2 1]
A=
1 2 3
5 1 4
3 2 -1

b = x .* y c=x./y d = x .^2
x = A(1,:) y = A(3 ,:)
b= c= d=
x= y= 3 8 -3 0.33 0.5 -3 1 4 9
1 2 3 3 4 -1
K= x^2
Erorr:
??? Error using ==> mpower Matrix must be square.
B=x*y
Erorr:
??? Error using ==> mtimes Inner matrix dimensions must agree.
Basic Task: Plot the function sin(x)
between 0≤x≤4π
 Create an x-array of 100 samples between 0
and 4π.

>>x=linspace(0,4*pi,100);

 Calculate sin(.) of the x-array

1

0.8

0.6

>>y=sin(x); 0.4

0.2

Plot the y-array

0

 -0.2

-0.4

-0.6

>>plot(y) -0.8

-1
0 10 20 30 40 50 60 70 80 90 100
Plot the function e-x/3sin(x) between
0≤x≤4π
 Create an x-array of 100 samples between 0
and 4π.
>>x=linspace(0,4*pi,100);

 Calculate sin(.) of the x-array

>>y=sin(x);

 Calculate e-x/3 of the x-array

>>y1=exp(-x/3);

 Multiply the arrays y and y1

>>y2=y*y1;
Plot the function e-x/3sin(x) between
0≤x≤4π
 Multiply the arrays y and y1 correctly
>>y2=y.*y1;

 Plot the y2-array

0.7

>>plot(y2) 0.6

0.5

0.4

0.3

0.2

0.1

-0.1

-0.2

-0.3
0 10 20 30 40 50 60 70 80 90 100
Display Facilities 0.7

0.6

plot(.)
0.5

 0.4

0.3

Example:
0.2

0.1
>>x=linspace(0,4*pi,100); 0

>>y=sin(x); -0.1

>>plot(y) -0.2

>>plot(x,y) -0.3
0 10 20 30 40 50 60 70 80 90 100

stem(.)
0.7

 0.6

0.5

0.4

0.3

Example:
0.2

0.1
>>stem(y) 0

>>stem(x,y) -0.1

-0.2

-0.3
0 10 20 30 40 50 60 70 80 90 100
 Display Facilities

 title(.)
This is the sinus function
>>title(‘This is the sinus function’) 1

0.8

 xlabel(.) 0.6

0.4

>>xlabel(‘x (secs)’) 0.2

sin(x)
0

 ylabel(.) -0.2

-0.4

-0.6

-0.8
>>ylabel(‘sin(x)’) -1
0 10 20 30 40 50 60 70 80 90 100
x (secs)
Operators (relational, logical)

 == Equal to
 ~= Not equal to
 < Strictly smaller
 > Strictly greater
 <= Smaller than or equal to
 >= Greater than equal to
 & And operator
 | Or operator
Flow Control

 if
 for
 while
 break
 ….
Control Structures
Some Dummy Examples
 If Statement Syntax
if ((a>3) & (b==5))
Some MATLAB Commands;
if (Condition_1) end
MATLAB Commands
if (a<3)
elseif (Condition_2) Some MATLAB Commands;
MATLAB Commands elseif (b~=5)
Some MATLAB Commands;
elseif (Condition_3) end
MATLAB Commands
if (a<3)
else Some MATLAB Commands;
MATLAB Commands else
end Some MATLAB Commands;
end
Example Code

yourNumber = input('Enter a number: ');

if yourNumber < 0
disp('Negative')
elseif yourNumber > 0
disp('Positive')
else
disp('Zero')
end
Control Structures
Some Dummy Examples
 For loop syntax for i=1:100
Some MATLAB Commands;
end

for i=Index_Array for j=1:3:200

Some MATLAB Commands;
MATLAB Commands end

end for m=13:-0.2:-21

Some MATLAB Commands;
end

for k=[0.1 0.3 -13 12 7 -9.3]

Some MATLAB Commands;
end
Example Code

 for a = 10:20
fprintf('value of a: %d\n', a);
end
 for a = 1.0: -0.1: 0.0

disp(a)
end
 for a = [24,18,17,23,28]

disp(a)
end
Break Condition Code

 a = 10;
% while loop execution
while (a < 20 )
fprintf('value of a: %d\n', a);
a = a+1; if( a > 15)
% terminate the loop using break statement break;
end
end
Continuous Condition

 a = 10;
%while loop execution
while a < 20 if a == 15
% skip the iteration
a = a + 1;
continue;
end
fprintf('value of a: %d\n', a);
a = a + 1;
end
Control Structures

 While Loop Syntax

Dummy Example
while (condition)
MATLAB Commands while ((a>3) & (b==5))
Some MATLAB Commands;
end end
Example Code

 a = 10;
% while loop execution
while( a < 20 )
fprintf('value of a: %d\n', a);
a = a + 1;
end
 Use of M-File
Click to create
a new M-File

• Extension “.m”
• A text file containing script or function or program to run
Use of M-File Save file as Denem430.m

If you include “;” at the

end of each statement,
result will not be
shown
Immediately in
command window
Notes:
 “%” is the neglect/comment sign for MATLAB
(equivalent of “//” in C). Anything after it on the
same line is neglected by MATLAB compiler.

 Sometimes slowing down the execution is done

deliberately for observation purposes. You can
use the command “pause” for this purpose
pause() %wait until any key
pause(3) %wait 3 seconds
Useful Commands  Self Study
 clear
 clc
 figure(n)
 The command used most by MATLAB
users is
>>help functionname
Thank You…