About Matlab

MATLAB
Simulink &
Toolboxes
2 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb
MATLAB 5
0$7/$%yaud\ukhdh]hmjh\gyêygZmqghl_ogbq_kdbo\uqbke_gbcHgh[t_^bgy_l\
k_[_qbke_ggu_jZkq_lu\bamZebaZpbxbijh]jZffbjh\Zgb_J_r_gb_ijbdeZ^guoaZ^Zq\
kj_^_0$7/$%e_]dhbijhklhKj_^bh[eZkl_cijbf_g_gby
FZl_fZlbq_kdb_jZkq_lu
JZajZ[hldZZe]hjblfh\
Fh^_ebjh\Zgb_
:gZeba^Zgguob\bamZebaZpby
GZmqgZybbg`_g_jgZy]jZnbdZ
JZajZ[hldZijbeh`_gbc\dexqZy]jZnbq_kdbcbgl_jn_ckihevah\Zl_ey
<dgb]_hibkZguhkgh\gu_^hiheg_gbydkbkl_f_0$7/$%: Toolboxes, Simulink,

Matlab Compiler
=^_ijbh[j_klb0$7/$%"
NbjfZSoftLine Corp._^bgkl\_ggucZ\lhjbah\ZgguciZjlg_jnbjfuThe Mathworks, Inc.
86$\Jhkkbb
GZrbdhhj^bgZlu
Fhkd\ZmeR\_jgbdZ^
L_eebgbbNZdk
e-mail: info@softline.ru ; http://www.softline.ru
L_e

e-mail: info@softline.ru
NZdk
http: // www.softline.ru
KH>?J@:GB?
722/%2;(6
>HIHEGBL?EVGU?
KI?PB:EBABJH<:GGU? I:D?LU 0$7/$% ................................................ 4
COMMUNICATIONS TOOLBOX .......................................................................................................................................................... 5

CONTROL SYSTEM TOOLBOX ........................................................................................................................................................... 8
EXCEL LINK ........................................................................................................................................................................................... 11
FREQUENCY DOMAIN SYSTEM IDENTIFICATION TOOLBOX ............................................................................................... 12
FINANCIAL TOOLBOX ........................................................................................................................................................................ 14
FUZZY LOGIC TOOLBOX ................................................................................................................................................................... 16
HIGHER-ORDER SPECTRAL ANALYSIS TOOLBOX.................................................................................................................... 18
IMAGE PROCESSING TOOLBOX 2 ................................................................................................................................................... 20
LMI CONTROL TOOLBOX.................................................................................................................................................................. 22
MAPPING TOOLBOX............................................................................................................................................................................ 24
-ANALYSIS AND SYNTHESIS TOOLBOX ...................................................................................................................................... 28
NAG FOUNDATION TOOLBOX....................................................................................................................................................... 30
NEURAL NETWORK TOOLBOX........................................................................................................................................................ 32
OPTIMIZATION TOOLBOX ................................................................................................................................................................ 34
PARTIAL DIFFERENTIAL EQUATION TOOLBOX ....................................................................................................................... 36
QFT CONTROL DESIGN TOOLBOX ................................................................................................................................................. 38
ROBUST CONTROL TOOLBOX ......................................................................................................................................................... 40
SIGNAL PROCESSING TOOLBOX 4.................................................................................................................................................. 42
SPLINE TOOLBOX ............................................................................................................................................................................... 45
STATISTICS TOOLBOX ...................................................................................................................................................................... 46
SYMBOLIC MATH TOOLBOXES 2 .................................................................................................................................................... 48
SYSTEM IDENTIFICATION TOOLBOX............................................................................................................................................ 50
WAVELET TOOLBOX .......................................................................................................................................................................... 52
SIMULINK ............................................................................................................................................................................................... 54
MATLAB COMPILER............................................................................................................................................................................ 56
MATLAB C MATH LIBRARY .............................................................................................................................................................. 58
MATLAB C++ MATH LIBRARY ......................................................................................................................................................... 60
L_e

NZdk
Toolboxes - ^hihegbl_evgu_
ki_pbZebabjh\Zggu_iZd_luMatlab
7RROER[HVwlhg_ijhklh^hihegbl_evgu_gZ[hjunmgdpbcêyj_r_gbyjZaebqguodeZkkh\aZ^ZqHgb
ij_^klZ\eyxl kh[hc ieh^ mkbebc fgh`_kl\Z ba\_klg_crbo mq_guo jZ[hlZxsbo \ lZdbo h[eZklyo dZd
kbkl_fumijZ\e_gbyh[jZ[hldZkb]gZeh\b^_glbnbdZpbykbkl_fb^j
Communications
Control System
Financial Toolbox
Frequency Domain System Identification
Fuzzy Logic
Higher-Order Spectral Analysis
Image Processing
LMI Control
Mapping
Model Predictive Control
-Analysis and Synthesis
NAG
L_e

Neural Network
Optimization
Partial Differential Equation
QFT Control Design
Robust Control
Signal Processing
Splines
Statistics
Symbolic/Extended Symbolic Math
System Identification
Wavelet
NZdk
Communications Toolbox
Dhee_dpby nmgdpbc
b [ehdh\
êy ijh_dlbjh\Zgby fh^_ebjh\Zgby
b ZgZebaZ kbkl_f k\yab b i_j_^Zqb bgnhjfZpbb
0$7/$%
6,08/,1.
IZd_l &RPPXQLFDWLRQV ij_^hklZ\ey_l iheguc gZ[hj \hafh`ghkl_c êy jZajZ[hldb ZgZebaZ b

l_klbjh\Zgbyfh^_e_cpbnjh\uobZgZeh]h\uokbkl_fbmkljhckl\k\yabbi_j_^ZqbbgnhjfZpbbIZd_l
kh^_j`bl [he__ nmgdpbc 0$7/$% b ijbf_jgh [ehdh\ 6,08/,1. êy jZajZ[hldb b
fh^_ebjh\Zgby lZdbo kbkl_f dZd mkljhckl\Z jZ^bhk\yab fh^_fu b mkljhckl\Z ojZg_gby bgnhjfZpbb
IZd_l y\ey_lky ij_djZkguf kj_^kl\hf êy gZmqguo jZajZ[hlhd Z lZd`_ êy h[mq_gby klm^_glh\ ih
ki_pbZevghklyfk\yaZggufkbgnhjfZpbhggufbl_ogheh]byfb
Hkgh\gu_k\hckl\Z
Dh^bjh\Zgb_bhpbnjh\dZ
Dhgljhevhrb[hdijbdh^bjh\Zgbb
Fh^meypbyb^_fh^meypby
NbevljZpbyijbi_j_^Zq_bijb_f_
KbgojhgbaZpby\lhfqbke_ZgZeh]h\u_bpbnjh\u_kbkl_funZah\hcZ\lhih^kljhcdbqZklhlu
Dhee_dlb\guc^hklmi
<uqbke_gb_ihe_c=ZemZ
=_g_jZlhjukb]gZeh\
NmgdpbbZgZebaZbihkljh_gby]jZnbdh\
IZd_l &RPPXQLFDWLRQV iha\hey_l jZ[hlZlv kh \k_fb hkgh\gufb dhfihg_glZfb
dhffmgbdZpbhgguo kbkl_f g_h[oh^bfufb gZf êy fh^_ebjh\Zgby \ukhdhkdhjhklghc
Z[hg_glkdhcebgbbKbglZdkbk0$7/$%hq_gv[ebahdljZ^bpbhgghcfZl_fZlbq_kdhcaZibkb
Z6,08/,1.iha\hey_le_]dhkljhblvfh^_ebkeh`guob_jZjobq_kdbokbkl_f
Walter Chen, Texas Instruments
Project Leader at the DSP Research & Design Center
NB!
;ukljhlZ jZajZ[hldb IZd_l &RPPXQLFDWLRQV ihfh]Z_l <Zf [ukljh kha^Z\Zlv b l_klbjh\Zlv fh^_eb
keh`guokbkl_fij_^hklZ\eyybgl_]jbjh\Zggu_kj_^kl\ZêyjZajZ[hldbZe]hjblfh\bijh_dlbjh\Zgby
kbkl_f
H[eZ^Zy wnn_dlb\guf gZ[hjhf nmgdpbc 0$7/$% b [ehdh\ 6,08/,1. iZd_l ij_^hklZ\ey_l
\hafh`ghklvkh[bjZlvbagboex[u_dhffmgbdZpbhggu_kbkl_fu<ufh`_l_jZajZ[Zlu\ZlvZe]hjblfu
bkihevamy yaud fZljbqguo \uqbke_gbc fh^_ebjh\Zlv kbkl_fu k ihfhsvx [ehd^bZ]jZff 6,08/,1.
bebdhf[bgbjh\Zlvh[Zkihkh[ZjZ[hlu
Mkdhj_gb_jZajZ[hldbl_ogbq_kdbodhffmgbdZpbhgguokbkl_fIZd_l&RPPXQLFDWLRQVh[_ki_qb\Z_l
iheguc gZ[hj kj_^kl\ mkdhjyxsbo ijh_dlbjh\Zgb_ ZgZeba b fh^_ebjh\Zgb_ dhffmgbdZpbhgguo
kbkl_fIhevamykviZd_lhf&RPPXQLFDWLRQVbg`_g_jufh]mljZajZ[Zlu\Zlvbl_klbjh\ZlvZe]hjblfuêy
L_e

NZdk
fh^meypbbdh^bjh\ZgbynbevljZpbbijbijb_f_bi_j_^Zq_bkbgojhgbaZpbbIZd_llZd`_m^h[_gêy
ZgZebaZoZjZdl_jbklbdkbkl_fbdZgZeh\k\yab
H[rbjguc gZ[hj nmgdpbc 0$7/$% b [ehdh\ 6,08/,1. < iZd_l \dexq_gu [he__ nmgdpbc
0$7/$%b[ehdh\6,08/,1.\bkoh^guodh^ZoWlhh[_ki_qb\Z_lhldjulhklv\uqbkebl_evghckj_û
iha\heyxs_cfh^bnbpbjh\Zlvdh^êyihevah\Zl_evkdboijbeh`_gbc
K\yavf_`^mjZajZ[hldhcZe]hjblfh\bkha^Zgb_fijhlhlbih\kbkl_fBkihevamyiZd_lbg`_g_ju
ihdhffmgbdZpbyffh]ml[uklj__kha^Z\ZlvaZdhgq_ggu_ijbeh`_gby
>_fhgkljZpbb b ijbf_ju Ihegh_ Jmdh\h^kl\h Ihevah\Zl_ey \dexqZ_l hibkZgb_ dZd nmgdpbc
0$7/$%lZdb[ehdh\6,08/,1.<iZd_llZd`_\dexq_gug_kdhevdhijbf_jh\ijbeh`_gbc\dexqZy
ijh\_jdm qZklhlu h^gh[blh\uo hrb[hd kbgojhgbaZpbx k hi_j_`Zxsbf b aZiZaû\Zxsbf
kljh[bjh\Zgb_fpbnjh\mx\ukhdhkdhjhklgmxi_j_^Zqm^Zgguofh^meypbxj_r_lqZlh]hdh^Z
Fh^_evfh^_fZJZ[hlZxsZyfh^_evfh^_fZY\dexq_gZ\iZd_lbiheghklvx^hdmf_glbjh\ZgZWlZ
fh^_evfh`_l[ulvbkihevah\ZgZ\]hlh\hf\b^_bebbaf_g_gZih`_eZgbxihevah\Zl_ey
Dhgljhev hrb[hd b fh^meypby IZd_l &RPPXQLFDWLRQV y\ey_lky kh\j_f_gguf kj_^kl\hf êy
fh^_ebjh\Zgby dhffmgbdZpbhgguo kbkl_f Kj_^b gbo nmgdpbb dhgljhey hrb[hd nmgdpbb ih^^_j`db
kZfuo jZkijhkljZg_gguo ZgZeh]h\uo b pbnjh\uo f_lh^h\ fh^meypbb b ^_fh^meypbb IZd_l
ij_^hklZ\ey_l\u[hjjZaebqguoihôh^h\dfh^_ebjh\Zgbxb\kljh_ggu_kj_^kl\ZZgZebaZ
IZd_l&RPPXQLFDWLRQVij_^hklZ\ey_lihevah\Zl_exm^h[kl\Z
ijb\uiheg_gbbaZ^ZqZgZebaZb\bamZebaZpbboZjZdl_jbklbdb
iZjZf_ljh\
jZajZ[Zlu\Z_fhc
kbkl_fu
gZijbf_j
ihdZaZggu_gZjbkmgd_ke_\Z
Bgl_]jbjh\Zggh_j_r_gb_IZd_l&RPPXQLFDWLRQVg_jZaju\ghk\yaZgk0$7/$%6,08/,1.biZd_lhf
Signal 3URFHVVLQJ Wlhl gZ[hj kj_^kl\ iha\hey_l kha^Z\Zlv fh^_ebjh\Zlv b fZd_lbjh\Zlv ijh_dlu
L_e

NZdk
dhffmgbdZpbhgguo kbkl_f k g_h[udgh\_gghc kdhjhklvx ]b[dhklvx b e_]dhklvx <u fh`_l_ e_]dh

ijh\_jylv k\hb b^_b gZ jZgg_c klZ^bb jZajZ[hldb ijh_dlZ >ey [ukljh]h kha^Zgby ijhlhlbih\ ieZl
pbnjh\hch[jZ[hldbkb]gZeh\<ufh`_l_bkihevah\ZlvReal-Time :RUNVKRSb]_g_jbjh\Zlvi_j_ghkbfuc
&dh^
<kljh_ggu_ ijbf_ju <k_ nmgdpbb b [ehdb \ iZd_l_ iheghklvx ^hdmf_glbjh\Zgu b kgZ[`_gu
ijbf_jZfbbobkihevah\ZgbyIZd_llZd`_ij_^hklZ\ey_lijbf_juijZdlbq_kdboijbeh`_gbc
L_e

NZdk
Control System Toolbox

;h]Zl_crZy dhee_dpby Ze]hjblfh\ êy deZkkbq_kdh]h b kh\j_f_ggh]h ZgZebaZ
fh^_ebjh\Zgby b ijh_dlbjh\Zgby kbkl_f mijZ\e_gby
IZd_l Control 6\VWHP dhee_dpby Ze]hjblfh\ 0$7/$% êy fh^_ebjh\Zgby ZgZebaZ b ijh_dlbjh\Zgby
kbkl_f Z\lhfZlbq_kdh]h mijZ\e_gby Nmgdpbb iZd_lZ \dexqZxl gZb[he__ ljZ^bpbhggu_ f_lhû
i_j_^Zlhqguo nmgdpbc b kh\j_f_ggu_ f_lhû ijhkljZgkl\Z khklhygbc K ihfhsvx iZd_lZ Control
6\VWHP <u fh`_l_ fh^_ebjh\Zlv b ZgZebabjh\Zlv dZd g_ij_ju\gu_ lZd b ^bkdj_lgu_ kbkl_fu
QZklhlgucb\j_f_gghchldebd^bZ]jZffujZkiheh`_gbygme_c/ihexkh\fh]ml[ulv[ukljh\uqbke_gu
bhlh[jZ`_gugZwdjZg_
Hkgh\gu_k\hckl\Z
Fh^_ebjh\Zgb_
G_ij_ju\gu_b^bkdj_lgu_kbkl_fu
NhjfZlufh^_e_ci_j_^Zlhqgu_nmgdpbbijhkljZgkl\hkhklhygbcgmebihexkZ
Ihkljh_gb_ebg_cguofh^_e_ckbkl_f
Ij_h[jZah\Zgb_fh^_e_c\jZaebqgu_nhjfZlu
:gZeba
IhegucgZ[hjkj_^kl\êyZgZebaZ0,02kbkl_f
<j_f_ggu_ oZjZdl_jbklbdb i_j_^ZlhqgZy b i_j_oh^gZy nmgdpbb j_Zdpby gZ ijhba\hevgh_
\ha^_ckl\b_
QZklhlgu_oZjZdl_jbklbdb^bZ]jZffu;h^_GbdhekZGZcd\bklZb^j
Ijh_dlbjh\Zgb_
JZajZ[hldZh[jZlguok\ya_c
Ijh_dlbjh\Zgb_/45/4(j_]meylhjh\
OZjZdl_jbklbdbfh^_e_cmijZ\ey_fhklvgZ[ex^Z_fhklvihgb`_gb_ihjy^dZfh^_e_c
Ih^^_j`dZkbkl_fkaZiZaû\Zgb_f
NB!
IheghnmgdpbhgZevgZy kj_^Z êy fh^_ebjh\Zgby IZd_l Control 6\VWHP iha\hey_l ZgZebabjh\Zlv b
ijh_dlbjh\Zlv g_ij_ju\gu_ b ^bkdj_lgu_ kbkl_fu >hihegbl_evgu_ nmgdpbb ihkljh_gby fh^_e_c
iha\heyxldhgkljmbjh\Zlv[he__keh`gu_fh^_eb
H[t_dlu Ihevamykv h[t_dlghhjb_glbjh\Zggufb \hafh`ghklyfb 0$7/$% iZd_l iha\hey_l
h[jZ[Zlu\Zlv6,62beb0,02ebg_cgu_kbkl_fu h^ghc dhfZg^hc lZd`_ dZd ijhba\h^ylky hi_jZpbb k
fZljbpZfb
L_e

NZdk
:gZeba\j_f_ggh]hbqZklhlgh]hhldebdZ<j_f_gghchldebdfh`_l[ulvjZkkqblZgêybfimevkgh]h
\oh^Z_^bgbqgh]hkdZqdZbebijhba\hevgh]h\oh^gh]hkb]gZeZKj_^bfgh`_kl\Znmgdpbc^bZ]jZffu
;h^_ GZcd\bklZ b GbdhekZ êy qZklhlgh]h ZgZebaZ Bf_xlky lZd`_ nmgdpbb êy ZgZebaZ kbg]meyjguo
qbk_e
Ij_^\Zjbl_evguc ijhkfhlj Bgl_jZdlb\gZy kj_^Z êy kjZ\g_gby \j_f_ggh]h b qZklhlgh]h hldebdZ
kbkl_f ij_^hklZ\ey_l ihevah\Zl_ex ]jZnbq_kdb_ mijZ\eyxsb_ we_f_glu êy h^gh\j_f_ggh]h
hlh[jZ`_gby hldebdh\ b i_j_dexq_gby f_`^m gbfb <u fh`_l_ \uqbkeylv jZaebqgu_ oZjZdl_jbklbdb
hldebdh\lZdb_dZd\j_fyjZa]hgZb\j_fyj_]mebjh\Zgby
GZkljhcdZh[jZlghck\yabIZd_lControl 6\VWHPkh^_j`blkj_^kl\Zêy\u[hjZiZjZf_ljh\h[jZlghc
k\yab Kj_^b ljZ^bpbhgguo f_lh^h\ ZgZeba hkh[uo lhq_d hij_^_e_gb_ dhwnnbpb_glZ mkbe_gby b
aZlmoZgbyKj_^bkh\j_f_gguof_lh^h\ebg_cghd\Z^jZlbqgh_j_]mebjh\Zgb_b^j
<hafh`ghklv gZkljhcdb gZ ihevah\Zl_ey IZd_l Control 6\VWHP \dexqZ_l [hevrh_ dhebq_kl\h
Ze]hjblfh\ êy ijh_dlbjh\Zgby b ZgZebaZ kbkl_f mijZ\e_gby Djhf_ lh]h hg h[eZ^Z_l gZkljZb\Z_fuf
hdjm`_gb_f\dhlhjhf<ubf__l_\hafh`ghklvijh]jZffbjh\Zlvkh[kl\_ggu_FnZceu
;Zabkêyijh_dlbjh\Zgbykbkl_fmijZ\e_gbyIZd_lControl 6\VWHPqZklhbkihevam_lky\dhf[bgZpbb
k ^jm]bfb iZd_lZfb êy ijh_dlbjh\Zgby kbkl_f mijZ\e_gby Wlh iha\hey_l kh\_jr_gkl\h\Zlv
kha^Z\Z_fu_kbkl_fu
KihfhsvxiZd_lZControl 6\VWHPe_]dh\uqbkeylvlZdb_qZklhlgu_oZjZdl_jbklbdbdZd^bZ]jZffZ
;h^_ij_^klZ\e_ggZygZjbkmgd_
IZd_l &RQWURO 6\VWHP bkihevam_l ]jZnbq_kdb_

\hafh`ghklb 0$7/$% êy ihkljh_gby g_h[oh^bfuo
^bZ]jZff
<j_f_ggZyoZjZdl_jbklbdZ
L_e

NZdk
JZkiheh`_gb_gme_cbihexkh\i_j_^Zlhqghcnmgdpbb
>bZ]jZffZGbdhekZ
L_e

NZdk
Excel Link
K\yau\Z_l 0$7/$% k Microsoft Excel for Windows
Excel /LQN h[t_^bgy_l \uqbkebl_evgu_ b ]jZnbq_kdb_ \hafh`ghklb 0$7/$% k \hafh`ghklyfb

we_dljhgghc lZ[ebpu Microsoft ([FHO kZfhc jZkijhkljZg_gghc we_dljhgghc lZ[ebp_c êy Windows.
Excel /LQN iha\hey_l h[f_gb\Zlvky ^Zggufb f_`^m 0$7/$% b ([FHO h[_ki_qb\Zy [_kij_p_^_glgu_
\hafh`ghklbêyZgZebaZh[jZ[hldbbij_^klZ\e_gby^Zgguo
Hkgh\gu_k\hckl\Z
@b\Zyk\yav0$7/$%Excel
>\mklhjhggbch[f_g^Zggufbf_`^m0$7/$%bExcel
Ijhkfhljj_^Zdlbjh\Zgb_bh[jZ[hldZ^Zgguo0$7/$%\Excel
:gZeba^Zgguo([FHO\0$7/$%
<uiheg_gb_nmgdpbc0$7/$%ijyfhbaExcel
Ih^]hlh\dZ([FHOijbeh`_gbc
NB!
M^h[guc j_^Zdlhj fZkkb\h\ Excel /LQN hkh[_ggh ihe_a_g \ dZq_kl\_ j_^ZdlhjZ êy bgl_jZdlb\gh]h
ijhkfhljZ b baf_g_gby ^Zgguo Ex[u_ ^Zggu_ bfihjlbjm_fu_ ba Excel fh]ml [ulv i_j_^Zgu \
0$7/$% êy ZgZebaZ b \bamZebaZpbb K\yav f_`^m ([FHO b 0$7/$% `b\Zy b g_ lj_[m_l kha^Zgby
ijhf_`mlhqguonZceh\bebgbadhmjh\g_\h]hijh]jZffbjh\Zgby
Bkihevah\Zgb_ \hafh`ghkl_c ([FHO \ 0$7/$% Excel /LQN k\yau\Z_l ([FHO k jZ[hq_c h[eZklvx
0$7/$% ij_^hklZ\eyy ([FHO ijyfhc ^hklmi dh \k_fm k_f_ckl\m ijh^mdlh\ 0$7/$% \dxqZy
^hihegbl_evgu_ iZd_lu Wlhl bgkljmf_gl iha\hey_l <Zf ba\e_dZlv ij_bfms_kl\Z hl \uqbkebl_evghc
fhsb0$7/$%ihevamykv^jm`_kl\_gghckj_^hcExcel.
L_e

NZdk
Frequency Domain System

Identification Toolbox
GZ[hj Ze]hjblfh\ êy jZkq_lZ qZklhlguo oZjZdl_jbklbd b ^bZ]ghklbdb kbkl_f

IZd_l Frequency Domain System ,GHQWLILFDWLRQ ij_^hklZ\ey_l ki_pbZebabjh\Zggu_ kj_^kl\Z êy
b^_glbnbdZpbbebg_cguo^bgZfbq_kdbokbkl_fih bo \j_f_gghfm beb qZklhlghfm hldebdm QZklhlgu_
f_lhûgZijZ\e_gugZb^_glbnbdZpbxg_ij_ju\guokbkl_fqlhy\ey_lkyfhsguf^hiheg_gb_fd[he__
ljZ^bpbhgghc ^bkdj_lghc f_lh^bd_ F_lhû iZd_lZ fh]ml [ulv ijbf_g_gu d lZdbf aZ^ZqZf dZd
fh^_ebjh\Zgb_we_dljbq_kdbof_oZgbq_kdbobZdmklbq_kdbokbkl_f
Hkgh\gu_k\hckl\Z
I_jbh^bq_kdb_ \hafms_gby ibdnZdlhj hilbfZevguc ki_dlj ik_\^hkemqZcgu_ b ^bkdj_lgu_

^\hbqgu_ihke_^h\Zl_evghklb
JZkq_l^h\_jbl_evguobgl_j\Zeh\ZfieblmûnZaubgme_cihexkh\
B^_glbnbdZpbyg_ij_ju\guob^bkdj_lguokbkl_fkg_ba\_klgufaZiZaû\Zgb_f
>bZ]ghklbdZfh^_eb\dexqZyfh^_ebjh\Zgb_b\uqbke_gb_g_\yahd
Ij_h[jZah\Zgb_fh^_e_c\nhjfZlSystem Identification 7RROER[bh[jZlgh
IZd_lFrequency Domain System ,GHQWLILFDWLRQbkihevam_lhp_gdb

q_luj_o gme_c b q_luj_o ihexkh\ êy b^_glbnbdZpbb
ih\_^_gbyfZgbimeylhjZjh[hlZ
NB!
Ijh\_jdZ fh^_e_cBkihevamyqZklhlgucihôh^<ufh`_l_^h[blvky gZbemqr_c fh^_eb \ qZklhlghc
h[eZklb ba[_`Zlv hrb[hd ^bkdj_lbaZpbb e_]dh \u^_eylv ihklhyggmx khklZ\eyxsmx kb]gZeZ
kms_kl\_gghmemqrblvkhhlghr_gb_kb]gZe/rmf.
Fh^_ebjh\Zgb_ kb]gZeh\ >ey ihemq_gby \hafmsZxsbo kb]gZeh\ iZd_l ij_^hklZ\ey_l nmgdpbb
]_g_jZpbb ^\hbqguo ihke_^h\Zl_evghkl_c fbgbfbaZpbb \_ebqbgu ibdZ b memqr_gby ki_dljZevguo
oZjZdl_jbklbd
L_e

NZdk
B^_glbnbdZpby ebg_cguo klZlbq_kdbo kbkl_f H[_ki_qb\Z_lky b^_glbnbdZpby g_ij_ju\guo b

^bkdj_lguo ebg_cguo klZlbq_kdbo kbkl_f Z\lhfZlbq_kdZy ]_g_jZpby \oh^guo kb]gZeh\ Z lZd`_
]jZnbq_kdh_bah[jZ`_gb_gme_c/ihexkh\i_j_^Zlhqghcnmgdpbbj_amevlbjmxs_ckbkl_fu
L_klbjh\Zgb_ Nmgdpbb êy l_klbjh\Zgby fh^_eb \dexqZxl \uqbke_gb_ g_\yahd i_j_^Zlhqguo
nmgdpbcbgme_c/ihexkh\ijh]hgdmfh^_ebkbkihevah\Zgb_fl_klh\uo^Zgguo
L_e

NZdk
Financial Toolbox
GZ[hj g_h[oh^bfuo nmgdpbc êy nbgZgkh\h]h ZgZebaZ
IZd_l )LQDQFLDO y\ey_lky hkgh\hc êy j_r_gby \ M$7/$% fgh`_kl\Z nbgZgkh\uo aZ^Zq hl ijhkluo
\uqbke_gbc^hiheghfZkrlZ[guojZkij_^_e_gguoijbeh`_gbcIZd_l)LQDQFLDOfh`_l[ulvbkihevah\Zg
êy jZkq_lZ ijhp_glguo klZ\hd b ijb[ueb ZgZebaZ ijhba\h^guo ^hoh^h\ b ^_ihablh\ hilbfbaZpbb
ihjln_eybg\_klbpbc
Hkgh\gu_k\hckl\Z
H[jZ[hldZ^Zgguo
>bki_jkbhggucZgZebawnn_dlb\ghklbihjln_eybg\_klbpbc
:gZeba\j_f_gguojy^h\
JZkq_l^hoh^ghklbp_gguo[mfZ]bhp_gdZdmjkh\
KlZlbklbq_kdbcZgZeba
:gZebaqm\kl\bl_evghklbjugdZ
DZevdmeypby_`_]h^gh]h^hoh^ZbjZkq_l^_g_`guoihlhdh\
F_lhûgZqbke_gbybaghkZbZfhjlbaZpbhgguohlqbke_gbc
GZ jbkmgd_ ihdZaZgZ \aZbfhk\yav jbkdZ b j_glZ[_evghklb êy ihjln_ey bg\_klbpbc HilbfbaZpby
iha\hey_l jZkij_^_eblv bg\_klbpbb lZd qlh[u h[_ki_qblv ieZgbjm_fuc ^hoh^ k fbgbfZevguf
jbkdhf
L_e

NZdk
NB!
H[jZ[hldZ ^Zgguo Mqblu\Zy \Z`ghklv ^Zlu lhc beb bghc nbgZgkh\hc hi_jZpbb \ iZd_l Financial
\dexq_gug_kdhevdhnmgdpbcêyfZgbimebjh\Zgby^Zlhcb\j_f_g_f\jZaebqguonhjfZlZo
:gZebawnn_dlb\ghklbbg\_klbpbc\p_ggu_[mfZ]bIZd_l)LQDQFLDOiha\hey_ljZkkqblu\Zlvp_gub
^hohûijb bg\_klbpbyo \ h[eb]Zpbb Ihevah\Zl_ev bf__l \hafh`ghklv aZ^Z\Zlv g_klZg^Zjlgu_ \ lhf
qbke_ g_j_]meyjgu_ b g_kh\iZ^Zxsb_ ^jm] k ^jm]hf ]jZnbdb ^_[blguo b dj_^blguo hi_jZpbc b
hdhgqZl_evgh]hjZkq_lZijbih]Zr_gbb\_dk_e_cWdhghfbq_kdb_nmgdpbbqm\kl\bl_evghklbfh]ml[ulv
\uqbke_gukmq_lhfjZagh\j_f_gguokjhdh\ih]Zr_gby
H[uqgu_jZkq_luihkq_lZf:e]hjblfuiZd_lZ)LQDQFLDOêyjZkq_lZihdZaZl_e_c^\b`_gby^_g_`guo
kj_^kl\ b ^jm]bo ^Zgguo hljZ`Z_fuo \ nbgZgkh\uo kq_lZo iha\heyxl \uqbkeylv \ qZklghklb
ijhp_glgu_ klZ\db ih aZcfZf b dj_^blZf dhwnnbpb_glu j_glZ[_evghklb dj_^blgu_ ihklmie_gby b
blh]h\u_ gZqbke_gby hp_gb\Zlv b ijh]ghabjh\Zlv klhbfhklv bg\_klbpbhggh]h ihjln_ey \uqbkeylv
ihdZaZl_eb baghkZ b lhfm ih^h[gh_ Nmgdpbb iZd_lZ )LQDQFLDO fh]ml [ulv bkihevah\Zgu k mq_lhf
iheh`bl_evgh]h b hljbpZl_evgh]h dwrnehm ij_\ur_gby gZebqguo ihklmie_gbc gZ^ ieZl_`Zfb beb
gZebqguo\uieZlgZîhklmie_gbyfbkhhl\_lkl\_ggh
Kh\j_f_ggu_f_lhûZgZebaZnbgZgkh\hcbwdhghfbq_kdhc^_yl_evghklbIZd_l)LQDQFLDOkh^_j`bl
Ze]hjblfu dhlhju_ iha\heyxl ZgZebabjh\Zlv ihjln_ev bg\_klbpbc ^bgZfbdm b wdhghfbq_kdb_
dhwnnbpb_glu qm\kl\bl_evghklb < qZklghklb ijb hij_^_e_gbb wnn_dlb\ghklb bg\_klbpbc Financial
iha\hey_l knhjfbjh\Zlv ihjln_ev m^h\e_l\hjyxsbc deZkkbq_kdhc aZ^Zq_ = FZjdh\bpZ Ihevah\Zl_ev
fh`_ldhf[bgbjh\ZlvZe]hjblfuiZd_lZêy\uqbke_gbydhwnnbpb_glh\RZji_bklZ\hd^hoh^Z:gZeba
^bgZfbdb b wdhghfbq_kdbo dhwnnbpb_glh\ qm\kl\bl_evghklb iha\hey_l ihevah\Zl_ex hij_^_eblv
ihabpbbêyklj_^êk^_ehdo_^`bjh\Zgbybk^_ehdknbdkbjh\ZggufbklZ\dZfb
>hihegbl_evgu_ \hafh`ghklb iZd_lZ IZd_l )LQDQFLDO h[_ki_qb\Z_l lZd`_ h[rbjgu_ \hafh`ghklb
êy ij_^klZ\e_gby b ij_a_glZpbb ^Zgguo b j_amevlZlh\ \ \b^_ ljZ^bpbhgguo êy wdhghfbq_kdhc b
nbgZgkh\hc kn_j ^_yl_evghklb ]jZnbdh\ b ^bZ]jZff >_g_`gu_ kj_^kl\Z fh]ml ih `_eZgbx
ihevah\Zl_eyhlh[jZ`Zlvky\^_kylbqghf[Zgdh\kdhfbijhp_glghfnhjfZlZo
L_e

NZdk
Fuzzy Logic Toolbox

Bglmblb\gZy ]jZnbq_kdZy kj_^Z êy jZajZ[hldb bgl_ee_dlmZevguo kbkl_f
IZd_l Fuzzy /RJLF h[eZ^Z_l ijhkluf b ohjhrh ijh^mfZgguf bgl_jn_ckhf iha\heyxsbf e_]dh
ijh_dlbjh\Zlv b ^bZ]ghklbjh\Zlv g_q_ldb_ fh^_eb H[_ki_qb\Z_lky ih^^_j`dZ kh\j_f_gguo f_lh^h\
g_q_ldhcdeZkl_jbaZpbbbZ^Zilb\gu_g_q_ldb_g_cjhggu_k_lb=jZnbq_kdb_kj_^kl\ZiZd_lZiha\heyxl
bgl_jZdlb\ghhlke_`b\Zlvhkh[_gghklbih\_^_gbykbkl_fu
Hkgh\gu_k\hckl\Z
Hij_^_e_gb_i_j_f_gguog_q_ldboijZ\bebnmgdpbcijbgZê_`ghklb
Bgl_jZdlb\gucijhkfhljg_q_ldh]heh]bq_kdh]h\u\h^Z
Kh\j_f_ggu_ f_lhû Z^Zilb\guc g_q_ldbc \u\h^ k bkihevah\Zgb_f g_cjhgguo k_l_c g_q_ldZy
deZkl_jbaZpby
Bgl_jZdlb\gh_^bgZfbq_kdh_fh^_ebjh\Zgb_\6,08/,1.
=_j_jZpbyi_j_ghkbfh]h&dh^ZkihfhsvxReal-Time Workshop
IZd_l Fuzzy /RJLF ohjhr \h \k_o hlghr_gbyo Hg ^_eZ_l g_q_ldmx eh]bdm wnn_dlb\guf
kj_^kl\hfêykha^Zgbybgl_ee_dlmZevguokbkl_f
AZ^_kha^Zl_evg_q_ldhceh]bdb
University of California at Berkeley
NB!
IjhklhlZ \ bkihevah\Zgbb IZd_l Fuzzy /RJLF kha^Zg êy lh]h qlh[u <u [ukljh h\eZ^_eb g_q_ldhc
eh]bdhc b ijbf_gyeb __ êy j_r_gby ijZdlbq_kdbo aZ^Zq L_f dlh m`_ ohjhrh agZdhf k g_q_ldhc
eh]bdhciZd_lij_êZ]Z_lkh\j_f_ggu_f_lhûb\hafh`ghklvkha^Z\Zlvkh[kl\_ggu_f_lhû
=jZnbq_kdh_ ijh_dlbjh\Zgb_ IZd_l Fuzzy /RJLF kh^_j`bl iylv ]jZnbq_kdbo j_^Zdlhjh\ êy
ij_^klZ\e_gbyg_h[oh^bfhcbgnhjfZpbb\ijhp_kk_ijh_dlbjh\Zgbykha^Zgbybl_klbjh\Zgbyg_q_ldbo
fh^_e_c
Kh\j_f_ggu_ f_lhû IZd_l Fuzzy /RJLF \dexqZ_l kh\j_f_ggu_ f_lhû g_q_ldh]h fh^_ebjh\Zgby
\dexqZy
:^Zilb\gucg_q_ldbc\u\h^kbkihevah\Zgb_fg_cjhgguok_l_cêyZ\lhfZlbq_kdh]hnhjfbjh\Zgby
nmgdpbcijbgZê_`ghklb\ijhp_kk_h[mq_gbybogZ\oh^guo^Zgguo
G_q_ldZyeh]bdZbdeZkl_jbaZpbyêyaZ^ZqbjZkihagZ\Zgbyh[jZah\
<hafh`ghklv\u[hjZrbjhdhba\_klgh]hf_lh^ZFZf^Zgbbebfhsgh]hf_lh^ZKm]_ghêykha^Zgby
]b[jb^guog_q_ldbokbkl_f
Bgl_]jZpbyfh^_ebjh\Zgbyb]_g_jZpbbdh^ZIZd_lij_^gZagZq_gêykh\f_klghcjZ[hluk6LPXOLQNK
ihfhsvxReal-Time :RUNVKRSfh`gh]_g_jbjh\Zlv$16,&dh^êyjZ[hlu\j_Zevghf\j_f_gb
L_e

NZdk
Kha^Zgb_ fh^_e_c jZ[hlZxsbo \h \g_rgbo ijbeh`_gbyo <ZrZ g_q_ldZy fh^_ev fh`_l [ulv
khojZg_gZ\nhjfZl_$6&,,êyihke_^mxs_]hbkihevah\Zgby\g_kj_û0$7/$%IZd_lij_^hklZ\ey_l
wnn_dlb\guc bgkljmf_gl g_q_ldh]h \u\h^Z kihkh[guc aZimkdZlv g_q_ldmx fh^_ev dZd Z\lhghfgh_
ijbeh`_gb_bebdZdqZklv^jm]h]hijbeh`_gby
GZjbkmgd_ihdZaZghldebdg_q_ldh]hj_]meylhjZ
L_e

NZdk
Higher-Order Spectral Analysis

Toolbox
Dhee_dpby Ze]hjblfh\ êy ZgZebaZ g_]Zmkkh\uo kb]gZeh\
IZd_l Higher-Order Spectral $QDO\VLV kh^_j`bl ki_pbZevgu_ Ze]hjblfu êy ZgZebaZ kb]gZeh\ k
bkihevah\Zgb_f fhf_glh\ \ukr_]h ihjy^dZ IZd_l ij_^hklZ\ey_l rbjhdb_ \hafh`ghklb êy ZgZebaZ
g_]Zmkkh\uo kb]gZeh\ lZd dZd kh^_j`bl Ze]hjblfu ih`Zemc kZfuo i_j_^h\uo f_lh^h\ êy ZgZebaZ b
h[jZ[hldbkb]gZeh\
Hkgh\gu_k\hckl\Z
Hp_gdZki_dljh\\ukhdh]hihjy^dZ
LjZ^bpbhggucbebiZjZf_ljbq_kdbcihôh^
<hkklZgh\e_gb_ZfieblmûbnZau
:^Zilb\gh_ebg_cgh_ijh]ghabjh\Zgb_
<hkklZgh\e_gb_]Zjfhgbd
Hp_gdZaZiZaû\Zgby
;ehqgZyh[jZ[hldZkb]gZeh\
GZjbkmgd_ijb\_^_ghij_^klZ\e_gb_fhf_glZlj_lv_]hihjy^dZ\fh^_ebZ\lhj_]j_kkbbkdhevays_]h
kj_^g_]hihemq_ggh]hihZe]hjblfZfiZd_lZHigher-Order Spectral Analysis.
NB!
Ij_bfms_kl\Z ki_dljh\ \ukhdh]h ihjy^dZ IZd_l Higher-Order Spectral $QDO\VLV iha\hey_l
ZgZebabjh\Zlv kb]gZeu ih\j_`^_ggu_ g_]Zmkkh\uf rmfhf b ijhp_kku ijhbkoh^ysb_ \ g_ebg_cguo
L_e

NZdk
kbkl_fZo Ki_dlju \ukhdh]h ihjy^dZ hij_^_ey_fu_ \ l_jfbgZo fhf_glh\ \ukhdh]h ihjy^dZ kb]gZeZ
kh^_j`Zl ^hihegbl_evgmx bgnhjfZpbx dhlhjmx g_\hafh`gh ihemqblv ihevamykv lhevdh ZgZebahf
Z\lhdhjj_eypbbkb]gZeZbebfhsghklbki_dljZKi_dlju\ukhdh]hihjy^dZiha\heyxl
Ih^Z\blvZ^^blb\gucp\_lghc]Zmkkh\rmf
B^_glbnbpbjh\Zlvg_fbgbfZevghnZah\u_kb]gZeu
<u^_eblvbgnhjfZpbxh[mkeh\e_ggmxg_]Zmkh\ufoZjZdl_jhfrmfZ
H[gZjm`blvbijhZgZebabjh\Zlvg_ebg_cgu_k\hckl\Zkb]gZeh\
<hafh`gu_ ijbeh`_gby ki_dljZevgh]h ZgZebaZ \ukhdh]h ihjy^dZ \dexqZxl Zdmklbdm [bhf_^bpbgm
wdhghf_ljbxk_ckfheh]bxhd_Zgh]jZnbxnbabdmieZafujZ^ZjubehdZlhju
Kh\j_f_ggu_f_lhûh[jZ[hldbkb]gZeh\Hkgh\gu_nmgdpbbiZd_lZih^^_j`b\Zxlki_dlju\ukhdh]h
ihjy^dZ \aZbfgmx ki_dljZevgmx hp_gdm ebg_cgu_ fh^_eb ijh]ghaZ b hp_gdm aZiZaû\Zgby
Bkq_jiu\Zxs__kljZgbqgh_jmdh\h^kl\hkh^_j`blijbf_jh\b[he__beexkljZpbc
L_e

NZdk
Image Processing Toolbox 2

Iheguc gZ[hj Ze]hjblfh\ êy pbnjh\hc h[jZ[hldb b ZgZebaZ bah[jZ`_gbc \
MATLAB.
IZd_l Image 3URFHVVLQJ ij_^hklZ\ey_l mq_guf b bg`_g_jZf rbjhdbc ki_dlj kj_^kl\ êy pbnjh\hc
h[jZ[hldbbZgZebaZbah[jZ`_gbc;m^mqbl_kghk\yaZggufkhkj_^hcjZajZ[hldbijbeh`_gbc0$7/$%
iZd_l Image Processing 7RROER[ hk\h[h`^Z_l <Zk hl \uiheg_gby êbl_evguo hi_jZpbc dh^bjh\Zgby b
hleZ^db Ze]hjblfh\ iha\heyy khkj_^hlhqblv mkbeby gZ j_r_gbb hkgh\ghc gZmqghc beb ijZdlbq_kdhc
aZ^Zqb
Hkgh\gu_k\hckl\Z
<hkklZgh\e_gb_b\u^_e_gb_^_lZe_cbah[jZ`_gbc
JZ[hlZk\u^_e_ggufmqZkldhfbah[jZ`_gby
:gZebabah[jZ`_gby
Ebg_cgZynbevljZpby
Ij_h[jZah\Zgb_bah[jZ`_gbc
=_hf_ljbq_kdb_ij_h[jZah\Zgby
M\_ebq_gb_dhgljZklghklb\Z`guo^_lZe_c
;bgZjgu_ij_h[jZah\Zgby
H[jZ[hldZbah[jZ`_gbcbklZlbklbdZ
P\_lh\u_ij_h[jZah\Zgby
Baf_g_gb_iZeblju
Ij_h[jZah\Zgb_lbih\bah[jZ`_gbc
0$7/$% b iZd_l Image Processing 7RROER[ iha\hebeb gZf ijbf_gylv \ukhdhdZq_kl\_ggu_
Ze]hjblfukhojZgb\rb_^hklZlhqghfgh]hgZrbokbebkj_^kl\
Michael Paluszek
Princeton Satellite Systems
NB!
Mgbnbpbjh\ZggZy h[hehqdZ êy ij_^klZ\e_gby ]jZnbdb IZd_l Image 3URFHVVLQJ ij_^hklZ\ey_l
rbjhdb_ \hafh`ghklb êy kha^Zgby b ZgZebaZ ]jZnbq_kdbo bah[jZ`_gbc iheghklvx kh\f_klbfuo kh
kj_^hc 0$7/$% Wlhl iZd_l h[_ki_qb\Z_l qj_a\uqZcgh ]b[dbc bgl_jn_ck iha\heyxsbc
fZgbimebjh\Zlv bah[jZ`_gbyfb bgl_jZdlb\gh jZajZ[Zlu\Zlv ]jZnbq_kdb_ dZjlbgu \bamZebabjh\Zlv
gZ[hju^ZgguobZgghlbjh\Zlvj_amevlZluêyl_ogbq_kdbohibkZgbc^hdeZ^h\bim[ebdZpbc=b[dhklv
kh_^bg_gb_ Ze]hjblfh\ iZd_lZ k lZdhc hkh[_gghklvx 0$7/$% dZd fZljbqgh\_dlhjgh_ hibkZgb_
^_eZ_l iZd_l hq_gv m^Zqgh ijbkihkh[e_gguf êy j_r_gby ijZdlbq_kdb ex[uo aZ^Zq ih jZajZ[hld_ b
ij_^klZ\e_gbx]jZnbdb
Ki_pbZevguc ihôh^ d jZajZ[hld_ < 0$7/$% \oh^yl ki_pbZevgh jZajZ[hlZggu_ ijhp_^mju
iha\heyxsb_ ih\ukblv wnn_dlb\ghklv ]jZnbq_kdhc h[hehqdb Fh`gh hlf_lblv \ qZklghklb lZdb_
hkh[_gghklb
Bgl_jZdlb\gZyhleZ^dZijbjZajZ[hld_]jZnbdb
L_e

NZdk
Ijhnbebjh\sbdêyhilbfbaZpbb\j_f_gb\uiheg_gbyZe]hjblfZ
Kj_^kl\h ihkljh_gby bgl_jZdlb\gh]h ]jZnbq_kdh]h bgl_jn_ckZ ihevah\Zl_ey *8, %XLOGHU êy
mkdhj_gbyjZajZ[hldb*8,rZ[ehgh\iha\heyxsbcgZkljZb\Zlv_]hihâZ^Zqbihevah\Zl_ey
Wlhl iZd_l iha\hey_l ihevah\Zl_ex ljZlblv agZqbl_evgh f_gvr_ \j_f_gb gZ kha^Zgb_ klZg^Zjlguo
]jZnbq_kdbo bah[jZ`_gbc b lZdbf h[jZahf iha\hey_l kdhgp_gljbjh\Zlv mkbeby gZ \Z`guo
ihevah\Zl_ex^_lZeyobhkh[_gghklyowlh]hbah[jZ`_gby
Hldjulhklvb\hafh`ghklbjZa\blby0$7/$%biZd_lImage 3URFHVVLQJfZdkbfZevghijbkihkh[e_g
êy jZa\blby \g_^j_gby gh\uo b^_c b f_lh^h\ ihevah\Zl_ey >ey wlh]h bf__lky gZ[hj khijy]Z_fuo
iZd_lh\ gZijZ\e_gguo gZ j_r_gb_ \k_\hafh`guo ki_pbnbq_kdbo aZ^Zq b aZ^Zq \ g_ljZ^bpbhgghc
ihklZgh\d_
Yaud 0$7/$% h[eZ^Z_l hldjulhc Zjobl_dlmjhc qlh iha\hey_l ihevah\Zl_ex \u[bjZlv b khijy]Zlv
fh^meb gZ K )2575$1 0$7/$% dhlhju_ [ueb kha^Zgu jZg__ ;Zau ^Zgguo Ze]hjblfu b
ijh]jZffgu_dhûih^^_j`b\Zxlky\jZaebqguohi_jZpbhgguokj_^Zo\dexqZy3&81,;bMacintosh.
L_klbjh\Zgb_ ijh\_^_ggh_ 0DWK:RUNV ihdZaZeh qlh \k_ dhfihg_glu kj_û 0$7/$% \dexqZy
^hihegbl_evgu_iZd_luiheghklvxjZ[hlhkihkh[gu\wlbohi_jZpbhgguokj_^Zo
Ijbeh`_gby iZd_lZ Image Processing. IZd_l Image 3URFHVVLQJ \ gZklhys__ \j_fy bgl_gkb\gh
bkihevam_lky \ [he__ q_f dhfiZgbyo b mgb\_jkbl_lZo ih \k_fm fbjm Ijb wlhf gZ[ex^Z_lky
g_\_jhylgh rbjhdbc gZ i_j\uc \a]ey^ djm] aZ^Zq dhlhju_ ihevah\Zl_eb j_rZxl k ihfhsvx ^Zggh]h
iZd_lZ gZijbf_j dhkfbq_kdb_ bkke_^h\Zgby \h_ggu_ jZajZ[hldb Zkljhghfby f_^bpbgZ [bheh]by
jh[hlhkljh_gb_fZl_jbZeh\_^_gb_]_g_lbdZbijhq__
0$7/$%biZd_lImage 3URFHVVLQJiha\hebebgZr_c]jmii_[ukljh jZajZ[hlZlv b kha^Zlv
hibkZgb_ lj_of_jghc nhjfu h[t_dlZ <hafh`ghklb iZd_lZ ih \bamZebaZpbb kms_kl\_ggh
khdjZlbebgZr_\j_fygZjZajZ[hldmfh^_ebh[t_dlZ
Rick Tutwiler
Applied Research Laboratory
L_e

NZdk
LMI Control Toolbox

J_r_gb_ aZ^Zq \uimdehc hilbfbaZpbb ijb ijh_dlbjh\Zgbb mklhcqb\uo kbkl_f
mijZ\e_gby
IZd_l /0, &RQWURO h[_ki_qb\Z_l bgl_]jbjh\Zggmx kj_^m êy ihklZgh\db b j_r_gby aZ^Zq ebg_cgh]h
ijh]jZffbjh\Zgby Ij_^gZagZq_gguc i_j\hgZqZevgh êy ijh_dlbjh\Zgby kbkl_f mijZ\e_gby iZd_l
iha\hey_lj_rZlvex[u_aZ^Zqbebg_cgh]hijh]jZffbjh\ZgbyijZdlbq_kdb\ex[hckn_j_^_yl_evghklb
]^_lZdb_aZ^Zqb\hagbdZxl
Hkgh\gu_k\hckl\Z
J_r_gb_ aZ^Zq ebg_cgh]h ijh]jZffbjh\Zgby aZ^Zqb kh\f_klghklb h]jZgbq_gbc fbgbfbaZpby

ebg_cguop_e_cijbgZebqbbebg_cguoh]jZgbq_gbcfbgbfbaZpbykh[kl\_gguoagZq_gbc
Bkke_^h\Zgb_aZ^Zqebg_cgh]hijh]jZffbjh\Zgby
=jZnbq_kdbcj_^ZdlhjaZ^Zqebg_cgh]hijh]jZffbjh\Zgby
AZ^Zgb_h]jZgbq_gbc\kbf\hevghf\b^_
Fgh]hdjbl_jbZevgh_ijh_dlbjh\Zgb_j_]meylhjh\
Ijh\_jdZ mklhcqb\hklb d\Z^jZlbqgZy mklhcqb\hklv ebg_cguo kbkl_f mklhcqb\hklv ih Eyimgh\m
ijh\_jdZdjbl_jbyIhih\Zêyg_ebg_cguokbkl_f
NB!
Kbfie_dkgu_ Ze]hjblfu. IZd_l /0, &RQWURO kh^_j`bl kh\j_f_ggu_ Ze]hjblfu êy j_r_gby aZ^Zq
ebg_cgh]hijh]jZffbjh\ZgbyIZd_lbkihevam_lkljmdlmjgh_ij_^klZ\e_gb_ebg_cguoh]jZgbq_gbcqlh
ih\urZ_lwnn_dlb\ghklvbfbgbfbabjm_llj_[h\ZgbydiZfylb
Kh\j_f_ggu_ kj_^kl\Z ijh_dlbjh\Zgby kbkl_f mijZ\e_gby IZd_l \dexqZ_l ki_pbZebabjh\Zggu_
kj_^kl\ZêyZgZebaZbijh_dlbjh\Zgbykbkl_fmijZ\e_gbygZhkgh\_ebg_cgh]hijh]jZffbjh\Zgby .
:gZeba mklhcqb\hklb K ihfhsvx j_rZl_e_c aZ^Zqb ebg_cgh]h ijh]jZffbjh\Zgby <u e_]dh fh`_l_
\uihegylvijh\_jdm mklhcqb\hklb^bgZfbq_kdbokbkl_fbkbkl_fkg_ebg_cgufbdhfihg_glZfbJZg__
wlhl\b^ZgZebaZkqblZekykebrdhfkeh`gufêyj_ZebaZpbb
Fgh]hdjbl_jbZevguc kbgl_a j_]meylhjh\ IZd_l iha\hey_l ^Z`_ lZdh_ dhf[bgbjh\Zgb_ djbl_jb_\
dhlhjh_jZg__kqblZehkvkebrdhfkeh`gufbjZaj_rbfufebrvkihfhsvxw\jbklbd
Ijbeh`_gby IZd_l y\ey_lky fhsguf kj_^kl\hf êy j_r_gby \uimdeuo aZ^Zq hilbfbaZpbb
\hagbdZxsbo \ lZdbo h[eZklyo dZd mijZ\e_gb_ b^_glbnbdZpby nbevljZpby kljmdlmjgh_
ijh_dlbjh\Zgb_l_hjby]jZnh\bgl_jiheypbybebg_cgZyZe]_[jZ
L_e

NZdk
IZd_l /0, &RQWURO \dexqZ_l ^\Z \b^Z ]jZnbq_kdh]h bgl_jn_ckZ ihevah\Zl_ey j_^Zdlhj aZ^Zqb
ebg_cgh]h ijh]jZffbjh\Zgby LMI Editor b bgl_jn_ck Magshape. LMI Editor (gZ jbkmgd_ iha\hey_l
aZ^Z\Zlvh]jZgbq_gby\kbf\hevghf\b^_
L_e

NZdk
Mapping Toolbox
Rbjhdbc ki_dlj kj_^kl\ êy ZgZebaZ b hlh[jZ`_gby ]_h]jZnbq_kdhc bgnhjfZpbb
ba 0$7/$%
IZd_l0DSSLQJij_^hklZ\ey_l]jZnbq_kdbcbdhfZg^gucbgl_jn_ckêyZgZebaZ]_h]jZnbq_kdbo^Zgguo
hlh[jZ`_gby dZjl b ^hklmiZ d \g_rgbf bklhqgbdZf ^Zgguo ih ]_h]jZnbb Djhf_ lh]h iZd_l ijb]h^_g
êy jZ[hlu k fgh`_kl\hf rbjhdh ba\_klguo :leZkh\ <k_ wlb kj_^kl\Z \ dhf[bgZpbb k 0$7/$%
ij_^hklZ\eyxl ihevah\Zl_eyf \k_ mkeh\by êy ijh^mdlb\ghc jZ[hlu k gZmqgufb ]_h]jZnbq_kdbfb
^Zggufb
Hkgh\gu_k\hckl\Z
<bamZebaZpbyh[jZ[hldZbZgZeba]jZnbq_kdbobgZmqguo^Zgguo
;he__ijh_dpbcdZjlijyfu_bbg\_jkgu_
Ijh_dlbjh\Zgb_bhlh[jZ`_gb_\_dlhjguofZljbqguobkhklZ\guodZjl
=jZnbq_kdbcbgl_jn_ckêyihkljh_gbybh[jZ[hldbdZjlb^Zgguo
=eh[Zevgu_bj_]bhgZevgu_:leZku^Zgguobkhijy`_gb_kijZ\bl_evkl\_ggufb^Zggufb\ukhdh]h
jZaj_r_gby
Nmgdpbb]_hklZlbklbdbbgZ\b]Zpbb
Lj_of_jgh_ij_^klZ\e_gb_dZjlkh\kljh_ggufbkj_^kl\Zfbih^k\_ldbbaZl_g_gby
Dhg\_jl_juêyihimeyjguonhjfZlh\]_h]jZnbq_kdbo^Zgguo'&:7,*(5(7232
NB!
IheghlZkj_^kl\IZd_l0DSSLQJ\dexqZ_lfgh`_kl\hbgkljmf_glh\êyhlh[jZ`_gby]_h]jZnbq_kdbo
^Zgguo IZd_l jZkrbjy_l yaud 0$7/$% h[_ki_qb\Zy ihevah\Zl_e_c \hafh`ghklvx hlh[jZ`Zlv
]_h]jZnbq_kdmx bgnhjfZpbx klhev `_ ijhklh dZd b ex[hc ^jm]hc lbi ^Zgguo 0$7/$% b iZd_l
0DSSLQJij_^hklZ\eyxlihevah\Zl_exihegucgZ[hjkj_^kl\êybgl_]jZpbb]_h]jZnbq_kdbobgZmqguo
^ZgguoZgZebaZbfh^_ebjh\Zgby\bamZebaZpbbbjZajZ[hldbijbeh`_gbc
IhegucgZ[hjijh_dpbcdZjlIZd_l0DSSLQJ\dexqZ_l[he__gZb[he__rbjhdhba\_klguoijh_dpbc
\dexqZypbebg^jbq_kdmxik_\^hpbebg^jbq_kdmx dhgbq_kdmx ihebdhgbq_kdmx b ik_\^hdhgbq_kdmx
ZabfmlZevgmx b ik_\^hZabfmlZevgmx <hafh`gu ijyfu_ b h[jZlgu_ ijh_dpbb Z lZd`_ kh[kl\_ggu_
\bûijh_dpbbihevah\Zl_ey
=b[dhklvhlh[jZ`_gbybmijZ\e_gbydZjlhc<iZd_l_0DSSLQJdZjlhcgZau\Z_lkyex[Zyi_j_f_ggZy
beb fgh`_kl\h i_j_f_gguo hljZ`Zxsbo beb gZagZqZxsbo qbke_ggh_ agZq_gb_ ]_h]jZnbq_kdhc lhqd_
beb h[eZklb IZd_l iha\hey_l jZ[hlZlv k \_dlhjgufb fZljbqgufb b kf_rZggufb dZjlZfb ^Zgguo
Fhsguc]jZnbq_kdbcbgl_jn_ckh[_ki_qb\Z_lbgl_jZdlb\gmxjZ[hlmkdZjlZfbgZijbf_j\hafh`ghklv
ih^\_klb mdZaZl_ev d h[t_dlm b s_edgm\ ihemqblv bgnhjfZpbx =jZnbq_kdbc bgl_jn_ck 0$3722/
ihegZykj_^ZjZajZ[hldbijbeh`_gbcêyjZ[hlukdZjlZfb
:leZku b ]_h]jZnbq_kdb_ ^Zggu_ GZb[he__ rbjhdh ba\_klgu_ ZleZku fbjZ Kh_^bg_gguo RlZlh\
Zkljhghfbq_kdb_ ZleZku \oh^yl \ iZd_l =_h]jZnbq_kdZy kljmdlmjZ ^Zgguo mijhsZ_l ba\e_q_gb_ b
h[jZ[hldm ^Zgguo ba ZleZkh\ b dZjl =_h]jZnbq_kdZy kljmdlmjZ ^Zgguo b nmgdpbb \aZbfh^_ckl\by k
\g_rgbfb ]_h]jZnbq_kdbfb ^Zggufb nhjfZlh\ Digital Chart of the :RUOG '&: 7,*(5 7%$6( b
L_e
NZdk
(7232 h[t_^bg_gu \h_^bgh qlh[u h[_ki_qblv fhsguc b ]b[dbc bgkljmf_gl êy ^hklmiZ d m`_
kms_kl\mxsbfb[m^msbf]_h]jZnbq_kdbf[ZaZf^Zgguo
:gZeba ]_h]jZnbq_kdbo ^Zgguo b nmgdpbb gZ\b]Zpbb LsZl_evguc ZgZeba ]_h]jZnbq_kdbo ^Zgguo
qZklhlj_[m_lfZl_fZlbq_kdbof_lh^h\jZ[hlZxsbo\kn_jbq_kdhcg_^_dZjlh\hckbkl_f_dhhj^bgZl
IZd_l 0DSSLQJ kgZ[`_g ih^fgh`_kl\hf ]_hklZlbklbq_kdbo b gZ\b]Zpbhgguo nmgdpbc êy ZgZebaZ
]_h]jZnbq_kdbo ^Zgguo Nmgdpbb gZ\b]Zpbb ^Zxl rbjhdb_ \hafh`ghklb êy \uiheg_gby aZ^Zq
i_j_f_s_gbylZdbodZdihabpbhgbjh\Zgb_bieZgbjh\Zgb_fZjrjmlh\
<uimdeZy lhih]jZnbq_kdZy dZjlZ fbjZ \uiheg_ggZy \ \b^_ ijh_dpbb a_fgh]h rZjZ k ih^k\_ldhc b
wnn_dlZfbaZl_g_gby
L_e

NZdk
Model Predictive Control Toolbox

GZ[hj nmgdpbc êy mijZ\e_gby keh`gufb fgh]hdZgZevgufb ijhp_kkZfb ijb gZebqbb
h]jZgbq_gbc
IZd_l Model Predictive &RQWURO iheguc gZ[hj kj_^kl\ êy j_ZebaZpbb kljZl_]bb ij_^bdlb\gh]h
mijZ\e_gby WlZ kljZl_]by [ueZ jZajZ[hlZgZ êy j_r_gby ijZdlbq_kdbo aZ^Zq mijZ\e_gby keh`gufb
fgh]hdZgZevgufbijhp_kkZfbijbgZebqbbh]jZgbq_gbcgZi_j_f_ggu_khklhygbybmijZ\e_gb_F_lhû
ij_^bdlb\gh]h mijZ\e_gby bkihevamxlky \ obfbq_kdhc ijhfure_gghklb b êy mijZ\e_gby ^jm]bfb
g_ij_ju\gufbijhp_kkZfb
Hkgh\gu_k\hckl\Z
Fh^_ebjh\Zgb_b^_glbnbdZpbyb^bZ]ghklbdZ
Ih^^_j`dZ0,620,02i_j_oh^guooZjZdl_jbklbdfh^_e_cijhkljZgkl\Zkhklhygbc
Kbkl_fgucZgZeba
Dhg\_jlbjh\Zgb_fh^_e_c\jZaebqgu_nhjfuij_^klZ\e_gbyijhkljZgkl\hkhklhygbci_j_^Zlhqgu_
nmgdpbb
Mq_[gbdbb^_fhgkljZpbhggu_ijbf_ju
Ih\_joghklv ij_^klZ\ey_l kh[hc hilbfZevguc

hldebd fh^_eb ihemq_gguc k ihfhsvx Model
Predictive Control Toolbox.
NB!
HilbfbaZpbhgguc ihôh^ Ij_^bdlb\guc ihôh^ d aZ^ZqZf mijZ\e_gby bkihevam_l y\gmx ebg_cgmx
^bgZfbq_kdmx fh^_ev h[t_dlZ êy ijh]ghabjh\Zgby \ebygby [m^msbo baf_g_gbc mijZ\eyxsbo
i_j_f_gguo gZ ih\_^_gb_ h[t_dlZ AZ^ZqZ hilbfbaZpbb nhjfmebjm_lky \ \b^_ aZ^Zqb d\Z^jZlbqgh]h
ijh]jZffbjh\Zgby k h]jZgbq_gbyfb dhlhjZy j_rZ_lky gZ dZ`^hf lZdl_ jZ[hlu aZgh\h IZd_l Model
Predictive &RQWURO iha\hey_l kha^Z\Zlv b l_klbjh\Zlv j_]meylhju dZd êy ijhkluo lZd b êy keh`guo
L_e

NZdk
h[t_dlh\
;Zabk iZd_lZ IZd_l \dexqZ_l [he__ ki_pbZebabjh\Zgguo nmgdpbc êy ijh_dlbjh\Zgby ZgZebaZ b
fh^_ebjh\Zgby^bgZfbq_kdbokbkl_fkbkihevah\Zgb_fij_^bdlb\gh]hmijZ\e_gby
Ij_^klZ\e_gb_fh^_e_cIZd_lih^^_j`b\Z_lke_^mxsb_nhjfZlukbkl_fbfimevkgu_g_ij_ju\gu_b
^bkdj_lgu_ih\j_f_gbijhkljZgkl\hkhklhygbc
Fgh]hdZgZevgh_ hilbfZevgh_ mijZ\e_gb_ IZd_l h[jZ[Zlu\Z_l jZaebqgu_ \bû \hafms_gbc Djhf_
lh]h\fh^_evfh]ml[ulvy\gh\dexq_guh]jZgbq_gbygZ\oh^gu_b\uoh^gu_i_j_f_ggu_
Fh^_ebjh\Zgb_bZgZebaKj_^kl\Zfh^_ebjh\Zgbyiha\heyxlhkms_kl\eylvke_`_gb_bklZ[bebaZpbx
Kj_^kl\Z ZgZebaZ \dexqZxl \uqbke_gb_ ihexkh\ aZfdgmlh]h dhglmjZ qZklhlgh]h hldebdZ ^jm]b_
oZjZdl_jbklbdbkbkl_fumijZ\e_gby
B^_glbnbdZpby fh^_eb >ey b^_glbnbdZpbb fh^_eb \ iZd_l_ bf_xlky nmgdpbb \aZbfh^_ckl\by k
iZd_lhfSystem ,GHQWLILFDWLRQIZd_llZd`_\dexqZ_l^\_nmgdpbb6,08/,1.iha\heyxsb_l_klbjh\Zlv
g_ebg_cgu_fh^_eb
L_e

NZdk
-Analysis and Synthesis Toolbox

Kj_^kl\Z êy ijh_dlbjh\Zgby mklhcqb\uo hilbfZevguo kbkl_f mijZ\e_gby
IZd_l Analysis and 6\QWKHVLV kh^_j`bl nmgdpbb êy ijh_dlbjh\Zgby mklhcqb\uo kbkl_f mijZ\e_gby
IZd_l bkihevam_l hilbfbaZpbx \ jZ\ghf_jghc ghjf_ b kbg]meyjguc iZjZf_lj < \_jkbx \dexq_g
]jZnbq_kdbc bgl_jn_ck êy mijhs_gby hi_jZpbc k [ehdZfb ijb ijh_dlbjh\Zgbb hilbfZevguo
j_]meylhjh\
Hkgh\gu_k\hckl\Z
Ijh_dlbjh\Zgb_hilbfZevguo\jZ\ghf_jghcbbgl_]jZevghcghjf_j_]meylhjh\
Hp_gdZ^_ckl\bl_evgh]hbdhfie_dkgh]hkbg]meyjgh]hiZjZf_ljZ
'.bl_jZpbbêyijb[eb`_ggh]hkbgl_aZ
=jZnbq_kdbcbgl_jn_ckêyZgZebaZhldebdZaZfdgmlh]hdhglmjZ
Kj_^kl\Zihgb`_gbyihjy^dZfh^_eb
G_ihkj_^kl\_ggh_k\yau\Zgb_hl^_evguo[ehdh\[hevrbokbkl_f
NB!
Ihkljh_gb_fh^_ebFh^_evijhkljZgkl\Zkhklhygbcfh`_l[ulvkha^ZgZbijhZgZebabjh\ZgZgZhkgh\_
kbkl_fguo fZljbp IZd_l ih^^_j`b\Z_l jZ[hlm k ^bkdj_lgufb g_ij_ju\gufb b ^bkdj_lbah\Zggufb
fh^_eyfb
'.bl_jZpbbIZd_lh[eZ^Z_liheghp_gguf]jZnbq_kdbfbgl_jn_ckhf\dexqZxsbf
\hafh`ghklvmklZgZ\eb\Zlv^bZiZahg\\h^bfuo^Zgguo
ki_pbZevgh_hdghêyj_^Zdlbjh\Zgbyk\hckl\'.bl_jZpbc
]jZnbq_kdh_ij_^klZ\e_gb_qZklhlguooZjZdl_jbklbd
Kbkl_fgu_ nmgdpbb êy jZ[hlu k fZljbpZfb IZd_l \dexqZ_l nmgdpbb êy fZljbqgh]h keh`_gby
mfgh`_gbyjZaebqguoij_h[jZah\Zgbcb^jm]bohi_jZpbcgZ^fZljbpZfb
ZgZebabkbgl_aIZd_lih^^_j`b\Z_lkbgl_a^bkdj_lguog_ij_ju\guob^bkdj_lbah\Zgguofh^_e_c
Ihgb`_gb_ ihjy^dZ fh^_eb >ey ihgb`_gby ihjy^dZ fh^_eb fh`gh \hkihevah\Zlvky lZdbfb
kj_^kl\ZfbdZdHankel norm model UHGXFWLRQb^j
L_e

NZdk
Gh\uc ]jZnbq_kdbc bgl_jn_ck

iZjZf_lju'.bl_jZpbc
L_e

ihfh]Z_l
\u[jZlv
NZdk
NAG Foundation Toolbox

Ki_pbZebabjh\Zggu_ kj_^kl\Z êy hilbfbaZpbb klZlbklbq_kdbo j_r_gby
^bnn_j_gpbZevguo mjZ\g_gbc b j_r_gby ^jm]bo \uqbkebl_evguo aZ^Zq

IZd_l 1$* )RXQGDWLRQ gh\uc ijh^mdl k_jbb IZjlg_ju 0DWK:RUNV kha^Zgguc \ khljm^gbq_kl\_ k
Numerical Algorithms Group, /WG1$*IZd_lkh^_j`bl[he__nmgdpbcho\Zlu\Zxsbofgh`_kl\h
hljZke_cgZmdbbl_ogbdb\dexqZyhilbfbaZpbxH>MbmjZ\g_gby\qZklguoijhba\h^guod\Z^jZlmju
bklZlbklbdm
GZa\Zgby nmgdpbc b kbglZdkbk bo \uah\Z aZbfkl\h\Zgu ba ba\_klghc [b[ebhl_db 1$* Foundation
/LEUDU\<ke_^kl\b_wlh]hhiulgu_ihevah\Zl_eb1$*)RUWUDQfh]ml[_aaZljm^g_gbcjZ[hlZlvkiZd_lhf
1$* \ MATLAB ;b[ebhl_dZ 1$* )RXQGDWLRQ ij_^hklZ\ey_l k\hb nmgdpbb \ \b^_ h[t_dlguo dh^h\ b
khhl\_lkl\mxsbo0nZceh\êybo\uah\ZIhevah\Zl_evfh`_le_]dhfh^bnbpbjh\Zlvwlb0(;nZceu
gZmjh\g_bkoh^gh]hdh^ZkihfhsvxNAGWare Gateway *HQHUDWRUihklZ\ey_fh]hNumerical Algorithms
Group, /WG IZd_l 1$* )RXQGDWLRQ h[_ki_qb\Z_l ijh]jZffbklm ^hklmi d klZg^Zjlguf kj_^kl\Zf
ijh]jZffbjh\ZgbygZyaud_)RUWUDQbakj_û0$7/$%
Hkgh\gu_k\hckl\Z
Dhjgbfgh]hqe_gh\bfh^bnbpbjh\Zggucf_lhÊZ]_jjZ
<uqbke_gb_kmffujy^Z^bkdj_lgh_bwjfblh\h^bkdj_lgh_ij_h[jZah\Zgb_Nmjv_
H>Mf_lhû:^ZfkZbJmg]_DmllZ
MjZ\g_gby\qZklguoijhba\h^guo
Bgl_jiheypby
<uqbke_gb_ kh[kl\_gguo agZq_gbc b \_dlhjh\ kbg]meyjguo qbk_e ih^^_j`dZ dhfie_dkguo b
^_ckl\bl_evguofZljbp
:iijhdkbfZpbydjb\uobih\_joghkl_cihebghfudm[bq_kdb_kieZcguihebghfuQ_[ur_\Z
FbgbfbaZpby b fZdkbfbaZpby nmgdpbc ebg_cgh_ b d\Z^jZlbqgh_ ijh]jZffbjh\Zgb_ wdklj_fmfu
nmgdpbcfgh]boi_j_f_gguo
FZljbqgZynZdlhjbaZpby
J_r_gb_kbkl_febg_cguomjZ\g_gbc
Ebg_cgu_mjZ\g_gby/$3$&.
KlZlbklbq_kdb_jZkq_lu\dexqZy^_kdjbilb\gmxklZlbklbdmjZkij_^_e_gby\_jhylghkl_c
Dhjj_eypbhggucbj_]j_kkbhggucZgZebaebg_cgu_fgh]hf_jgu_bh[h[s_ggu_ebg_cgu_fh^_eb
Fgh]hf_jgu_f_lhû]eZ\guodhfihg_glhjlh]hgZevgu_\jZs_gby
=_g_jZpbykemqZcguoqbk_eghjfZevgh_jZkij_^_e_gb_jZkij_^_e_gbyImZkkhgZ<_c[meZbDhrb
G_iZjZf_ljbq_kdb_klZlbklbdbNjb^fZgZDjmkdZeZMheebkZFZggZMblgb
<j_f_ggu_jyûh^ghf_jgu_bfgh]hf_jgu_
:iijhdkbfZpbbki_pbZevguonmgdpbcbgl_]jZevgZywdkihg_glZ]ZffZnmgdpbynmgdpbb;_kk_eyb
=Zgd_ey
L_e

NZdk
NB!
>bgZfbq_kdZyebgdh\dZ NAG Gateway *HQHUDWRU1$* iha\hey_lihevah\Zl_exkha^Z\Zlvijh]jZffu
gZ)RUWUDQdhlhju_^bgZfbq_kdbebgdmxlkyk0$7/$%
Ih\_joghklv nmgdpbb ehdZevguc fbgbfmf dhlhjhc bs_lky k ihfhsvx ijh]jZffu

(-$)

Bah[jZ`_gb_ih\_joghklbihfh]Z_l\u[bjZlvgZqZevgu_lhqdbêygZoh`^_gbyjZaebqguoehdZevguo
fbgbfmfh\\qZklghklbb]eh[Zevgh]hfbgbfmfZhlf_q_ggh]hgZjbkmgd_
L_e

NZdk
Neural Network Toolbox
IZd_lêyjZ[hlukg_cjhggufbk_lyfbij_^klZ\ey_lkh[hciheghp_ggmxkj_^m0$7/$%êyj_r_gby
ijbdeZ^guo aZ^Zq IZd_l h[_ki_qb\Z_l \k_klhjhggxx ih^^_j`dm ijh_dlbjh\Zgby h[mq_gby b
fh^_ebjh\Zgby fgh`_kl\Z ba\_klguo k_l_\uo iZjZ^b]f hl [Zah\uo fh^_e_c i_jk_iljhgZ ^h kZfuo
kh\j_f_gguo ZkkhpbZlb\guo b kZfhhj]Zgbamxsboky k_l_c IZd_l fh`_l [ulv bkihevah\Zg êy
bkke_^h\Zgby b ijbf_g_gby g_cjhgguo k_l_c d lZdbf aZ^ZqZf dZd h[jZ[hldZ kb]gZeh\ g_ebg_cgh_
mijZ\e_gb_bnbgZgkh\h_fh^_ebjh\Zgb_
Hkgh\gu_k\hckl\Z
MijZ\ey_fu_ k_l_\u_ iZjZ^b]fu i_jk_iljhg ebg_cgu_ h[jZlgh]h jZkijhkljZg_gby E_\_g[_j]Z

jZ^bZevguc[ZabkWefZgZOhinbe^ZbkZfhh[mqZ_fh_d\Zglh\Zgb_\_dlhjh\
G_mijZ\ey_fu_k_lbOw[[DhoZgdhgdmj_glgu_dZjluijbagZdh\bkZfhhj]Zgbamxsb_kydZjlu
Dhgdmj_glgu_ij_^_evgu_ebg_cgu_bkb]fhb^Zevgu_i_j_^Zlhqgu_nmgdpbb
G_h]jZgbq_ggh_qbkehwe_f_glh\b\aZbfhk\ya_c
GZkljZb\Z_fu_gZihevah\Zl_eyZjobl_dlmjubi_j_^Zlhqgu_nmgdpbb
>bgZfbq_kdh_fh^_ebjh\Zgb_kihfhsvx6,08/,1.
=_g_jZpbyi_j_ghkbfh]h&dh^ZkihfhsvxWorkshop
NB!
Fh^mevgZy hj]ZgbaZpby IZd_l bkihevam_l kh]eZkh\Zggmx fh^mevgmx j_ZebaZpbx dhlhjZy h[e_]qZ_l
bkke_^h\ZgbybmijhsZ_lgZkljhcdmgZihevah\Zl_eyIZd_lg_gZdeZû\Z_lbkdmkkl\_ggu_h]jZgbq_gby
gZ jZaf_j k_lb beb k\yaghklv l_ g_ h]jZgbq_gh qbkeh g_cjhgh\ \ keh_ beb \ lbi_ i_j_^Zlhqghc
nmgdpbb
:jobl_dlmjubh[mqZxsb_ijZ\beZ. <iZd_l\dexq_gu[he__ba\_klguolbih\k_l_cbh[mqZxsbo
ijZ\be iha\heyxsbo ihevah\Zl_ex \u[bjZlv gZb[he__ ihôh^ysmx êy dhgdj_lgh]h ijbeh`_gby beb
bkke_^h\Zl_evkdhc aZ^Zqb iZjZ^b]fm >ey dZ`^h]h lbiZ Zjobl_dlmju b h[mqZxsbo ijZ\be bf_xlky
nmgdpbb bgbpbZebaZpbb h[mq_gby Z^ZilZpbb kha^Zgby b fh^_ebjh\Zgby ^_fhgkljZpbb b ijbf_j
ijbeh`_gbyk_lb
MijZ\ey_fu_ b g_mijZ\ey_fu_ k_lb >ey mijZ\ey_fuo k_l_c <u fh`_l_ \u[jZlv ijyfmx beb
j_dmjj_glgmx Zjobl_dlmjm bkihevamy fgh`_kl\h h[mqZxsbo ijZ\be b f_lh^h\ ijh_dlbjh\Zgby lZdbo
dZd i_jk_iljhg h[jZlgh_ jZkijhkljZg_gb_ h[jZlgh_ jZkijhkljZg_gb_ E_\_g[_j]Z k_lb k jZ^bZevguf
[Zabkhfbj_dmjj_glgu_k_lb
>eyg_mijZ\ey_fuok_l_c<ufh`_l_\u[jZlvZkkhpbZlb\gu_bebkZfhhj]Zgbamxsb_kyk_lblZdb_dZd
dhgdmj_glgu_ dZjlu k\hckl\ b kZfhhj]Zgbamxsb_ky dZjlu :kkhpbZlb\gu_ k_lb fh`gh bkihevah\Zlv
dZdkhklZ\eyxsb_[ehdbêy[he__keh`guok_l_ckbkihevah\Zgb_fh[mqZxsboijZ\beO_[[ZDhoZgZ
\gmlj_ggbobeb\g_rgboinstar, or RXWVWDUZkkhpbZlb\guoh[mqZxsboijZ\be
L_e

NZdk
Neural 1HWZRUN dZd bg`_g_jgZy kj_^Z IZd_l Neural 1HWZRUN ij_^hklZ\ey_l <Zf ^hklmi d iheghfm
gZ[hjmkj_^kl\êybkke_^h\Zgbyijh_dlbjh\Zgbybfh^_ebjh\Zgbyg_cjhgguok_l_cKj_^kl\ZZgZebaZb
fh^_ebjh\Zgby0$7/$%b6,08/,1.iha\heyxl<Zf[ukljhhp_gb\Zlvih\_^_gb_k_lbb__dZq_kl\h\
kfuke_ hdhgqZl_evgh]h j_amevlZlZ ijh_dlbjh\Zgby K ihfhsvx Real-Time :RUNVKRS <u fh`_l_
]_g_jbjh\Zlv & dh^ êy Z\lhghfguo ijbeh`_gbc b \kljh_gguo kbkl_f =b[dbc bfihjl ^Zgguo b
nmgdpbbij_h[jZah\ZgbymijhsZxli_j\bqgmxih^]hlh\dm\oh^guo^Zgguo
GZkljhcdZ gZ ihevah\Zl_ey <u fh`_l_ e_]dh baf_gylv ex[u_ Zjobl_dlmju h[mqZ_fu_ ijZ\beZ beb
i_j_oh^gu_nmgdpbb^h[Z\eylvgh\u_[_agZibkZgby_^bghckljhqdbgZ&bebFortran.
>_fhgkljZpbb b dhgkmevlZpbb Jmdh\h^kl\h ihevah\Zl_ey agZdhfbl ihevah\Zl_ey k ijbgpbiZfb
g_cjhgguo k_l_c b ih^dj_iey_l i_j\h_ agZdhfkl\h qbke_ggufb ijbf_jZfb b iheguf jZa^_ehf
mdZaZl_e_cnmgdpbc
IZd_lNeural 1HWZRUNiha\hey_l<Zkbkke_^h\ZlvjZaebqgu_dhgnb]mjZpbbk_l_cGZjbkmgd_ihdZaZgh
kjZ\g_gb_ kdhjhkl_c h[mq_gby êy f_lh^h\ h[jZlgh]h jZkijhkljZg_gby [_eZy ebgby rZ]h\ b
[ukljh]hf_lh^ZE_\_g[_j]ZkbgyyrZ]h\
L_e

NZdk
Optimization Toolbox
Kj_^kl\Z êy hilbfbaZpbb ebg_cguo b g_ebg_cguo nmgdpbc
IZd_l 2SWLPL]DWLRQ \dexqZ_l ijh]jZffu rbjhdh ba\_klguo f_lh^h\ fbgbfbaZpbb b fZdkbfbaZpbb

ebg_cguobg_ebg_cguonmgdpbcWlbijh]jZffufh]ml[ulvbkihevah\Zguêyj_r_gbykeh`guoaZ^Zq
hilbfbaZpbbklhbfhklbgZ^_`ghklbbdZq_kl\ZêyjZaebqguoijbeh`_gbc
=jZnbq_kdb fh`gh ij_^klZ\blv aZ^Zqm hilbfbaZpbb dZd ihbkd \ukhqZcr_c beb ]em[hqZcr_c lhqdb
ih\_joghklbkeh`gh]h\b^ZH[jZagh]h\hjylZe]hjblfhilbfbaZpbbiml_r_kl\m_lih]hjZfbh\jZ]Zf\
ihbkd_lhih]jZnbq_kdh]hwdklj_fmfZ
Hkgh\gu_k\hckl\Z
;_amkeh\gZyhilbfbaZpbyg_ebg_cguonmgdpbc
F_lh^gZbf_gvrbod\Z^jZlh\bg_ebg_cgZybgl_jiheypby
J_r_gb_g_ebg_cguomjZ\g_gbc
Ebg_cgh_ijh]jZffbjh\Zgb_
D\Z^jZlbqgh_ijh]jZffbjh\Zgb_
Mkeh\gZyfbgbfbaZpbyg_ebg_cguonmgdpbc
F_lh^fbgbfZdkZ
Fgh]hdjbl_jbZevgZyhilbfbaZpby
Fug_ohlbfibkZlvk\hbkh[kl\_ggu_hilbfbaZpbhggu_ijh]jZffub0$7/$%iha\hey_l
gZfwlh]hg_^_eZlv
- Peter Knez
University of Wisconsin-Madison School of Business
NB!
=b[dZy hilbfbaZpbhggZy kj_^Z H[eZ^Zy h[rbjgufb \uqbkebl_evgufb \hafh`ghklyfb b
hldjulhklvx 0$7/$% y\ey_lky b^_Zevghc kbkl_fhc êy ihklZgh\db b j_r_gby aZ^Zq hilbfbaZpbb
Bgl_jZdlb\gZyijbjh^Z0$7/$%iha\hey_le_]dhi_j_hij_^_eylvbZ^Zilbjh\ZlvaZ^ZqbhilbfbaZpbb
^Z\Zy ihevah\Zl_ex \k_ \hafh`ghklb êy gZoh`^_gby ^_ckl\bl_evgh gZbemqr_]h j_r_gby P_e_\u_
nmgdpbbbh]jZgbq_gbyaZ^Zxlkyijhklhbklhev`_ijhklhj_rZ_lkyihklZ\e_ggZyaZ^ZqZ
F_lhû g_ebg_cgh]h ijh]jZffbjh\Zgby IZd_l \dexqZ_l fgh`_kl\h f_lh^h\ êy j_r_gby aZ^Zq
hilbfbaZpbbg_ebg_cguonmgdpbcHilbfbabjm_fZynmgdpbyfh`_l[ulvaZibkZgZ\\b^_FnZceZbeb
\ujZ`_gby 0$7/$% IZjZf_lju f_lh^h\ mklZgh\e_ggu_ ih mfheqZgbx iha\heyxl jZ[hlZlv hq_gv
wnn_dlb\gh h^gZdh fh]ml [ulv baf_g_gu ih `_eZgbx ihevah\Zl_ey IZjZf_lju fh]ml [ulv i_j_^Zgu
g_ihkj_^kl\_gghnmgdpbyf[_abkihevah\Zgby]eh[Zevguoi_j_f_gguo
<lhfkemqZ__keby\ghg_aZ^ZgZnmgdpbyêy\uqbke_gby]jZ^b_glZhg\uqbkey_lkyZ\lhfZlbq_kdbk
bkihevah\Zgb_fdhg_qguojZaghkl_c
L_e
NZdk
KZfu_ kh\j_f_ggu_ Ze]hjblfu < iZd_l \dexq_gu kZfu_ kh\_jr_ggu_ \_jkbb ljZ^bpbhgguo b
gh\_crboZe]hjblfh\hilbfbaZpbb
[_amkeh\gZy hilbfbaZpby f_lh^ kbfie_dkgh]h ihbkdZ G_e^_jZFb^Z b d\Zabgvxlhgh\kdbc f_lh^

;NR
mkeh\gZy fgh]hdjbl_jbZevgZy hilbfbaZpby b f_lh^ fbgbfZdkZ jZaebqgu_ \ZjbZglu f_lh^Z
ihke_^h\Zl_evgh]hd\Z^jZlbqgh]hijh]jZffbjh\Zgby
f_lhûebg_cgh]hbd\Z^jZlbqgh]hijh]jZffbjh\Zgbyf_lhîjh_dpbc
\hafh`ghklv\u[hjZf_lh^ZhilbfbaZpbbbkljZl_]bbebg_cgh]hihbkdZ
Ijbf_ju JZaghh[jZagu_ ijbf_ju ^_fhgkljbjmxl wnn_dlb\gh_ ijbf_g_gb_ nmgdpbc iZd_lZ K bo

ihfhsvxlZd`_fh`ghkjZ\gblvdZdh^gZblZ`_aZ^ZqZj_rZ_lkyjZagufbf_lh^Zfb
L_e

NZdk
Partial Differential Equation Toolbox

Fhsgh_ b ]b[dh_ kj_^kl\h êy j_r_gby ^bnn_j_gpbZevguo mjZ\g_gbc \ qZklguo
ijhba\h^guo
IZd_lPartial Differential (TXDWLRQ3'(kh^_j`blkj_^kl\Zêybkke_^h\Zgbybj_r_gbyg_klZpbhgZjguo
^bnn_j_gpbZevguo mjZ\g_gbc \lhjh]h ihjy^dZ \ qZklguo ijhba\h^guo < iZd_l_ bkihevam_lky f_lh^
dhg_qguo we_f_glh\ DhfZgû b ]jZnbq_kdbc bgl_jn_ck iZd_lZ fh]ml [ulv bkihevah\Zgu êy
fZl_fZlbq_kdh]h fh^_ebjh\Zgby 3'( ijbf_gbl_evgh d rbjhdhfm deZkkm bg`_g_jguo b gZmqguo
ijbeh`_gbc \dexqZy aZ^Zqb khijhlb\e_gby fZl_jbZeh\ jZkq_lu we_dljhfZ]gblguo mkljhckl\ aZ^Zqb
l_iehfZkkhi_j_ghkZb^bnnmabb
Hkgh\gu_k\hckl\Z
Iheghp_gguc]jZnbq_kdbcbgl_jn_ckêyh[jZ[hldb3'(\lhjh]hihjy^dZ
:\lhfZlbq_kdbcbZ^Zilb\guc\u[hjk_ldb
AZ^Zgb_]jZgbqguomkeh\bc>bjboe_G_cfZgZbkf_rZggu_
=b[dZyihklZgh\dZaZ^Zqbkbkihevah\Zgb_fkbglZdkbkZ0$7/$%
IheghklvxZ\lhfZlbq_kdh_k_lhqgh_jZa[b_gb_b\u[hj\_ebqbgudhg_qguowe_f_glh\
G_ebg_cgu_bZ^Zilb\gu_jZkq_lgu_ko_fu
<hafh`ghklv \bamZebaZpbb ihe_c jZaebqguo iZjZf_ljh\ b nmgdpbc j_r_gby ^_fhgkljZpby
ijbgylh]hjZa[b_gbybZgbfZpbhggu_wnn_dlu
NB!
Ijhp_kk j_r_gby 3'( IZd_l bglmblb\gh ke_^m_l r_klb rZ]Zf j_r_gby 3'( k ihfhsvx f_lh^Z
dhg_qguo we_f_glh\ Wlb rZ]b b khhl\_lkl\mxsb_ j_`bfu iZd_lZ lZdh\u hij_^_e_gb_ ]_hf_ljbb
j_`bf jbkh\Zgby aZ^Zgb_ ]jZgbqguo mkeh\bc j_`bf ]jZgbqguo mkeh\bc \u[hj dhwnnbpb_glh\
hij_^_eyxsbo aZ^Zqm j_`bf 3'( ^bkdj_lbaZpby dhg_qguo we_f_glh\ j_`bf k_ldb aZ^Zgb_
gZqZevguo mkeh\bc b j_r_gb_ 3'( j_`bf j_r_gby ihke_^mxsZy h[jZ[hldZ j_r_gby j_`bf
]jZnbdZ
L_e

NZdk
:gZebagZ]jmadbgZ]Z_qgucdexqIhe_gZijy`_gbcihdZaZgh\p\_l_
L_e

NZdk
QFT Control Design Toolbox

GZ[hj nmgdpbc êy ijZdlbq_kdh]h ijh_dlbjh\Zgby jh[Zklguo j_]meylhjh\ k
h[jZlghc k\yavx
IZd_l 4)7 quantitative feedback WKHRU\ kh^_j`bl nmgdpbb êy kha^Zgby jh[Zklguo kbkl_f k h[jZlghc
k\yavx 4)7 l_hjby h[jZlguo k\ya_c bg`_g_jguc f_lh^ bkihevamxsbc qZklhlgh_ ij_^klZ\e_gb_
fh^_e_c êy m^h\e_l\hj_gby jZaebqguo lj_[h\Zgbc d dZq_kl\m ijb gZebqbb g_hij_^_e_gguo
oZjZdl_jbklbd m h[t_dlZ < hkgh\_ f_lh^Z e_`bl gZ[ex^_gb_ qlh h[jZlgZy k\yav g_h[oh^bfZ \ l_o
kemqZyo dh]^Z g_dhlhju_ oZjZdl_jbklbdb h[t_dlZ g_hij_^_e_ggu b/beb gZ _]h \oh^ ih^Zxlky
g_ba\_klgu_\hafms_gby
Hkgh\gu_k\hckl\Z
Hp_gdZqZklhlguo]jZgbpg_hij_^_e_gghklbijbkms_ch[jZlghck\yab
=jZnbq_kdbcbgl_jn_ckihevah\Zl_eyiha\heyxsbchilbfbabjh\Zlvijhp_kkgZoh`^_gbylj_[m_fuo
iZjZf_ljh\h[jZlghck\yab
Nmgdpbb êy hij_^_e_gby \ebygby \\_^_gby jZaebqguo [ehdh\ \ fh^_ev fmevlbie_dkhjh\
kmffZlhjh\i_l_evh[jZlghck\yabijbgZebqbbg_hij_^_e_gghkl_c
Ih^^_j`dZ fh^_ebjh\Zgby ZgZeh]h\uo b pbnjh\uo dhglmjh\ h[jZlghc k\yab dZkdZ^h\ b
fgh]hdhglmjguoko_f
JZaj_r_gb_ g_hij_^_e_gghklb \ iZjZf_ljZo h[t_dlZ k bkihevah\Zgb_f iZjZf_ljbq_kdbo b
g_iZjZf_ljbq_kdbofh^_e_cbebdhf[bgZpbbwlbolbih\fh^_e_c
NB!
Ijh_dlbjh\Zgb_ mijZ\e_gby k h[jZlghc k\yavx L_hjby h[jZlguo k\ya_c y\ey_lky _kl_kl\_gguf
ijh^he`_gb_fdeZkkbq_kdh]hqZklhlgh]hihôh^Zdijh_dlbjh\Zgbx?_hkgh\gZyp_evijh_dlbjh\Zgb_
ijhkluo j_]meylhjh\ g_[hevrh]h ihjy^dZ k fbgbfZevghc rbjbghc ihehku ijhimkdZgby
m^h\e_l\hjyxsbodZq_kl\_ggufoZjZdl_jbklbdZfijbgZebqbbg_hij_^_e_gghkl_c
IZd_l 4)7 Control 'HVLJQ iha\hey_l \uqbkeylv jZaebqgu_ iZjZf_lju h[jZlguo k\ya_c nbevljh\
ijh\h^blvl_klbjh\Zgb_j_]meylhjh\dZd\g_ij_ju\ghflZdb\^bkdj_lghfijhkljZgkl\_IZd_lbf__l
m^h[guc ]jZnbq_kdbc bgl_jn_ck iha\heyxsbc kha^Z\Zlv ijhklu_ j_]meylhju m^h\e_l\hjyxsb_
lj_[h\Zgbyfihevah\Zl_ey
G_hij_^_e_gghklv h[t_dlZ 4)7 iha\hey_l ijh_dlbjh\Zlv j_]meylhju m^h\e_l\hjyxsb_ jZaebqguf
lj_[h\Zgbyfg_kfhljygZbaf_g_gbyiZjZf_ljh\fh^_eb
Bkihevah\Zgb_ wdki_jbf_glZevghc bgnhjfZpbb Baf_jy_fu_ ^Zggu_ fh]ml [ulv g_ihkj_^kl\_ggh
bkihevah\Zgu êy ijh_dlbjh\Zgby j_]meylhjh\ [_a g_h[oh^bfhklb b^_glbnbdZpbb keh`gh]h hldebdZ
kbkl_fu
Ebg_cgu_ h[t_dlu êy hibkZgby g_ebg_cghc ^bgZfbdb Fgh`_kl\h ebg_cguo h[t_dlh\
hibku\Zxsbo jy^ mkeh\bc jZ[hlu fh]ml [ulv g_ihkj_^kl\_ggh bkihevah\Zgu êy ijh_dlbjh\Zgby
QFT.
L_e

NZdk
3KLOLSVihevam_lky4)7êyijh_dlbjh\Zgby&'ie_c_jZ
AZ^Zq_c Philips Research /DERUDWRULHV y\ey_lky ^hklb`_gb_ ohjhr_]h kqblu\Zgby lj_dh\ ijb gZebqbb
\hafms_gbcbg_hij_^_e_gghkl_ciZjZf_ljh\fh^_ebf_oZgbafZKD-ie_c_jZWlZaZ^ZqZijh_dlbjh\Zgby
[ueZ j_r_gZ \ jZfdZo 4)7 k bkihevah\Zgb_f baf_jy_fh]h qZklhlgh]h hldebdZ Fh^_ev j_]meylhjZ
]heh\db[ueZmki_rghj_Zebah\ZgZ\kj_^_'63
L_e

NZdk
Robust Control Toolbox

Ki_pbZebabjh\Zggu_ kh\j_f_ggu_ kj_^kl\Z êy jh[Zklgh]h
fgh]hiZjZf_ljbq_kdh]h mijZ\e_gby
IZd_l Robust &RQWURO \dexqZ_l kj_^kl\Z êy ijh_dlbjh\Zgby b ZgZebaZ fgh]hiZjZf_ljbq_kdbo kbkl_f
mijZ\e_gbymklhcqb\hklvdhlhjuobf__l[hevrh_agZq_gb_Kj_^blZdbokbkl_ffh]ml[ulvkbkl_fuk
fh^_evgufb hrb[dZfb ^bgZfbdZ dhlhjuo ba\_klgZ g_ iheghklvx beb iZjZf_lju dhlhjuo fh]ml
baf_gylvky \ oh^_ fh^_ebjh\Zgby Fhsgu_ Ze]hjblfu iZd_lZ iha\heyxl <Zf \uihegylv keh`gu_
\uqbke_gbyijbgbfZy\h\gbfZgb_baf_g_gbyfgh`_kl\ZiZjZf_ljh\
Hkgh\gu_k\hckl\Z
Kbgl_a/4*j_]meylhjh\gZhkgh\_fbgbfbaZpbbjZ\ghf_jghcbbgl_]jZevghcghjfu
Fgh]hiZjZf_ljbq_kdbcqZklhlguchldebd
Ihkljh_gb_fh^_ebijhkljZgkl\Zkhklhygbc
Ij_h[jZah\Zgb_fh^_e_cgZhkgh\_kbg]meyjguoqbk_e
Ihgb`_gb_ihjy^dZfh^_eb
Ki_dljZevgZynZdlhjbaZpby
NB!
Ijh_dlbjh\Zgb_jh[Zklgh]hfgh]hiZjZf_ljbq_kdh]hmijZ\e_gbyIZd_lRobust &RQWURO[Zabjm_lkygZ
nmgdpbyoiZd_lZControl 6\VWHP\lh`_\j_fyij_^hklZ\eyymkh\_jr_gkl\h\ZggucgZ[hjZe]hjblfh\êy
ijh_dlbjh\Zgbykbkl_fmijZ\e_gbyIZd_lh[_ki_qb\Z_lfhklbdf_`^mkh\j_f_gghcl_hjb_cmijZ\e_gby
b ijZdlbq_kdbfb ijbeh`_gbyfb IZd_l \dexqZ_l fgh`_kl\h nmgdpbc j_Zebamxsbo kh\j_f_ggu_
f_lhûijh_dlbjh\ZgbybZgZebaZfgh]hiZjZf_ljbq_kdbojh[Zklguoj_]meylhjh\
:gZebamklhcqb\hklbIjhy\e_gbyg_hij_^_e_gghkl_cfgh]hh[jZagurmfub\hafms_gby\kb]gZeZo
g_lhqghklvfh^_ebi_j_^Zlhqghcnmgdpbbg_fh^_ebjm_fZyg_ebg_cgZy^bgZfbdZIZd_lRobust Control
iha\hey_l hp_gblv fgh]hiZjZf_ljbq_kdmx ]jZgbpm mklhcqb\hklb ijb jZaebqguo g_hij_^_e_gghklyo
Kj_^bbkihevam_fuof_lh^h\Ze]hjblfI_jjhgZZgZebahkh[_gghkl_ci_j_^Zlhqguonmgdpbcb^j
Kbgl_amklhcqb\uoj_]meylhjh\Kha^Zl_ebjh[Zklguokbkl_fmijZ\e_gbyqZklhihevamxlkyh[jZlghc
k\yavx qlh[u m^h\e_l\hjblv hij_^_e_gguf lj_[h\Zgbyf d dZq_kl\m ijh_dlbjm_fhc kbkl_fu IZd_l
Robust &RQWURO h[_ki_qb\Z_l jZaebqgu_ f_lhû ijh_dlbjh\Zgby h[jZlguo k\ya_c kj_^b dhlhjuo /45
/4*/4*/75b^j
Ihgb`_gb_ ihjy^dZ fh^_eb G_h[oh^bfhklv ihgb`_gby ihjy^dZ fh^_eb \hagbdZ_l \ g_kdhevdbo
kemqZyo ihgb`_gb_ ihjy^dZ h[t_dlZ ihgb`_gb_ ihjy^dZ j_]meylhjZ fh^_ebjh\Zgb_ [hevrbo kbkl_f
DZq_kl\_ggZy ijhp_^mjZ ihgb`_gby ihjy^dZ fh^_eb ^he`gZ [ulv qbke_ggh mklhcqb\Z Ijhp_^mju
\dexq_ggu_\iZd_lRobust &RQWUROmki_rghkijZ\eyxlkykwlhcijh[e_fhc
L_e

NZdk
IZd_l Robust &RQWURO kihkh[kl\m_l m^h\e_l\hj_gbx lj_[h\Zgbc d mklhcqb\hklb b dZq_kl\m

ijh_dlbjm_fhckbkl_fu
L_e

NZdk
Signal Processing Toolbox 4

GZ[hj kh\j_f_gguo Ze]hjblfh\ êy h[jZ[hldb kb]gZeh\ jZajZ[hldb ebg_cguo
kbkl_f b ZgZebaZ \j_f_gguo jy^h\

IZd_l Signal 3URFHVVLQJ h[_ki_qb\Z_l g_h[uqZcgh rbjhdb_ \hafh`ghklb ih kha^Zgbx ijh]jZff
h[jZ[hldb kb]gZeh\ êy kh\j_f_gguo gZmqguo b l_ogbq_kdbo ijbeh`_gbc < iZd_l_ bkihevam_lky
jZaghh[jZagZy l_ogbdZ nbevljZpbb b gh\_crb_ Ze]hjblfu ki_dljZevgh]h ZgZebaZ IZd_l kh^_j`bl
fh^meb êy jZajZ[hldb gh\uo Ze]hjblfh\ h[jZ[hldb kb]gZeh\ jZajZ[hldb ebg_cguo kbkl_f b ZgZebaZ
\j_f_gguo jy^h\ IZd_l [m^_l ihe_a_g \ qZklghklb \ lZdbo h[eZklyo dZd h[jZ[hldZ Zm^bh b \b^_h
bgnhjfZpbbl_e_dhffmgbdZpbb]_hnbabdZaZ^ZqbmijZ\e_gby\j_Zevghfj_`bf_\j_f_gbwdhghfbdZ
nbgZgkubf_^bpbgZ
Ybamfe_gijhba\h^bl_evghklvx0$7/$%Hgiha\hey_lj_rZlvijZdlbq_kdbex[u_aZ^Zqb
\hagbdZxsb_ \ kh\j_f_gghc gZmd_ b l_ogbd_ hl ijhkl_cr_]h ZgZebaZ ^h jZajZ[hldb
keh`guofh^_e_c
Hkgh\gu_k\hckl\Z
=j_]hjbQZfblhnn
G:K:
Fh^_ebjh\Zgb_kb]gZeh\bebg_cguokbkl_f
Ijh_dlbjh\Zgb_ZgZebabj_ZebaZpbypbnjh\uobZgZeh]h\uonbevljh\
;ukljh_ij_h[jZah\Zgb_Nmjv_^bkdj_lgh_dhkbgmkgh_b^jm]b_ij_h[jZah\Zgby
Hp_gdZki_dljh\bklZlbklbq_kdZyh[jZ[hldZkb]gZeh\
IZjZf_ljbq_kdZyh[jZ[hldZ\j_f_gguojy^h\
=_g_jZpbykb]gZeh\jZaebqghcnhjfu
Hdhggh_hlh[jZ`_gb_
:fieblm^gZybnZah\ZyoZjZdl_jbklbdbihehkh\h]hweebilbq_kdh]hnbevljZ^_kylh]hihjy^dZ
L_e

NZdk
NB!
JZajZ[hldZ Ze]hjblfh\ IZd_l Signal Processing - b^_ZevgZy h[hehqdZ êy ZgZebaZ b h[jZ[hldb
kb]gZeh\ < g_f bkihevamxlky ijh\_j_ggu_ ijZdlbdhc Ze]hjblfu \u[jZggu_ ih djbl_jbyf
fZdkbfZevghcwnn_dlb\ghklbbgZ^_`ghklb
Fh^_ebjh\Zgb_ kb]gZeh\ b ebg_cguo kbkl_f IZd_l Signal 3URFHVVLQJ kh^_j`bl rbjhdbc ki_dlj
Ze]hjblfh\ êy ij_^klZ\e_gby kb]gZeh\ b ebg_cguo fh^_e_c Wlhl gZ[hj iha\hey_l ihevah\Zl_ex
^hklZlhqgh ]b[dh ihôh^blv d kha^Zgbx kp_gZjby h[jZ[hldb kb]gZeh\ IZd_l \dexqZ_l Ze]hjblfu êy
ij_h[jZah\Zgbyfh^_ebbah^gh]hij_^klZ\e_gby\^jm]h_
Kha^Zgb_ nbevljh\ IZd_l Signal 3URFHVVLQJ \dexqZ_l iheguc gZ[hj f_lh^h\ êy kha^Zgby pbnjh\uo
nbevljh\kjZaghh[jZagufboZjZdl_jbklbdZfbIZd_liha\hey_l[ukljhjZajZ[Zlu\Zlvnbevlju\ukhdbo
bgbadboqZklhlihehkghijhimkdZxsb_bihehkghaZ^_j`b\Zxsb_nbevljufgh]hihehkgu_nbevlju\
lhfqbke_nbevljuQ_[ur_\ZXeZMhed_jZweebilbq_kdb_b^jm]b_nbevlju
=jZnbq_kdbcbgl_jn_ckiha\hey_lijh_dlbjh\ZlvnbevljuaZ^Z\Zylj_[h\Zgbydgbf\j_`bf_point and
FOLFN<iZd_l\dexq_guke_^mxsb_gh\u_f_lhûijh_dlbjh\Zgbynbevljh\
H[h[s_gguc f_lh^ Q_[ur_\Z êy kha^Zgby nbevljh\ k g_ebg_cghc nZah\hc oZjZdl_jbklbdhc

dhfie_dkgufb dhwnnbpb_glZfb beb ijhba\hevguf hldebdhf :e]hjblf jZajZ[hlZg FZde_gZghf b
DZjZfhf\]h^m
F_lh^ gZbf_gvrbo d\Z^jZlh\ k h]jZgbq_gbyfb iha\hey_l ihevah\Zl_ex y\gh dhgljhebjh\Zlv
fZdkbfZevgmxhrb[dmk]eZ`b\Zgb_
F_lh^jZkq_lZfbgbfZevgh]hihjy^dZnbevljZkhdghfDZca_jZ
H[h[s_gguc f_lh^ ;Zll_j\hjlZ êy ijh_dlbjh\Zgby gbadhqZklhlguo nbevljh\ k fZdkbfZevgh
h^ghjh^gufbihehkZfbijhimkdZgbybaZlmoZgby
Ki_dljZevgucZgZebaHkgh\ZggucgZhilbfZevghfZe]hjblf_[ukljh]hij_h[jZah\ZgbyNmjv_iZd_l
Signal 3URFHVVLQJh[eZ^Z_lg_ij_\ahc^_ggufboZjZdl_jbklbdZfbêyqZklhlgh]hZgZebaZbki_dljZevguo
hp_ghd IZd_l \dexqZ_l nmgdpbb êy \uqbke_gby ^bkdj_lgh]h ij_h[jZah\Zgby Nmjv_ ^bkdj_lgh]h
dhkbgmkgh]h ij_h[jZah\Zgby ij_h[jZah\Zgby =bev[_jlZ b ^jm]bo ij_h[jZah\Zgbc qZklh ijbf_gy_fuo
êy ZgZebaZ dh^bjh\Zgby b nbevljZpbb < iZd_l_ bf_xlky lZdb_ f_lhû ki_dljZevgh]h ZgZebaZ dZd
f_lh^<_evoZf_lh^fZdkbfZevghcwgljhibbb^jm]b_
<bamZebaZpby Gh\uc ]jZnbq_kdbc bgl_jn_ck iha\hey_l <Zf ijhkfZljb\Zlv b \bamZevgh hp_gb\Zlv
oZjZdl_jbklbdb kb]gZeh\ ijh_dlbjh\Zlv b ijbf_gylv nbevlju ijbf_gylv ki_dljZevguc ZgZeba
bkke_^my\ebygb_jZaebqguof_lh^h\bboiZjZf_ljh\gZihemqZ_fucj_amevlZl=jZnbq_kdbcbgl_jn_ck
hkh[_gghihe_a_gêy\bamZebaZpbb\j_f_gguojy^h\ki_dljh\\j_f_gguobqZklhlguooZjZdl_jbklbd
jZkiheh`_gbygme_cbihexkh\i_j_^Zlhqguonmgdpbbkbkl_fu
>hihegbl_evgu_\hafh`ghklbIZd_lSignal 3URFHVVLQJ y\ey_lkyhkgh\hcêyj_r_gbyfgh]bo^jm]bo
aZ^Zq GZijbf_j dhf[bgbjmy _]h k iZd_lhf Image 3URFHVVLQJ fh`gh h[jZ[Zlu\Zlv b ZgZebabjh\Zlv
^\mf_jgu_ kb]gZeu b bah[jZ`_gby < iZj_ k iZd_lhf System ,GHQWLILFDWLRQ iZd_l Signal Processing
iha\hey_l \uihegylv iZjZf_ljbq_kdh_ fh^_ebjh\Zgb_ \h \j_f_gghc h[eZklb < khq_lZgbb k iZd_lZfb
Neural 1HWZRUN b Fuzzy /RJLF fh`_l [ulv kha^Zgh fgh`_kl\h kj_^kl\ êy h[jZ[hldb ^Zgguo beb
\u^_e_gby deZkkbnbdZpbhgguo oZjZdl_jbklbd Kj_^kl\h ]_g_jZpbb kb]gZeh\ iha\hey_l kha^Z\Zlv
bfimevkgu_kb]gZeujZaebqghcnhjfu
L_e

NZdk
Ijbf_g_gb_ iZd_lZ Signal 3URFHVVLQJ jZkrbjy_l <Zrb \hafh`ghklb ZgZebaZ j_amevlZlh\ \ujZ[hldb
gh\uob^_cbkha^ZgbyijZdlbq_kdboijbeh`_gbc\hfgh]boh[eZklyo
L_e

NZdk
Spline Toolbox
Ihîjh]jZffu êy kha^Zgby b bkihevah\Zgby dmkhqguo ihebghfbZevguo nmgdpbc
IZd_l 6SOLQH y\ey_lky b^_Zevghc kj_^hc êy bamq_gby kieZcgh\ b jZ[hlu gbfb KieZcgu ]eZ^db_
g_kdhevdhjZa^bnn_j_gpbjm_fu_dmkhqghihebghfbZevgu_nmgdpbbbkihevam_fu_êyij_^klZ\e_gby
nmgdpbcgZ[hevrbobgl_j\ZeZo]^_ZiijhdkbfZpby_^bgufihebghfhfg_\hafh`gZ<k\yabkl_fqlh
kieZcgu ]b[db wdhghfbqgu b e_]db \ bkihevah\Zgbb hgb bkihevamxlky êy ij_^klZ\e_gby
ijhba\hevguonmgdpbc\aZ^ZqZo
hibkZgbyfZkkb\h\wdki_jbf_glZevguo^Zgguo
ZiijhdkbfZpbbnmgdpbyfb
j_r_gbynmgdpbhgZevguomjZ\g_gbc
Hkgh\gu_k\hckl\Z
Ij_^klZ\e_gb_\%nhjf_bdmkhqghcnhjf_
Bgl_jiheypbyZiijhdkbfZpbybij_h[jZah\Zgb_kieZcgh\\%nhjf_\dmkhqgh_ij_^klZ\e_gb_
Bgl_jiheypbydm[bq_kdbfbkieZcgZfbbk]eZ`b\Zgb_
Hi_jZpbbgZ^kieZcgZfb\uqbke_gb_ijhba\h^ghcbgl_]jZeZbhlh[jZ`_gb_
Mlbebluh[jZ[hldZmaeh\bohilbfZevgh_jZkiheh`_gb_j_rZl_ebebg_cguokbkl_fmjZ\g_gbc
NB!
H[ahj kieZcgh\ IZd_l 6SOLQH hkgZs_g ijh]jZffZfb jZ[hlu k %kieZcgZfb hibkZggufb \ $ Practical
Guide to 6SOLQHV DZjehf >_[mjhf bah[j_lZl_e_f kieZcgh\ b Z\lhjhf iZd_lZ 6SOLQH Nmgdpbb iZd_lZ \
khq_lZgbbkyaudhf0$7/$%bih^jh[gufjmdh\h^kl\hfihevah\Zl_eyh[e_]qZxlihgbfZgb_kieZcgh\
bboijbf_g_gb_dj_r_gbxjZaghh[jZaguoaZ^Zq
%nhjfZ b dmkhqgu_ ihebghfu < iZd_l \dexq_gu ijh]jZffu êy jZ[hlu k ^\mfy gZb[he__
mihlj_[bl_evgufb nhjfZfb ij_^klZ\e_gby kieZcgh\ %nhjfhc b dmkhqgufb ihebghfZfb %nhjfZ
m^h[gZgZwlZi_ihkljh_gbykieZcgh\\lh\j_fydZddmkhqghihebghfbZevgZynhjfZ[he__wnn_dlb\gZ
\h \j_fy ihklhygghc jZ[hlu kh kieZcghf IZd_l \dexqZ_l nmgdpbb êy kha^Zgby hlh[jZ`_gby
bgl_jiheypbbZiijhdkbfZpbbbh[jZ[hldbkieZcgh\\<nhjf_b\\b^_dmkhqguoihebghfh\
L_e

NZdk
Statistics Toolbox
H[t_^bgy_l mklhcqb\u_ klZlbklbq_kdb_ Ze]hjblfu b bgl_jZdlb\guc
]jZnbq_kdbc bgl_jn_ck
IZd_l 6WDWLVWLFV ij_êZ]Z_l rbjhdbc ki_dlj bgkljmf_glh\ êy klZlbklbq_kdbo \uqbke_gbc Hg
ij_^klZ\ey_lkh[hcmgbdZevgh_khq_lZgb_]jZnbq_kdhcijhklhlu\bkihevah\Zgbbbijh]jZffbjm_fhklb
Bgl_jZdlb\gu_bah[jZ`_gbyiha\heyxl<Zfke_]dhklvxijbf_gylvf_lhûklZlbklbdb\lh\j_fydZd
yaud0$7/$%^Z_l <Zf \hafh`ghklvkha^Z\Zlvk\hbkh[kl\_ggu_f_lhûklZlbklbdb b ZgZebaZ LZdh_
h[t_^bg_gb_^Z_l<Zfk\h[h^m^hklmiZdgbadhmjh\g_\ufnmgdpbyflZdbfdZdnmgdpbb\_jhylghklbb
$129$ ijyfh ba dhfZg^ghc kljhdb beb bkihevah\Zgby ]jZnbq_kdh]h bgl_jn_ckZ qlh[u mqblvky b
wdki_jbf_glbjh\Zlvkh\kljh_ggufb\iZd_lkj_^kl\ZfbZgZebaZb\bamZebaZpbb
Hkgh\gu_k\hckl\Z
>_kdjbilb\gZyklZlbklbdZ
JZkij_^_e_gby\_jhylghkl_c
Hp_gdZiZjZf_ljh\bZiijhdkbfZpby
Ijh\_jdZ]bihl_a
Fgh`_kl\_ggZyj_]j_kkby
Bgl_jZdlb\gZyihrZ]h\Zyj_]j_kkby
Fh^_ebjh\Zgb_Fhgl_DZjeh
:iijhdkbfZpbygZbgl_j\ZeZo
KlZlbklbq_kdh_mijZ\e_gb_ijhp_kkZfb
IeZgbjh\Zgb_wdki_jbf_glZ
Fh^_ebjh\Zgb_ih\_joghklbhldebdZ
:iijhdkbfZpbyg_ebg_cghcfh^_eb
:gZeba]eZ\guodhfihg_gl
KlZlbklbq_kdb_]jZnbdb
=jZnbq_kdbcbgl_jn_ckihevah\Zl_ey
IjhklhlZ bkihevah\Zgby ijb\e_dZ_l f_gy \ 0$7/$% =jZnbq_kdb_ \hafh`ghklb \_ebdhe_igu b bfb

e_]dhihevah\Zlvky
Michael B. Miller,
Washington University School of Medicine
NB!
Kj_^Z êy ZiijhdkbfZpbb IZd_l b^_Ze_g êy g_ijh]jZffghc ZiijhdkbfZpbb Hkgh\gu_ \hafh`ghklb
\dexqZxl j_]j_kkbhgguc ZgZeba b ^bZ]ghklbdZ k \u[hjhf i_j_f_gghc g_ebg_cgh_ fh^_ebjh\Zgb_
fh^_ebjh\Zgb_ \_jhylghkl_c b hp_gdZ iZjZf_ljh\ ZgZeba qm\kl\bl_evghklb k bkihevah\Zgb_f
]_g_jZlhjZkemqZcguoqbk_emijZ\e_gb_klZlbklbq_kdbfbijhp_kkZfbbieZgbjh\Zgb_wdki_jbf_glZ
JZkij_^_e_gby\_jhylghkl_cIZd_l\dexqZ_ljZaebqguojZkij_^_e_gbc\_jhylghkl_c\dexqZy T, F
b Obd\Z^jZl Ih^[hj iZjZf_ljh\ ]jZnbq_kdh_ hlh[jZ`_gb_ jZkij_^_e_gbc b kihkh[ \uqbke_gby
emqrboZiijhdkbfZpbcij_^hklZ\eyxlkyêy\k_olbih\jZkij_^_e_gbc
L_e

NZdk
Kj_^kl\Z ]jZnbq_kdh]h bgl_jn_ckZ ihevah\Zl_ey Ij_^mkfhlj_gh fgh`_kl\h bgl_jZdlb\guo

bgkljmf_glh\ êy ^bgZfbq_kdhc \bamZebaZpbb b ZgZebaZ ^Zgguo Bf_xlky ki_pbZebabjh\Zggu_
bgl_jn_cku êy fh^_ebjh\Zgby ih\_joghklb hldebdZ \bamZebaZpbb jZkij_^_e_gbc ]_g_jZpbb
kemqZcguoqbk_ebebgbcmjh\gy
KlZlbklbq_kdb_ ]jZnbdbDhfZgû klZlbklbq_kdhc ]jZnbdb lZdb_ dZd ZHLESORW b UDQGSORW iha\heyxl
<Zf\uihegblvZgZebagZ^_`ghklbbZiijhdkbfZpbxjZkij_^_e_gby
JZajZ[hldZ Ze]hjblfh\ < kh_^bg_gbb k \uqbkebl_evguf yaudhf 0$7/$% iZd_l Statistics wlh \k_
qlh <Zf gm`gh qlh[u jZajZ[Zlu\Zlv gh\u_ Ze]hjblfu klZlbklbq_kdh]h ZgZebaZ <u fh`_l_
bkihevah\Zlv ]jZnbq_kdb_ nmgdpbb iZd_lZ 6WDWLVWLFV beb kha^Z\Zlv kh[kl\_gguc bgl_jn_ck bkihevamy
k\hckl\ZHandle Graphics MATLAB.
GZ jbkmgd_ dhfZg^Z KLVWILW gZdeZû\Z_l djb\mx ghjfZevgh]h jZkij_^_e_gby gZ ]bklh]jZffm Qbkeh
klhe[bdh\ihmfheqZgbxmklZgZ\eb\Z_lkyjZ\gufd\Z^jZlghfmdhjgxbaqbkeZwe_f_glh\^Zgguo
IZd_l 6WDWLVWLFV h[eZ^Z_l k\hckl\hf bgl_jZdlb\gh]h hlh[jZ`_gby ^Zgguo qlh iha\hey_l <Zf
wdki_jbf_glbjh\ZlvbbamqZlvbf_xsb_ky\iZd_l_kj_^kl\Z\bamZebaZpbbbZgZebaZBgl_jZdlb\guc
bgkljmf_gl ihdZaZgguc gZ jbkmgd_ ihemq_g k ihfhsvx nmgdpbb UVPGHPR b h[mqZ_l ieZgbjh\Zgbx
wdki_jbf_glZbj_]j_kkbhgghfmfh^_ebjh\Zgbx
L_e

NZdk
Symbolic Math Toolboxes 2

Hkgh\ZggZy gZ 0DSOH 9 bgl_]jbjh\ZggZy kj_^Z êy kbf\hevguo \uqbke_gbc
IZd_l Symbolic 0DWK iha\hey_l ihevah\Zlvky kbf\hevghc fZl_fZlbdhc b \uqbke_gbyfb k ieZ\Zxs_c
lhqdhc \ 0$7/$% IZd_l \dexqZ_l \uqbkebl_evgh_ y^jh iZd_lZ Maple V RHOHDVH jZajZ[hlZggh]h
nbjfhc Waterloo Maple 6RIWZDUH IZd_l Extended Symbolic 0DWK ij_^hklZ\ey_l ihevah\Zl_ex
^hihegbl_evgmx\hafh`ghklvijh]jZffbjh\ZgbygZ0DSOHbh[_ki_qb\Z_l^hklmidki_pbZebabjh\Zgguf
[b[ebhl_dZf 0DSOH IZd_lu Symbolic 0DWK b Extended Symbolic 0DWK iha\heyxl ihevah\Zl_ex e_]dh
dhf[bgbjh\Zlv qbke_ggu_ b kbf\hevgu_ \uqbke_gby \h_^bgh [_a ihl_jb kdhjhklb b lhqghklb
\uqbke_gbc
Hkgh\gu_k\hckl\Z
<uqbke_gby
Ij_h[jZah\Zgby
Ebg_cgZyZe]_[jZ
IZd_l 0$7/$% Symbolic 0DWK mijhsZ_l j_r_gb_ mjZ\g_gbc ij_^klZ\e_gguo \ kbf\hevghc nhjf_
GZijbf_j hg fh`_l [ulv bkihevah\Zg êy j_r_gby \hegh\h]h mjZ\g_gby f_lh^hf >ZeZf[_jZ b
ij_^klZ\e_gbyj_amevlZlh\
NB!
Kbf\hevgu_ \uqbke_gby IZd_l Symbolic Math 7RROER[ kgZ[`_g [he__ q_f FnZceZfb 0$7/$%
êy ijbf_g_gby kbf\hevghc Ze]_[ju b \uqbkebl_evguo ijhp_^mj 0DSOH 9 IZd_l iheghklvx
bgl_]jbjh\Zg\kj_^mbyaud0$7/$%LZdbfh[jZahfj_amevlZlukbf\hevguo\uqbke_gbcfh]ml[ulv
i_j_^Zguêy^Zevg_cr_ch[jZ[hldb\kj_^m0$7/$%
L_e

NZdk
<uqbke_gby k i_j_f_gghc lhqghklvx IZd_l kgZ[`_g Ze]hjblfZfb êy \uqbke_gbc k i_j_f_gghc

lhqghklvx Qbke_ggu_ jZkq_lu fh]ml ijh\h^blvky k lhqghklvx dhlhjZy h]jZgbq_gZ lhevdh
\hafh`ghklyfbdhfivxl_jZ
Bkihevah\Zgb_ Maple V. IZd_l Symbolic 0DWK h[_ki_qb\Z_l ^hklmi d y^jm 0DSOH 9 Z lZd`_ d iZd_lZf
0DSOHihebg_cghcZe]_[j_bbgl_]jZevgufij_h[jZah\ZgbyfHkgh\gZy[b[ebhl_dZ\dexqZ_l[he__
nmgdpbcgZijbf_j
IZd_lebg_cghcZe]_[ju
IZd_lbgl_]jZevguoij_h[jZah\Zgbc
IZd_l Extended Symbolic Math. IZd_l Extended Symbolic 0DWK ihklZ\ey_fuc hl^_evgh h[_ki_qb\Z_l
^hklmidj_kmjkZfijh]jZffbjh\ZgbygZ0DSOH9?kebdZdZyeb[hijh]jZffZkha^ZgZgZyaud_Maple V,
lh hgZ fh`_l jZ[hlZlv kh\f_klgh k iZd_lhf Extended Symbolic 0DWK Wlhl iZd_l \dexqZ_l ijhp_^mju
0DSOHêyjZ[hlu[he__q_f\h[eZklyofZl_fZlbdb<boqbke_dhg_qgu_we_f_glul_hjby]jZnh\
ieZgbf_ljbyZgZeba\j_f_gguojy^h\;me_\ZZe]_[jZl_gahjgucZgZebabl_hjbyqbk_e
0DSOH9jZajZ[hlZgWaterloo Maple Software, Inc.
L_e

NZdk
System Identification Toolbox

Bgl_jZdlb\gZy kj_^Z êy ihkljh_gby ijhkluo lhqguo fh^_e_c keh`guo kbkl_f k
mq_lhf aZrmfe_gguo ^Zgguo
IZd_lSystem ,GHQWLILFDWLRQkh^_j`blbgkljmf_gluêykha^ZgbyfZl_fZlbq_kdbofh^_e_c^bgZfbq_kdbo
kbkl_f gZ hkgh\_ gZ[ex^Z_fuo \oh^guo/\uoh^guo ^Zgguo IZd_l kgZ[`_g ]b[dbf ]jZnbq_kdbf
bgl_jn_ckhfihfh]Zxsbfhj]Zgbah\Zlv^Zggu_bkha^Z\Zlvfh^_ebF_lhûb^_glbnbdZpbb\oh^ysb_
\ iZd_l ijbf_gbfu êy rbjhdh]h deZkk aZ^Zq hl ijh_dlbjh\Zgby kbkl_f mijZ\e_gby b h[jZ[hldb
kb]gZeh\^hZgZebaZ\j_f_gguojy^h\b\b[jZpbb
Hkgh\gu_k\hckl\Z
Ijhklhcb]b[dbcbgl_jn_ck
Ij_^\Zjbl_evgZy h[jZ[hldZ ^Zgguo \dexqZy ij_^\Zjbl_evgmx nbevljZpbx m^Ze_gb_ lj_g^h\ b
kf_s_gbc
<u[hj^bZiZahgZ^ZgguoêyZgZebaZ
F_lhûZ\lhj_]j_kkbb
:gZebahldebdZ\h\j_f_gghcbqZklhlghch[eZklb
Hlh[jZ`_gb_gme_cbihexkh\i_j_^Zlhqghcnmgdpbbkbkl_fu
:gZebag_\yahdijbl_klbjh\Zgbbfh^_eb
:^_d\ZlghklvfZl_fZlbq_kdbofh^_e_ckZfhe_lZbibehlZbf__lhq_gv[hevrh_agZq_gb_
ijb jZajZ[hld_ gh\uo dhgkljmdpbc kZfhe_lh\ 0$7/$% kms_kl\_ggh mijhsZ_l bo
kha^Zgb_
DZjeWjbdObj\bgb_fb
Saab Military Aircraft
NB!
M^h[kl\h ]jZnbq_kdh]h bgl_jn_ckZ =jZnbq_kdbc bgl_jn_ck mijhsZ_l ij_^\Zjbl_evgmx h[jZ[hldm
^ZgguoZlZd`_^bZeh]h\ucijhp_kkb^_glbnbdZpbbfh^_ebHi_jZpbbaZ]jmadbbkhojZg_gby^Zgguo
\u[hjZ^bZiZahgZm^Ze_gbykf_s_gbcblj_g^h\\uihegyxlkykfbgbfZevgufbmkbebyfbbgZoh^ylky\
]eZ\ghff_gx
<hafh`ghklb ]jZnbdb Ij_^klZ\e_gb_ ^Zgguo b b^_glbnbpbjh\Zgguo fh^_e_c hj]Zgbah\Zgh
]jZnbq_kdb lZdbf h[jZahf qlh \ ijhp_kk_ bgl_jZdlb\ghc b^_glbnbdZpbb ihevah\Zl_ev e_]dh fh`_l
\_jgmlvky d ij_û^ms_fm rZ]m jZ[hlu >ey gh\bqdh\ kms_kl\m_l \hafh`ghklv ijhkfZljb\Zlv
ke_^mxsb_ \hafh`gu_ rZ]b Ki_pbZebklm ]jZnbq_kdb_ kj_^kl\Z iha\heyxl hlukdZlv ex[mx ba jZg__
ihemq_gguofh^_e_cbhp_gblv__dZq_kl\h\kjZ\g_gbbk^jm]bfbfh^_eyfb
IZjZf_ljbq_kdb_fh^_ebGZqZ\kbaf_j_gby\uoh^Zb\oh^Zfh`ghkha^ZlviZjZf_ljbq_kdmxfh^_ev
kbkl_fu hibku\Zxsmx __ ih\_^_gb_ \ ^bgZfbd_ IZd_l System ,GHQWLILFDWLRQ ih^^_j`b\Z_l \k_
ljZ^bpbhggu_ kljmdlmju fh^_e_c \dexqZy Z\lhj_]j_kkbx kljmdlmjm ;hdkZ>`_gdbgkZ ^jm]b_ IZd_l
ih^^_j`b\Z_l ebg_cgu_ fh^_eb ijhkljZgkl\Z khklhygbc dhlhju_ fh]ml [ulv hij_^_e_gu dZd \
L_e

NZdk
^bkdj_lghflZdb\g_ij_ju\ghfijhkljZgkl\ZoWlbfh^_ebfh]ml\dexqZlvijhba\hevgh_qbkeh\oh^h\
b\uoh^h\
Fh^_ebjh\Zgb_ b l_klbjh\Zgb_ < iZd_l \dexq_gu nmgdpbb dhlhju_ fh`gh bkihevah\Zlv dZd
l_klh\u_^Zggu_êyb^_glbnbpbjh\Zgguofh^_e_c
RbjhdZy h[eZklv ijbf_g_gby B^_glbnbdZpby ebg_cguo fh^_e_c rbjhdh bkihevam_lky ijb
ijh_dlbjh\Zgbb kbkl_f mijZ\e_gby dh]^Z lj_[m_lky fh^_ev h[t_dlZ < aZ^ZqZo h[jZ[hldb kb]gZeh\
fh^_ebfh]ml[ulvbkihevah\ZguêyZ^Zilb\ghch[jZ[hldbkb]gZeh\F_lhûb^_glbnbdZpbbmki_rgh
ijbf_gyxlkyêynbgZgkh\uoijbeh`_gbc
L_e

NZdk
Wavelet Toolbox
IZd_l ijh]jZff êy h[jZ[hldb b ZgZebaZ kb]gZeh\ bah[jZ`_gbc k`Zlby b
nbevljZpbb

IZd_l :DYHOHW ij_^hklZ\ey_l ihevah\Zl_ex iheguc gZ[hj ijh]jZff êy bkke_^h\Zgby fgh]hf_jguo
g_klZpbhgZjguoy\e_gbcF_lhûiZd_lZ:DYHOHWjZkrbjyxl\hafh`ghklbihevah\Zl_ey\l_oh[eZklyo
]^_h[uqghijbf_gy_lkyl_ogbdZNmjv_jZaeh`_gbyIZd_lfh`_l[ulvihe_a_gêylZdboijbeh`_gbc
dZdh[jZ[hldZj_qbbZm^bhkb]gZeh\l_e_dhffmgbdZpbb]_hnbabdZnbgZgkubf_^bpbgZ
Hkgh\gu_k\hckl\Z
Mkh\_jr_gkl\h\Zgguc ]jZnbq_kdbc ihevah\Zl_evkdbc bgl_jn_ck b gZ[hj dhfZg^ êy ZgZebaZ

kbgl_aZnbevljZpbbkb]gZeh\bbah[jZ`_gbc
Ij_h[jZah\Zgb_fgh]hf_jguog_ij_ju\guokb]gZeh\
>bkdj_lgh_ij_h[jZah\Zgb_kb]gZeh\
>_dhfihabpbybZgZebakb]gZeh\bbah[jZ`_gbc
Rbjhdbc\u[hj[Zabkguonmgdpbc\dexqZydhjj_dpbx]jZgbqguownn_dlh\
IZd_lgZyh[jZ[hldZkb]gZeh\bbah[jZ`_gbc
:gZebaiZd_lh\kb]gZeh\hkgh\ZggucgZwgljhibb
NbevljZpbyk\hafh`ghklvxmklZgh\e_gby`_kldbobg_`_kldboihjh]h\
HilbfZevgh_k`Zlb_kb]gZeh\
Wlhemqrbcbgl_jn_ckkdhlhjuffg_ijboh^behkvjZ[hlZlvHgiha\hey_lkijZ\blvkyk
ex[ufb ljm^ghklyfb =jZnbq_kdbc bgl_jn_ck iZd_lZ :DYHOHW ihf_sZ_l gm`gu_
bgkljmf_gluih^jmdhcbZ\lhfZlbq_kdbhlh[jZ`Z_lj_amevlZldZ`^hchi_jZpbb
EZgpFZjlbgMartin Consulting,
FZjlbgDhgkZelbg]
Ih^jy^qbd<<K
N;J bkihevam_l f_lhû iZd_lZ WDYHOHW êy k`Zlby b ih\ur_gby wnn_dlb\ghklb ojZg_gby
hli_qZldh\iZevp_\K`Zlh_bah[jZ`_gb_ihqlbg_hlebqbfhhlhjb]bgZevgh]h
L_e

NZdk
GZ\_jog_fjbkmgd_ij_^klZ\e_gkb]gZedhlhjucjZaeZ]Z_lkykbkihevah\Zgb_fZe]hjblfh\iZd_lZGZ
gb`g_c^bZ]jZff_ij_^klZ\e_guoZjZdl_jbklbdbdh]_j_glghklb
NB!
Kh\j_f_ggu_f_lhûIhevamykviZd_lhffh`ghZgZebabjh\ZlvlZdb_hkh[_gghklbdhlhju_mimkdZxl
^jm]b_ f_lhû ZgZebaZ kb]gZeh\ l_ lj_gû \u[jhku jZaju\u \ ijhba\h^guo \ukhdbo ihjy^dh\
IhwlhfmiZd_liha\hey_lk`bfZlvbnbevljh\Zlvkb]gZeu[_ay\guoihl_jv^Z`_\l_okemqZyodh]^Z
gm`ghkhojZgblvb\ukhdhbgbadhqZklhlgu_dhfihg_glukb]gZeZ
NbevljZpbybk`Zlb_Bf_xlkyZe]hjblfuk`ZlbybnbevljZpbbbêyiZd_lghch[jZ[hldbkb]gZeh\
Ijh]jZffu k`Zlby \u^_eyxl fbgbfZevgh_ qbkeh dhwnnbpb_glh\ ij_^klZ\eyxsbo bkoh^gmx
bgnhjfZpbxgZb[he__lhqghqlhhq_gv\Z`ghêyihke_^mxsboklZ^bcjZ[hlukbkl_fuk`Zlby
;Zabkgu_ gZ[hju < iZd_l \dexq_gu ke_^mxsb_ [Zabkgu_ gZ[hju [bhjlh]hgZevguc OZZjZ
F_dkbdZgkdZyreyiZFZc_jZb^jm]b_<ulZd`_fh`_l_^h[Z\blv\iZd_lk\hbkh[kl\_ggu_[Zabku
Jmdh\h^kl\Z b ^_fhgkljZpbb H[rbjgh_ Jmdh\h^kl\h ihevah\Zl_ey h[tykgy_l ijbgpbiu jZ[hlu k
f_lh^ZfbiZd_lZkhijh\h`^Zybofgh]hqbke_ggufbijbf_jZfbbiheghp_ggufjZa^_ehfkkuehd
IZd_lWaveletgZibkZebMichael Misiti, Yves Misiti, Georges OppenheimbJean-Michel PoggijZ[hlZxsb_\
eZ[hjZlhjbbLaboratoire de 0DWKcPDWLTXHV", Orsay-Paris 11 University France.
L_e

NZdk
SIMULINK
KZfh_ kh\_jr_ggh_ kj_^kl\h êy ]jZnbq_kdhc jZajZ[hldb fh^_e_c

6LPXOLQNwlhbgl_jZdlb\gZykj_^Zêyfh^_ebjh\ZgbybZgZebaZrbjhdh]hdeZkkZ^bgZfbq_kdbokbkl_f
6LPXOLQN ij_^hklZ\ey_l ihevah\Zl_ex ]jZnbq_kdbc bgl_jn_ck êy dhgkljmbjh\Zgby fh^_e_c ba
klZg^Zjlguo [ehdh\ ijb ihfhsb l_ogheh]bb GUDJDQGGURS H[rbjgZy [b[ebhl_dZ [ehdh\ iha\hey_l
<Zffh^_ebjh\Zlvkbkl_fuhq_gv[ukljh[_agZibkZgby_^bghckljhqdbdh^Z
Hkgh\gu_kj_^kl\Zêyfh^_ebjh\ZgbybZgZebaZ
H[rbjgZy [b[ebhl_dZ [ehdh\ êy kha^Zgby ebg_cguo b g_ebg_cguo ^bkdj_lguo b g_ij_ju\guo

]b[jb^guo6,62b0,02fh^_e_c
B_jZjobq_kdZykljmdlmjZfh^_e_ckg_h]jZgbq_gghc\eh`_gghklvx
KdZeyjgu_b\_dlhjgu_k\yab
Kj_^kl\hêykha^Zgbyihevah\Zl_evkdbo[ehdh\b[b[ebhl_d
Bgl_jZdlb\gh_fh^_ebjh\Zgb_k`b\ufhlh[jZ`_gb_fgZwdjZg_
K_fvf_lh^h\bgl_]jbjh\Zgbyknbdkbjh\Zggufbi_j_f_ggufrZ]hf
Ebg_ZjbaZpby
Fh^_ebjh\Zgb_Fhgl_DZjeh
Hij_^_e_gb_lhq_djZ\gh\_kby
JZaebqgu_kihkh[u\u\h^ZgZwdjZgb[b[ebhl_dZ\oh^guokb]gZeh\
Ihevamykv 0$7/$% b 6LPXOLQN fu ]em[`_ ijhgbdZ_f \ kmlv jZ[hlu kbkl_fu Wlh
hagZqZ_lqlhfujZajZ[Zlu\Z_ffh^_eb[he__\ukhdh]hdZq_kl\Z
Eric Gassenfeit
General Motors
NB!
Bgl_jZdlb\gh_kha^Zgb_fh^_e_c<6LPXOLQN\oh^bl[hevrZy[b[ebhl_dZ[ehdh\iha\heyxsZye_]dh
kha^Z\Zlvfh^_eb<uijhklhi_j_ghkbl_dhfihg_gluba[b[ebhl_db\gh\mxfh^_evbkh_^bgy_l_bok
ihfhsvx furb =jmiibjmy [ehdb \ ih^kbkl_fu <u fh`_l_ kha^Z\Zlv b_jZjobq_kdb_ fh^_eb Qbkeh
[ehdh\bk\ya_c\fh^_ebg_h]jZgbq_gh
@b\h_ fh^_ebjh\Zgb_ ;ehd^bZ]jZffu 6LPXOLQN h[_ki_qb\Zxl bgl_jZdlb\gmx kj_^m êy
g_ebg_cgh]hfh^_ebjh\Zgby<ufh`_l_\uihegylvfh^_ebjh\Zgb_kihfhsvxf_gxbebbadhfZg^ghc
kljhdb J_amevlZlu fh^_ebjh\Zgby hlh[jZ`Zxlky \ ijhp_kk_ jZ[hluK ihfhsvx 6LPXOLQN <u fh`_l_
baf_gylviZjZf_ljufh^_eb^Z`_\lhlfhf_gldh]^Z\uihegy_lkyfh^_ebjh\Zgb_
GZkljhcdZ gZ ihevah\Zl_ey 6LPXOLQN h[eZ^Z_l hldjulhc Zjobl_dlmjhc b iha\hey_l h[h]ZsZlv kj_^m
fh^_ebjh\Zgby
Kha^Z\Zlvkh[kl\_ggu_[ehdbb[b[ebhl_db[ehdh\k^hklmihfbaijh]jZffgZ0$7/$%)RUWUDQbeb
C
L_e

NZdk
K\yau\Zlv [ehdb k jZajZ[hlZggufb jZg__ ijh]jZffZfb gZ )RUWUDQ b & kh^_j`Zsbfb m`_
ijh\_j_ggu_fh^_eb
Bgl_]jZpby k 0$7/$% b ^hihegbl_evgufb iZd_lZfb ijh]jZff Ihkdhevdm 6LPXOLQN h[_ki_qb\Z_l

g_ihkj_^kl\_gguc ^hklmi d fZl_fZlbq_kdbf ]jZnbq_kdbf b ijh]jZffguf kj_^kl\Zf 0$7/$% <u
fh`_l_ ZgZebabjh\Zlv ^Zggu_ b hilbfbabjh\Zlv iZjZf_lju fh^_e_c ijyfh ba 6LPXOLQN <hafh`ghklb
^hihegbl_evguoiZd_lh\lZd`_fh]ml[ulvbkihevah\Zgu\oh^_fh^_ebjh\Zgby
Ki_pbZebabjh\Zggu_ [b[ebhl_db [ehdh\ ;b[ebhl_dZ [ehdh\ 6LPXOLQN fh`_l [ulv ^hiheg_gZ
ki_pbZebabjh\Zggufb [b[ebhl_dZfb GZijbf_j [b[ebhl_dZ '63 %ORFNVHW bkihevam_lky êy jZajZ[hldb
Ze]hjblfh\ pbnjh\hc h[jZ[hldb kb]gZeh\ [b[ebhl_dZ Fixed-Point %ORFNVHW jZkrbjy_l \hafh`ghklb
6LPXOLQNêyfh^_ebjh\Zgbykbkl_fmijZ\e_gbybpbnjh\hcnbevljZpbb
=_g_jZpbydh^ZKihfhsvxReal-Time :RUNVKRS<ufh`_l_]_g_jbjh\ZlvKdh^fh^_e_cSimulink.
>hihegbl_evgu_iZd_luêySIMULINK:
Real-Time Workshop
Stateflow
Stateflow Coder
DSP Blockset
Fixed-Point Blockset
Nonlinear Control Design Blockset
L_e

NZdk
MATLAB Compiler
MATLAB &RPSLOHU ljZgkebjm_l 0$7/$% dh^ \ K dh^ klZg^ZjlZ $16, &
Kihfhsvx0$7/$%&RPSLOHU<ufh`_l_Z\lhfZlbq_kdb]_g_jbjh\Zlvhilbfbabjh\Zgguc&b&dh^
êy 0nZceh\ LjZgkebjmy dh^ 0$7/$% gZ & b & dhfibeylhj kms_kl\_ggh mkdhjy_l jZ[hlm
ijbeh`_gby
Hkgh\gu_k\hckl\Z
:\lhfZlbq_kdh_dhg\_jlbjh\Zgb_0nZceh\\\ukhdhdZq_kl\_gguc&b&dh^
Kms_kl\_ggh_ih\ur_gb_kdhjhklb\uiheg_gbyijh]jZff
<hafh`ghklv\kljZb\Zlvdh^0$7/$%\^jm]b_ijbeh`_gbykbkihevah\Zgb_f[b[ebhl_d0$7/$%
&b&Math
=_g_jZpbyohjhrhZgghlbjh\Zggh]hbi_j_ghkbfh]h&b&dh^Z
<hafh`ghklvkdjulbydh^Zêyh[_ki_q_gbyaZsbluaZiZl_glh\ZgguoZe]hjblfh\
NB!
Mkdhj_gb_ \uqbke_gbc Hjb_glbjh\Zgguc gZ jZ[hlm k fZljbpZfb yaud 0$7/$% hilbfbabjh\Zg êy
\uiheg_gbyhi_jZpbckfZkkb\ZfbH^gZdh\uiheg_gb_^jm]bolbih\hi_jZpbclZdbodZd hi_jZpbb kh
kdZeyjZfb fh`_l [ulv kms_kl\_ggh mkdhj_gh ijb ij_h[jZah\Zgbb gZ yaud & beb & Compiler
ijhba\h^blwlhij_h[jZah\Zgb_e_]dhb[ukljh
Mf_gvr_gb_\j_f_gbjZajZ[hldbDhfibeylhjk[_j_`_l<Zf\j_fyh[_ki_qb\Z\lhfZlbq_kdbci_j_oh^
hlbgl_jZdlb\ghckj_û0$7/$%dwnn_dlb\guffZl_fZlbq_kdbfijbeh`_gbyf
Bkihegy_fu_fh^meb\0$7/$%Z\lhghfgu_ fh^mebDhfibeylhj]_g_jbjm_l&dh^êy^\molbih\
bkihegy_fuofh^me_c0(;nZceubZ\lhghfgu_bkihegy_fu_fh^meb0(;nZceuwlhbkihegy_fu_
fh^meb 0$7/$% dhlhju_ \uau\Zxlky ba 0$7/$% b ^bgZfbq_kdb ebgdmxlky \h \j_fy \uiheg_gby
:\lhghfgu_fh^meb]_g_jbjm_fu_dhfibeylhjhffh]ml[ulv\kljh_gu\ijbeh`_gbygZibkZggu_gZ&
b&dhlhju_\uihegyxlky\g_kj_û0$7/$%
Bkihevah\Zgb_dhfibeylhjZb[b[ebhl_d&b&Math.EbgdmyZ\lhghfgu_fh^mebkih^dexq_gb_f
[b[ebhl_d0$7/$%&Math /LEUDU\ b 0$7/$% & Math /LEUDU\ <u fh`_l_ k^_eZlv fZl_fZlbq_kdb_
\hafh`ghklb0$7/$%hkgh\hc<Zrbo\uqbkebl_evguoijbeh`_gbc
L_e

NZdk
KjZ\g_gb_kdhjhklb\uqbke_gbc
function g = sqrtfib(n)
% Sqrt of Fibonacci numbers
f = zeros(1,n);
f(1) = 1;
if n < 2, return, end
f(2) = 1;
if n < 3, return, end
for i = 3:n
f(i) = f(i-1)+f(i-2);
end
g = sqrt(f);
Dhfibebjmy 0nZce VTUWILE ke_\Z [_a dZdbo

eb[hhipbcm\_ebqb\Z_lkdhjhklvbkiheg_gby
\ jZa Bkihevah\Zgb_ hipbb ri (real, arrays
LQERXQGVm\_ebqb\Z_lkdhjhklv\jZa
=bklh]jZffZ ^_fhgkljbjm_l kjZ\g_gb_

kdhjhklb bkiheg_gby bkoh^gh]h 0nZceZ b
0(;nZceZ k]_g_jbjh\Zggh]h 0$7/$%
&RPSLOHUêyijh]jZffuVTUWILEijbn=5000.
L_e

NZdk
MATLAB C Math Library

;b[ebhl_dZ h[t_dlguo fh^me_c kh^_j`ZsZy hdheh
\uiheg_gby qbke_gguo jZkq_lh\ b ZgZebaZ ^Zgguo

Ze]hjblfh\
0$7/$%
êy
;b[ebhl_dZ 0$7/$% & 0DWK ij_^hklZ\ey_l ihevah\Zl_ex gZ[hj h[t_dlguo fh^me_c 0$7/$% êy
\uiheg_gbygZb[he__mihlj_[bl_evguofZl_fZlbq_kdboZe]hjblfh\êyqbke_gguojZkq_lh\bijhp_^mj
êyZgZebaZ^ZgguoIhevah\Zl_evfh`_lijbf_gylvwlm[b[ebhl_dmkh\f_klghk0$7/$%&RPSLOHUêy
kha^Zgby ijhp_^mj 0$7/$% jZ[hlZxsbo \ dZdboeb[h \g_rgbo ijbeh`_gbyo Z lZd`_ fh`_l
bkihevah\ZlvZe]hjblfu[b[ebhl_db0$7/$%&0DWK\ijh]jZffguoijh^mdlZojZ[hlZxsbo\^jm]bo
kj_^Zo
Hkgh\gu_k\hckl\Z
FZljbqgZyZjbnf_lbdZ
KjZ\g_gbyfZljbp
J_r_gb_ebg_cguomjZ\g_gbc
/8b45jZaeh`_gbyfZljbpkbg]meyjgu_qbkeZbkh[kl\_ggu_agZq_gby
GZoh`^_gb_h[jZlghcfZljbpu^_l_jfbgZglZb\ha\_^_gb_fZljbpu\kl_i_gv
We_f_glZjgZyfZl_fZlbdZ
;_lZ]ZffZnmgdpbbnmgdpbyhrb[dbbweebilbq_kdb_nmgdpbb
KlZlbklbdZbZgZeba^Zgguo
GZoh`^_gb_dhjg_cfgh]hqe_gh\
Nbevljuk\_jldb[ukljh_ij_h[jZah\Zgb_Nmjv_
Bgl_jiheypby
Hi_jZpbbgZ^kljhdZfb
<\h^/\u\h^\nZce
NB!
Hkgh\u0$7/$%;b[ebhl_dZ0$7/$%&0DWKkh^_j`blgZ[hjhldhfibebjh\Zgguoihîjh]jZffgZ&
êygZb[he__qZklhbkihevam_fuonmgdpbb0$7/$%êyqbke_gguojZkq_lh\ZgZebaZ^Zgguo^hklmiZd
nZceZf
<aZbfhk\yavj_amevlZlh\Nmgdpbbkh^_j`Zsb_ky\[b[ebhl_d_&Math /LEUDU\b^_glbqgunmgdpbyf
\kljh_gguf \ 0$7/$% lZdbf h[jZahf j_amevlZlu jZ[hlu \Zrbo Z\lhghfguo ijbeh`_gbc g_ [m^ml
hlebqZlvkyhlj_amevlZlh\jZ[hlu0$7/$%
LjbklZ^bbijhp_kkZdhfibeypbb<kljZb\Zgb_dh^Z0$7/$%\Z\lhghfgh_ijbeh`_gb_\dexqZ_lljb
ijhkluorZ]Z
1. Ij_h[jZah\Zgb_<Zr_]h0nZceZ\&dh^kihfhsvx0$7/$%Compiler.
2. Dhfibeypbybkoh^gh]h&dh^Z\h[t_dlgucdh^kihfhsvxdhfibeylhjZ$16,&
3. Ebgdh\dZ ihemq_ggh]h dh^Z k bkihevah\Zgb_f 0$7/$% & Math /LEUDU\ b ^jm]bo g_h[oh^bfuo
[b[ebhl_d
L_e

NZdk
AZf_qZgb_ ;b[ebhl_dZ 0$7/$% & 0DWK g_ h[_ki_qb\Z_l ih^^_j`dm hi_jZpbc k jZaj_`_ggufb
fZljbpZfb[ehd^bZ]jZffZfb6,08/,1.b]jZnbdhc0$7/$%
GZ^bZ]jZff_ke_\ZihdZaZghdZdkihfhsvx0$7/$%
&RPSLOHUb0$7/$%&Math /LEUDU\fh`ghij_h[jZah\Zlv
0nZcekl_fqlh[u\kljhblv_]h\h\g_rg__ijbeh`_gb_
L_e

NZdk
MATLAB C++ Math Library

Hkgh\gu_ fZl_fZlbq_kdb_ nmgdpbb b nmgdpbb ZgZebaZ ^Zgguo 0$7/$% êy
ijbeh`_gbc &
K ihfhsvx [b[ebhl_db MATLAB C++ 0DWK \u fh`_l_ \klZ\eylv fhsgu_ ihîjh]jZffu qbke_gguo
jZkq_lh\ 0$7/$% \ ijbeh`_gby gZibkZggu_ gZ & ;b[ebhl_dZ ij_^gZagZq_gZ êy kha^Zgby
Z\lhghfguoijbeh`_gbcdhlhju_lj_[mxlbkihevah\ZgbyfhsguofZl_fZlbq_kdbonmgdpbc0$7/$%
;b[ebhl_dZfZl_fZlbq_kdbonmgdpbc
FZljbqgZyZjbnf_lbdZ
KjZ\g_gb_bhp_gdZfZljbp
J_r_gb_ebg_cguomjZ\g_gbc
/8b45jZaeh`_gbykh[kl\_ggu_agZq_gbybkbg]meyjgu_qbkeZ
H[jZs_gb_fZljbpb\uqbke_gb_hij_^_ebl_e_c
We_f_glZjgZyfZl_fZlbdZ
;_lZ]ZffZnmgdpbbnmgdpbyhrb[hdbweebilbq_kdb_nmgdpbb
KlZlbklbdZbZgZeba^Zgguo
Dhjgbfgh]hqe_gh\
Nbevljuk\_jldbb[ukljh_ij_h[jZah\Zgb_Nmjv_
Bgl_jiheypby
G_jZ\_gkl\Z
<\h^b\u\h^^Zgguo
NB!
Ijh]jZffbjh\Zgb_ gZ & >ey kha^Zgby ijh]jZff gZ K dhlhju_ bkihevamxl fZl_fZlbq_kdb_
ijhp_^mju0$7/$%ihevah\Zl_evfh`_ldhg\_jlbjh\Zlvk\hb0nZceu\Kijbihfhsb 0$7/$%
&RPSLOHUbebgZibkZlvijh]jZffmg_ihkj_^kl\_gghgZK\uau\Zynmgdpbbba&Math Library.
Koh^guck0$7/$%kbglZdkbk C++ Math /LEUDU\bkihevam_lg_keh`guckbglZdkbkdhlhjuc\hfgh]hf
koh^_g k yaudhf 0$7/$% Ihwlhfm ihevah\Zl_ev fh`_l ^h\hevgh e_]dh k fbgbfZevghc lj_gbjh\dhc
kha^Z\Zlvbmkh\_jr_gkl\h\Zlvijh]jZffugZKiml_fbkihevah\Zgby0$7/$%&Math Library.
M\_ebq_gb_ kdhjhklb jZ[hlu dh^Z Dhfibebjmy FnZce \ K dh^ fh`gh ^hklb]gmlv m\_ebq_gby
kdhjhklbjZ[hluijh]jZffuBgh]^Z\hafh`gh^hklb]gmlvlbdjZlgh]h\ub]jurZ\kdhjhklb
Ij_bfms_kl\Z hl kh_^bg_gby 0$7/$% b K Bkihevamy & Math /LEUDU\ ihevah\Zl_ev fh`_l
ihemqblv ij_bfms_kl\Z hl kh_^bg_gby kdhjhklb ijbeh`_gbc gZ K b ]b[dhklb \uqbkebl_evguo
fh^me_c0$7/$%dhlhju_ih^^_j`b\Z_lhibku\Z_fZy[b[ebhl_dZ
L_e

NZdk
KbglZdkbkFnZceZbkbglZdkbkK
Ijbf_jijb\_^_ggucgb`_ihdZau\Z_lFnZcenmgdpbbKLOEPbkhhl\_lkl\mxsbcfh^mevgZibkZgguc
gZ K Z\lhfZlbq_kdb ihemq_gguc k ihfhsvx 0$7/$% &RPSLOHU k bkihevah\Zgb_f [b[ebhl_db &
Math Library.
MATLAB KLOEP0nZce
Khhl\_lkl\mxsbc&dh^
J = 1:n;
J = J(ones(n,1),:);
I = J';
E = ones(n,n);
H = E./(I+J-1);
MwMatrix J,I,E,H;
J = ramp(1,n);
J = J(ones(n,1),colon());
I = ctranspose(J);
E = ones(n,n);
H = rdivide(E,I+J-1);
H]jZgbq_gby0$7/$%&Math /LEUDU\ihdZg_ih^^_j`b\Z_lhi_jZpbbkjZaj_`_ggufbfZljbpZfb
[ehqgu_^bZ]jZffu6,08/,1.b]jZnbdm0$7/$%
L_e

NZdk

About Matlab

Uploaded by

Document Information

Original Description:

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

About Matlab

Uploaded by

Copyright:

Available Formats

MATLAB

2 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

<dgb]_hibkZguhkgh\gu_^hiheg_gbydkbkl_f_0$7/$%: Toolboxes, Simulink,

L_e    

3 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

KI?PB:EBABJH<:GGU? I:D?LU 0$7/$% ................................................ 4

COMMUNICATIONS TOOLBOX .......................................................................................................................................................... 5

L_e    

4 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

L_e    

5 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

IZd_l &RPPXQLFDWLRQV ij_^hklZ\ey_l iheguc gZ[hj \hafh`ghkl_c ^ey jZajZ[hldb ZgZebaZ b

L_e    

6 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

L_e    

7 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

dhffmgbdZpbhgguo kbkl_f k g_h[udgh\_gghc kdhjhklvx ]b[dhklvx b e_]dhklvx <u fh`_l_ e_]dh

L_e    

8 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

Control System Toolbox

L_e    

9 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

IZd_l &RQWURO 6\VWHP bkihevam_l ]jZnbq_kdb_

L_e    

10 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

L_e    

11 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

Excel /LQN h[t_^bgy_l \uqbkebl_evgu_ b ]jZnbq_kdb_ \hafh`ghklb 0$7/$% k \hafh`ghklyfb

L_e    

12 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

Frequency Domain System

GZ[hj Ze]hjblfh\ ^ey jZkq_lZ qZklhlguo oZjZdl_jbklbd b ^bZ]ghklbdb kbkl_f

I_jbh^bq_kdb_ \hafms_gby ibdnZdlhj hilbfZevguc ki_dlj ik_\^hkemqZcgu_ b ^bkdj_lgu_

IZd_lFrequency Domain System ,GHQWLILFDWLRQbkihevam_lhp_gdb

L_e    

13 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

B^_glbnbdZpby ebg_cguo klZlbq_kdbo kbkl_f H[_ki_qb\Z_lky b^_glbnbdZpby g_ij_ju\guo b

L_e    

14 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

L_e    

15 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

L_e    

16 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

Fuzzy Logic Toolbox

L_e    

17 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

L_e    

18 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

Higher-Order Spectral Analysis

L_e    

19 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

L_e    

20 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

Image Processing Toolbox 2

L_e    

21 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

L_e    

22 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

LMI Control Toolbox

J_r_gb_ aZ^Zq ebg_cgh]h ijh]jZffbjh\Zgby aZ^Zqb kh\f_klghklb h]jZgbq_gbc fbgbfbaZpby

L_e    

23 DhjihjZpby KhnlEZcg _^bgkl\_gguc Z\lhjbah\Zgguc iZjlg_j 7KH MathWorks, Inc. \ Jhkkbb

L_e    

L_e

L_e

L_e

IZd_l &RPPXQLFDWLRQV ij_^hklZ\ey_l iheguc gZ[hj \hafh`ghkl_c ^ey jZajZ[hldb ZgZebaZ b

L_e

L_e

dhffmgbdZpbhgguo kbkl_f k g_h[udgh\_gghc kdhjhklvx ]b[dhklvx b e_]dhklvx <u fh`_l_ e_]dh

L_e

L_e

L_e

L_e

L_e

I_jbh^bq_kdb_ \hafms_gby ibdnZdlhj hilbfZevguc ki_dlj ik_\^hkemqZcgu_ b ^bkdj_lgu_

L_e

B^_glbnbdZpby ebg_cguo klZlbq_kdbo kbkl_f H[_ki_qb\Z_lky b^_glbnbdZpby g_ij_ju\guo b

L_e

L_e

L_e

L_e

L_e

L_e

L_e

L_e

L_e

J_r_gb_ aZ^Zq ebg_cgh]h ijh]jZffbjh\Zgby aZ^Zqb kh\f_klghklb h]jZgbq_gbc fbgbfbaZpby

L_e

L_e

L_e

L_e

L_e

L_e

L_e

L_e

Ih\_joghklv nmgdpbb ehdZevguc fbgbfmf dhlhjhc bs_lky k ihfhsvx ijh]jZffu

L_e

MijZ\ey_fu_ k_l_\u_ iZjZ^b]fu i_jk_iljhg ebg_cgu_ h[jZlgh]h jZkijhkljZg_gby E_\_g[_j]Z

L_e

L_e

[_amkeh\gZy hilbfbaZpby f_lh^ kbfie_dkgh]h ihbkdZ G_e^_jZFb^Z b d\Zabgvxlhgh\kdbc f_lh^

Ijbf_ju JZaghh[jZagu_ ijbf_ju ^_fhgkljbjmxl wnn_dlb\gh_ ijbf_g_gb_ nmgdpbc iZd_lZ K bo

L_e

L_e

L_e

L_e

L_e

L_e

L_e

L_e

H[h[s_gguc f_lh^ Q_[ur_\Z ^ey kha^Zgby nbevljh\ k g_ebg_cghc nZah\hc oZjZdl_jbklbdhc

L_e

L_e

L_e

IjhklhlZ bkihevah\Zgby ijb\e_dZ_l f_gy \ 0$7/$% =jZnbq_kdb_ \hafh`ghklb \_ebdhe_igu b bfb

L_e

Kj_^kl\Z ]jZnbq_kdh]h bgl_jn_ckZ ihevah\Zl_ey Ij_^mkfhlj_gh fgh`_kl\h bgl_jZdlb\guo

L_e

L_e

<uqbke_gby k i_j_f_gghc lhqghklvx IZd_l kgZ[`_g Ze]hjblfZfb ^ey \uqbke_gbc k i_j_f_gghc