Instructor Eng\ Hadeer Sobhy

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Vectors or Arrays:
How to write vector?
x=[1 5 9 3 5] y=0:0.1:5 z=linspace(0,10,11) z=logspace(0,10,11) random elements (start :step :end) (start, end, No. of points) linear spaces relation (start, end, No. of points) 10x

Operation on vector:
y(7) y(5:9) z(5:end) z(5:length(z)) x(1:2:21) y(20:1:1) y([1 20 3 9]) z z.' [r,c] = size(x) sum(x) mean(y) prod(y) length(x) x>4 (7th element of the vector y) (5th to the 9th element) (from the 5th element to the end) (from the 5th element to the end) (show elements of x that start with 1& count up by 2 to element 21 (as above but count down by 1) (Show elements that their places are in vector) (z transpose with conjugate if z complex) (z transpose without conjugate) (r= no. of rows & c= no. of columns) (adding all the elements of x) (average of the vector elements) (product of vector elements) (no. of elements of x) produce ans variable has the same length of x and for each element of x >4 ans=1 otherwise ans=0.

x1 = x>4 position=find(x>4) g = x(position) find(x>4 & x<10) find(x==5 | x>=1) y = x.^2 y = x^2

x1 is as ans variable of last step we can use ( > , >= , < , <= ,== ) (search for the elements of x greater than 4 and return their positions in variable position ) (return in g values of xx that greater (return in g values of that greater than 4) Than 4) we can use multiconditions (squaring for each element in x) (error where x is vector)

Plotting two vectors (steps to plot any function)

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Matrices
How to write matrix?
a=[2 4 6;0 3 8;-1 -6 11] z=zeros(3,4) h=ones(2,5) e=eye(4) r=rand(4) m=magic(4) (defines a as 3x3 matrix) (z is 3x4 zero matrix) (h is 2x5 ones matrix) (e is 4x4 identity matrix) r=rand(4) m=magic(4)

Operation on matrices
a(2,3) a(2,3)=7 s = a(2,1:3) a(2,7) = 2 (display element of a matrix whose position is row 2 & column 3) (set the element of the 2nd row and 3rd column to be equal to 7) show 2nd row from element no. 1 to element no. 3 by step 1 note that a matrix is 3*3 but this statement rebuild a matrix with dimension 3*7 and put a(2,7)=2 start with vectors to next operations

x = [10 20 30] y = [5 6 7] d = [x;y] a. a inv(a) det(a) [r,c]=size(a) sum(a) prod(a) b=a^2 c=a.^2 a*b b*a

( a transpose) ( a conjugate transpose) (inverse of a) (determinate of a) (r no. of rows & c no. Of columns) (sum of each column) (product of each column) (a square) (square of each element) (square of each element)

a*b b*a a.*b b.*a a/b a\b sort(a)

(are they equal) (are they equal) (a*inv(b)) (inv(a)*b) If a is vector then sorting from min to max. But if a is matrix then sorting each column q is new sorted vector w is position of elements q is row contain max elements in each column w is position Diagonal of a Flip left right Flip up down

[q w]=sort(a) [q w]=max(a) d=diag(a) fliplr(a) flipud(a) Flip up down

Important Applications
Solving linear equations Ax=b:
1. To solve (square system): 2x+yz = 6 , xyz = 3 , x+2y3z = 9 Program:

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2. To solve Overdeterminant system Ax=b: (Normally used for curve fitting) Example 1 Fit the following data to a straight line y=mx+c, Show answer graphically x = [1 2 3 4 5 6] , y= [.89 2 2.98 3.75 5.1 5.8]

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Example 3(task) A spring is a mechanical element which, for the simplest model, is characterized by a linear force deformation relationship F = kx F is being the force loading the spring, k the spring constant and x the spring deformation. In reality the linear forcedeformation relationship is only an approximation, valid for small forces and deformations. A more accurate relationship, valid for larger deformations, is obtained if nonlinear terms are taken into account. Suppose a spring model with a quadratic relationship F = k1*x + k2*x^2 is to be used and that the model parameters, k1 and k2, are to be determined from experimental data. Five independent measurements of the force and the corresponding spring deformations are measured and these are presented in next table: F (N) = [5 50 500 1000 2000] X (cm) = [.001 .011 .013 .3 .75]

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Flow control
FOR LOOPS:
1-for n=1:.1:10; end 2-for n=[1 9 2 -2] % take element by element .. .. end

PROGRAMS 1-

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---------------------------------------------------------2-

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WHILE LOOPS:
while (condition) % condition: x<2 % x<=2, x>2, x>=2, x==2, x~=2 .. .. end

IF statement:
if (x>2) elseif x<0 else end

SWITCH-CASE CONSTRUCTIONS
switch x case e .. case 3 .. otherwise .. end

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PROGRAMS

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TRY CATCH STATEMENTS

try catch end Explain: If there is error in try statements go to catch statements

PROGRAMS

SOME IMPORTANT COMMANDS

continue :(break loop & go to enter it with next value) break :(break loop & go out &continue flow of program after loop Statements

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FUNCTIONS
How to write function.m?
You must start your writing (function declaration) with: function [x,y,]=myfun(a,b,c,) Variables in function are local You can call function from m file or command window Call function with syntax [s,d,..]=myfun (g, h, t,) You can write help for your function as comment statements after line of function statement and call its help with syntax: help myfun

PROGRAMS
GETROOTS FUNCTION

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GETCO FUNCTION

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PROGRAMS
Write program that give figure to user & give the program 3 points then program plot curve that pass with them from equation y=a*x2+b*x+c

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Continue on the example ask user about enter 3 point on figure or algebraic

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THE GUIDE TOOL.

Matlab has a program called guide which allows users to setup their GUI. The guide tool is very intuitive to use and can be accessed from the command line by simply typing in the following. >> guide

STEP 1: In this step we will setup our GUI.

Start up Matlab6 and type in the following. >> guide

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STEP 2: Set up the GUI in the following manner.

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STEP 3: Right Click on the Push Button and a pop up menu should appear.
From that menu pick the Inspect Properties option.

String -------- Change from Push Button to Plot Function.

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STEP 4: Right click on the lowest Static Text object and select Inspect
properties.

String ------- Change property from Static Text to Sin(x) . Tag ---------- Change property from text3 to sin_func .

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STEP 5: Right click on the other Static Text object and select Inspect properties.

String -------- Change from Static Text to cos(x) Tag ----------- Change from text1 to COS_FUN

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STEP 6: Right click on the third Static Text object and select Inspect
properties.

Font Size --------- Change from 8.0 to 15. String ------------- Change from Edit Text to 1.

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STEP 7: At this point your GUI should look like this.

If you have made a mistake in the GUI you can easily correct it at this point without moving on. For instance, if you look closely in this GUI there is really no way to select which of the two (sin(x) or cos(x) are to be plotted. We should have used a different object in the first place. perhaps a check box. We can easily delete the wrong object and replace it with the one we want. Since this is our first GUI we will keep it simple and get rid on one of the static text boxes. Click on the Cos(x) box and hit the delete key and the cos(x) should disappear from the GUI. Once that is done, save as mygui. As soon as you save it Matlab should generate the skeleton source code for you and the source code should automatically open in an editor.

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Step 8: Activating the buttons.

Add the following code to the skeletal code.

STEP 9: Running the program.

To run the program, simply go to the Matlab main window and call your program. >> mygui

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GUI PROGRAME

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F(t) Delta(t) U(t) Exp(-at) T T^n T*exp(-at) (t^n)*(exp-at)/(n!) Sin bt Cos bt Exp(-at)*Sinbt Exp(-at)*Cosbt AF(t) F1(t)+F2(t) F(t-to)*u(t-to) t*f(t) Integrate(f(t)*dt) df/dt Second_Dif(df/dt)

F(s) 1 1/s 1/(s+a) 1/s^2 n!/(s^(n+1)) 1/(s+a)^2 1/(s+a)^(n+1) b/(S^2+b^2) S/(S^2+b^2) b/(S^2+a^2)+b^2 (S+a)/(S^2+a^2)+b^2 AF(s) F1(s)+F2(s) (exp(-t*s))*F(s) -dF(s)/dS F(S)/S S*f(s) S^2*F(S)

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Laplace transform on MATLAB

Syntax:

Examples:

Inverse laplace transform on MATLAB

Syntax

Examples:

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Ex: the following equation

The Laplace Transform:

System Identification
1- Transfer function 2- System zeros, poles, and gain 3- Feedback systems 4- Block Diagrams 5- Transformations

System Response 1- The step response 2-The impulse response 3-Arbitrary input response System characteristics 1- Damping 2- Root locus Frequency analysis
1- Bode plots

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System Identification
1-Transfer function
The transfer function is the direct relationship between system output and its input regardless of the internal components of the system. Every system that has an input and output may be considered a system that has a transfer function. For example, the electronic buffer is a system that has an input voltage Vi and output voltage Vo such that the transfer function of the system is:

Vo =1 Vi

The operational amplifier in the shown configuration represents a system with a transfer function:

Vo Z = o Vi Zi
Note that Zo or Zi may be a capacitor, coil, resistor, or combination of them, i.e. it will be a function of S ( S-domain).

So, electric and electronic components and basic circuits may be considered as systems and can have a transfer function. In our course, we concern with control systems that have their transfer function in the S-domain using Laplace transform. In order to deal with MATLAB to analyze any system and control it we should first define this system to MATLAB by any method of system identification methods (will be mentioned one by one), in this part of the lab. We will focus on defining the system using its transfer function (it will be your task to get the transfer function in the S-domain using lectures and tutorials.) then use the given transfer function to identify the system to MATLAB.

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So, lets see an example:

Assume that the transfer function of a system is given as follows and you are required to define this system to MATLAB:

To define any system, we should give it a name and then specify its T.F. numerator and denominator coefficients.

First, let the system name be sys, then lets identify the denominator coefficients:

Take a look at the polynomial in the denominator of the T.F. and define it as we learned in the Introduction to MATLAB chapter.

Lets name the denominator polynomial denom and the numerator polynomial num then define these polynomials to MATLAB as follows: >> num=[1]; >>denom=[1 5 6];

Then define the system sys through its components num & denom as follows: >>sys=tf(num,denom)

Which means that the instruction tf is the one that is used for defining systems through their transfer function (note that its an abbreviation of Transfer Function). The format of this instruction is as follows:

Sys_name = tf (T.F._numerator_polynomial , T.F._denominator_polynomial)

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Another example: Define the following system to MATLAB using its shown transfer function:

The used code will be: >> a=[2 3]; >>b=[1 3 2 5]; >>system=tf(a,b) You can get the same results using the following code in which we define symbol in the transfer function of system: >> s=tf(s); >> system= (2*s+3)/(s^3+3*s^2+2*s+5)

s as a

2-System zeros, poles, and gain

Another method of defining systems is through knowing their zeros (roots of the numerator of the transfer function of this system), poles (roots of the denominator of the transfer function of this system), and gain (over all constant gain of the transfer function).

So, lets have an example, to learn how to use this method.

Example: A system is defined by the shown transfer function:

And you are required to define this system to MATLAB.

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Note that the system zeros are got by: (S+2)=0

S=-2 , also system poles can be got

using the same manner to be: S = 0, -1, -3. The system gain is of course 3.

Thus we can define this system as follows: >>zeros=[-2]; >>poles=[0 -1 -3]; >>gain=3; >>system=zpk(zeros,poles,gain)

Note that you can define this system in only one step as follows: >>system=zpk([-2],[0 -1 -3],3)

Also, we can define this system directly using the transfer function method as follows: >>system=tf([3 6],[1 4 3 0]) This means that the format of the zpk function is as follows:

Sys_name = zpk (System_zeros , System_poles, overall_gain)

Note that the zeros, poles, and gain of the system may be given without the transfer function, then you are required to define the system. Of course we are desired only in getting the zeros and the poles of the system without any care for how we got them. Another example: Define the system given by the shown T.F. to MATLAB:

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The code will be: >>a=[ ]; >>b=[-1 -4]; >>k=1; >>sys=zpk(a,b,k) Or directly in one step: >>sys=zpk([ ],[-1 -4],1)

Note that this system doesnt have any zeros as the polynomial of the numerator of the transfer function cant equal zero any way. So, we define the system zeros to be an empty matrix as described.

3-Feedback systems
In this part, we will only care for using the previously discussed methods in interconnecting system components such as feedback systems to define the overall system to MATLAB.

So, lets consider the simple feedback system shown:

The feed forward T.F. G(s) and the feed back transfer function H(s) are simply systems that can be defined to MATLAB either by transfer function method or zeros-poles-gain method. Then we can from a feedback from these systems to get the overall system definition.

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Example:

A closed loop system has a feed forward transfer function

and

a feedback transfer function , you are required to get the overall transfer function of the feedback system.

Solution: G(s) and H(s) should be defined separately as if isolated systems, then they should be combined to get the required feedback system using the following code:

>> G=zpk([ ],[-1],[2]); >> H=zpk([ ],[0],[3]); >> system=feedback(G,H)

Using the tf instruction we can build a similar code as follows:

>> G=tf([2],[1 1]); >> H=tf([3],[1 0]); >> system=feedback(G,H)

What about positive feedback?

The feedback instruction assumes negative feedback connection but if its required to build a positive feedback system, an additional input argument is added as will be illustrated in the following example:

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Example: Get the transfer function of the system SYS whose feed forward transfer function is (2/S) and feed back transfer function is 0.25 knowing that SYS is a positive feedback system.

Solution:

>> G=tf([2],[1 0]); >> H=tf([1],[4]); >> SYS=feedback(G,H,+1)

Now, in general the feedback instruction has the following syntax:

Sys_name=feedback(Feedforward_transfer_function,Feedback_transfer_function,1)

Note that the +1 is applied only for positive feedback systems while -1 is applied for negative feedback systems (the -1 may be canceled as it is the default value for MATLAB).

4-Block diagrams
Sometimes systems may be defined using their block diagram. So, how to define a system in block diagram form for MATLAB? And how to get its transfer function without involving in block-diagrams reduction rules? Lets analyze this method using an example:

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Example: Define the following system to MATLAB and hence show how to get its transfer function.

You can use the rules of reduction of block diagrams to simplify this system and get the transfer function of this system Y(s)/U(s). Step (1) Define each block as a separate sub-system and assume that the sub-systems are:

Now, define each sub-system to MATLAB: >>sys1=tf([3],[1 2]); >>sys2=tf([1],[1 3]); >>sys3=tf([2],[1 1]); >>sys4=tf([3],[1]); >>sys5=tf([1],[1 0]); >>sys6=tf([2],[1]);

5-Transformations
In this section, the transformation from any representation method to any other one and getting the data of any representation will be covered. First, getting the information of any representation should be covered as follows:

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Assume that a certain system SYS is defined for MATLAB in transfer function form and you are required to get the parameters of this representation which are the polynomial of the numerator and the polynomial of the denominator of the transfer function corresponding to this system. In this case, you may use the tfdata instruction.

Example: The transfer function of a certain system is given by:

And its defined for MATLAB using the TF form with the system name SYS, so its required to get the parameters of the TF representation using MATLAB.

Solution: >> [num,denom]=tfdata(SYS)

Now, num contains the polynomial of the numerator of the transfer function of SYS, which is [2 3] while the polynomial of the denominator is in denom [1 5 6]. If the same system is defined for MATLAB using the ZPK method and you are required to get the poles, zeros, and gain of the system; it will be suitable to use the zpk data instruction as follows: >> [z,p,k]=zpkdata(SYS) Now, Z contains the zeros of the system, P contains the poles of the system, and K contains the overall gain of the system. Z=[-1.5] , P=[-2 -3], K=[2].

[numerator,denomenator]=tfdata(System_name_defined_in_tf_format) [zeros, poles, gain]=zpkdata(System_name_defined_in_zpk_format)

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Transformation: Suppose that a system is defined using append/connect instruction or zpk instruction and you would like to get this system in transfer function form. In this case, you may use the tf instruction in the shown syntax.

System_representation_in_TF_form = tf (System_representation_ in_any_form))

Example: A system is defined for MATLAB in the zpk form with name SYSTEM and its required to get the system representation in transfer function form. Solution: >> SYSTEM=tf(SYSTEM) Now, assume that the system is defined in the tf from and its required to get the system representation in the zpk form and hence get the zeros, poles, and gain of the system.

System_representation_in_ZPK_form = zpk (System_representation_ in_any_form)

>> SYSTEM=zpk(SYSTEM); >>[Z,P,K]=zpkdata(SYSTEM)

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System Response
1-The step response
The response of a system is the shape and characteristics of the output of this system for a certain input. In the analysis of systems, some basic test input signals are used such as the unit step, the impulse, and the ramp function. In this section, the response of the system for a step input will be taken into consideration while the response for different inputs will be discussed later.

To get the step response of a certain system using MATLAB, the system should first be defined using either block diagrams, transfer functions, or zeros-poles-gain, then use the following function syntax.

step (System_name , time_duration_of_analysis )

In this case, the response of the system will be displayed in the time interval specified by the second input argument of the step function.

Example: A system has the following transfer function:

and you are required to get the step response of this system and hence get the value of the rise time, peak time, settling time, system overshoot, and the steady state error. Solution: A suitable period of analysis is about 15 seconds as an estimation (or by trial), so the time period is set to be 15 seconds with step size of 0.01 second. The code will be as follows. >> t=0:0.01:15; >> sys=tf([1 3],[1 1 4]); >> step(sys,t);

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The output will be displayed as in the following window:

On the previously shown window, right click your mouse and then activate the characteristics as shown:

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Its now clear that the transient and steady state characteristics can be obtained from the figure or the window in which the step response is displayed using the right mouse key and then choosing characteristics to select between any one of the characteristics.

2-The impulse response

In the same manner, the response of the system to a unit impulse is called the impulse response which can be got using the following function syntax.

impulse (System_name , time_duration_of_analysis )

The output will also be displayed in a window that allows right clicking to get the characteristics of the response.

Example: For the previously discussed example, its required to get the impulse response of this system and hence find the peak response and the settling time. Solution: >> t=0:0.01:15; >> sys=tf([1 3],[1 1 4]); >> impulse(sys,t); The output will be displayed as shown:

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3-Arbitrary input response

Sometimes, there may be a need to check the system response if the input is a sinusoidal input or in general an arbitrary input signal. In this case, you may use the following function syntax.

llsiim((Syssttem_name ,,IInputt_ffuncttiion ,, ttiime_durattiion_off_anallyssiiss )) s m Sy em_name npu _ unc on me_dura on_o _ana y

where the input function is a function of the time of analysis which means that it is a vector of the same length as the time vector. Example: A system is defined by the following transfer function:

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And its required to get the response of the system for an input signal u(t), where: a) U(t) is a unit ramp function, where U(t)=t. b) U(t) is a cosine function, where U(t)=cos(t).

Solution: In this case, the time period of analysis should be specified first then the input function is defined and finally the LINEAR SIMULATION function should be applied on the defined system as follows. >> sys=tf([2],[1 2 6]); >> t=0:0.01:10; >> u1=t; >> u2=cos(t); >> figure(1); >> lsim(sys,u1,t); >> grid; >> figure(2); >> lsim(sys,u2,t); >> grid; In this code, u1 is a ramp function as it increases with time in the same rate as the time vector t, while u2 is a cosine function. Both signals are applied to the same system in a time interval specified by t and the output of each input signal is displayed in a separate figure using the FIGURE instruction. The figures will look like the following ones. Note that the linear simulation function can also display the peak response of the system output using the right mouse key and then the characteristics option. The plots displayed in each figure represent the input signal (in gray) and the output (in blue). Now, its clear that MATLAB is helpful for getting the response of the system for any input function form.

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System characteristics
1-Damping
MATLAB can help you in analyzing systems by getting their damping ratio _ and natural frequency n for further analysis and calculations of the transient response parameters. To do so, you can use the following syntax.

[w,z]=damp(System_name)

The output argument w is a vertical vector containing the natural frequency of each pole in the system, while z is also a vertical vector containing the damping ratio of each pole in the system. Example: A system is defined by the following transfer function:

Its required to get the settling time of this system. Solution: The settling time of a system is calculated by the formula:

so its now required to get the damping ratio zeta and the natural frequency n of the system. The code will be: >> sys=tf([1 2],[1 1 4]); >> [w,z]=damp(sys); >> ts=4./(w.*z)

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Note that the code uses the dot operator because w and z are both vectors and its required to deal with their adjacent components. Why? You can answer this by typing the following instruction and noticing the output. >> damp(sys) The output is as follows:

Which means that the first element in the damping vector is related to the first one in the frequency vector and so on.

2-Root locus
Its a method of analyzing systems and compensation design using the possible root locus. It simplifies the method of gain adjustment to get a desired pole location. To plot the root locus of a system, the systems feed forward transfer function should be first defined then use the following syntax.

rlocus(System_feed_forward_transfer_function)

Example: Given the feed forward transfer function of a certain system:

You are required to plot the root locus of this system, hence find the value of the system gain such that the poles of the system lie at: 0, -0.244 0.831i. solution:

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On the MATLAB command window, type: >> G=tf([1],[1 1 1 0]); >> rlocus(G) The shown window will appear. The plot specifies the locations of the poles and their possible loci. For better identification for the system the values of zeta and n should be displayed. To do so, you need to right click on the shown window and select Grid from the pop-up menu. The result is shown in the figure at the beginning of the next page.

Now, constant _ lines appear, also constant n lines appear. Thus full identification of the system is possible. Currently, the poles of the system lie at: 0, -0.5 0.866i. In order to locate the poles of the system in another location, simple gain adjustment should be made. To do so using MATLAB, just click any point on the plots of the locus then drag it to check different gains and pole locations as shown in the next figure. As shown, its now possible to change the system gain to get another location for the poles.

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From this figure, the suitable value of the gain is: 0.384. Note that the question may be formed in many other forms such as asking about the value of the gain that ensure certain damping ration, percent overshoot, or frequency. All you have to do, is to drag the cursor on the plots and get that gain to ensure a certain property for the system.

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PROGRAMS

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Frequency analysis
Bode plots
MATLAB can help getting the frequency response of any system using bode plots. First, you should define the feed forward transfer function of the system. Then, use the following syntax.

bode(System_feed_forward_transfer_function) Example: Given the feed forward transfer function of a certain system:

You are required to plot the bode plots of this system. Solution: On the MATLAB command window, type: >> G=tf([1],[1 1 1 0]); >> bode(G) You will get the shown figure after right clicking the figure window and choosing Grid.

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Bode plot Appendix

Bode Plot:
- Show the frequency response of a system (Laplace Transform). - s = j

Poles:
General Form:

Zeros:
General Form:

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Special Case:

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Example 1: Sketch the gain and phase vs frequency of the following transfer function

There are two poles and two zeros: Poles: 10, 2000 Zeros: 0, 500000

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