................................................................

...........................................................................................
...........................................................11
........................... 11

MATLAB .......................................................
.......................................................13
....................... 13

. MATLAB .............................................................. 13
. MATLAB ......................................................................... 15
. MATLAB ....................................... 15
1) ...........................................................................................................................................15
2) ...........................................................................................................................................16
3) ...........................................................................................................................................17

. MATLAB ........................................... 19
1) M ...............................................................................................................................................19
2) MAT ..........................................................................................................................................20
3) MEX ..........................................................................................................................................21

. MATLAB ........................................... 21
1) .........................................................................................................................21
3) ...........................................................................................................................................25
4) .............................................................................................................................................26
5) .......................................................................................................................26
6) ..............................................................................................................................27
7) MATLAB ..............................................................................................................29
8) ...............................................................................................................................................32
9) MATLAB (Help)...........................................................................................................33

. MATLAB (Toolbox) ............................ 40

1) (Communication Toolbox) ..........................................................................................40
2) (control system Toolbox)......................................................................................40

3) (Financial Toolbox) ..............................................................................................41

4) (Frequency Domain System Identification Toolbox)......................41
5) (Fuzzy Logic Toolbox)..........................................................................................41
6) (Higher

Order Spectral Analysis Toolbox) .....................................41

7) (Image Processing Toolbox) ................................................................................42

8) (LMI Control Toolbox) ......................................................................42
9) (Model Predictive Control Toolbox) ............................................................42
10) (Mu

Analysis and Synthesis Toolbox) ...........................42

11) (Neural Network Toolbox) ....................................................................................43

12) (Optimization Toolbox) .........................................................................................43
13) (Partial Differential Equation Toolbox) ...................................................43
14) (Robust Control Toolbox)...........................................................................44
15) (Signal Processing Toolbox) ..............................................................................44
16) (Spline Toolbox) .................................................................................................44
17) (Statistics Toolbox)....................................................................................................44
18) (Symbolic Math Toolbox) ..................................................................................45
19) (System Identification Toolbox)........................................................................45
20) (Wavelet Toolbox) ..................................................................................................45

MATLAB .......................................................
.......................................................46
....................... 46
. ................................................................ 46
. ......................................... 48
. ......................................... 48
. ............................................. 52
. ............................................. 55
. ................................................................ 59
. .................................................... 59
2

. .................................................... 60
. ................................................................... 62
. .................................................... 62
. .................................................. 65
. .................................................. 66
. ............................................................................. 67
. .......................................... 67
. ................................................... 69
. ................................................................ 73
. ........................................................ 73
. .................................................... 76
. .................................................. 79
. ........................................................ 80
. ........................................... 81
MATLAB ................................
................................................................
...................................................................
...................................86
... 86
. ................................................................................ 86
. 2 plot................................... 87
. 2 .................................................. 90
. 2 fplot ......................... 92
. 3 .............................................................................. 94
. 3 ....................................... 94
. 3 ...................................................... 97
1) ................................................................................................................................97
2) ...........................................................................................................................................99

. ................................................................101
3

. ....................................... 101
1) .................................................................................................................101
2) ..................................................................................................................................102
3) ............................................................................................................................104

. ................................................ 105
. .................................................... 106
1) ................................................................................................................106
2) .........................................................................................................................................107

.MATLAB
.MATLAB ................................
................................................................
................................................................ 109
. .....................................................................109
. ....................................................... 109
1) for - end ...................................................................................................................................109
2) while-end ................................................................................................................................110

. ....................................................... 111
.

M MATLAB .........................................................112

. M ............................................... 113
. M ................................................... 114
. ...............................................................117
. ...............................................................118
. echo ...................................................... 118
. input, yesinput ........................................... 119
. pause ..................................................... 120
. ................................................................121
. .................................................... 121
. .................................................... 122
. save load ....................................... 123
4

.
.

SIMULINK ................................................................
............................................................................
............................................ 124

. SIMULINK ..................................................124
. ...........................................................................131
. Simulink .................................................. 131
. ..................................................... 132
1) , ...........................................................................................................132
2) ................................................................................................................................133
3) .........................................................................................................................133
4) ............................................................................................................................135

. ...............................................................................136
. (menu) ............. 136
1) ..........................................................................................................137
2) .........................................................................................137

. ....................................... 142
. S

................................................................145

. S

. ........................................... 146

. S

............................................ 147

. S

................................................... 149
1) S

.................................................................................................150

2) M S

.................................................................................................152

3) C (MEX ) S
4) S

. S

.............................................................................154

......................................................................................................................160

................................ 161

.
. ................................................................
.........................................................................
......................................... 164
. ................................................................164
5

. ................................................ 164
1) LTI ...................................................................................................................165
2) LTI ................................................................................................................172
3) .....................................................................................................................172

. ................................................ 175
. ..........................................................177
. ................................................ 177
1) ..................................................................................178
2) .............................................................................................179
3) ..................................................................................................................................182

. ................................................ 186
.......................................................................................................................................186
2) .........................................................................................................................................187

. .....................................................................192
. ................................................ 192
. ................................................... 198
. ................................................. 201
. .........................................................................203
. ................................................. 204
. ..................................................... 205
. LQG ...................................................... 210
.
. MATLAB ................................
.............................................................
............................................................. 217
......................................................................217
(General purpose commands) ............................. 217
1) (General Information)....................................................................................................217
2) (Managing the workspace).....................................................................................218

3) (Managing commands and functions) ...........................................................218

4) (Managing the search path) ..........................................................................................218
5) (Controlling the command window)..........................................................................218
6) (Operating system commands)..............................................................................218
7) M-(Debugging M-files).............................................................................................219

3. (Elementary math functions)....................... 219

1)(Trigonometric).................................................................................................................219
2) (Exponential) ..................................................................................................................220
3) (Complex)............................................................................................................................220
4) (Rounding and remainder) ...........................................................................220

4. (Elementary matrices and matrix manipulation)

................................................................... 220
1) (Elementary matrices)...................................................................................................220
2) (Basic array information).......................................................................................221
3) (Matrix manipulation) ...................................................................................................221
4) (Special variables and constants).....................................................................221
5) (Specialized matrices) ....................................................................................................222

5. (Character String Function) ......................... 222

6. (Matrix functions - numerical linear
algebra) .......................................................... 222
1) (Matrix analysis) ............................................................................................................222
2) (Linear equations) ......................................................................................................223
3) (Eigenvalues and singular values)...................................................................223
4) (Matrix functions)...........................................................................................................223
5) (Factorization utilities) ..................................................................................................223

7. (Data analysis and Fourier transforms) ... 224

1) (Basic operations)...........................................................................................................224
2) (Finite differences) .........................................................................................................224

3) (Filtering and convolution)...................................................................................224

4) (Fourier transforms)...................................................................................................225

8. (Interpolation and polynomials) ................... 225

1) (Data interpolation) .......................................................................................................225
2) (Spline interpolation)..............................................................................................225
3) (Polynomials)......................................................................................................................225

9. (Function functions and ODE solvers)

................................................................... 226
1) (Optimization) ....................................................................................................................226
2) (Numerical integration).................................................................................................226
3) (Plotting) .............................................................................................................................226
4) (Ordinary differential equation solvers)........................................................226

10. (Handle Graphics) .................................. 227

1) (Figure window creation and control) ......................................................227
2) (Axis creation and control)................................................................................227
3) (Handle Graphics objects) ..................................................................................227

11. 2 (Two dimensional graphs)........................... 228

1) X-Y (Elementary X-Y graphs) ......................................................................................228
2) (Axis control) ......................................................................................................................228
3) (Graph annotation).....................................................................................................228

12. 3 (Three dimensional graphs) ......................... 228

1) 3 (Elementary 3-D plots) ......................................................................................228
2) (Color control).....................................................................................................................229
3) (Viewpoint control) .....................................................................................................229
4) (Graph annotation).....................................................................................................229

13. (File input/output) ................................. 229

1) (File opening and closing).................................................................................229
2) 2 (Binary file I/O) .....................................................................................................229

3) (Formatted file I/O)....................................................................................229

4) (String conversion) .....................................................................................................230
5) (File positioning) .....................................................................................................230
6) (File name handling) ..............................................................................................230
7) (File import/export functions) ............................................................................230
8) (Command window I/O) .........................................................................................231

14. (Time and dates) .................................. 231

15. (Demonatration) ...................................... 231
1) MATLAB/(Matrices)...............................................................................................................231
2) MATLAB/(Numerics)......................................................................................................231
3) MATLAB/(Visualization)....................................................................................................232
4) MATLAB/(Language).............................................................................................................232
5) MATLAB/(ODE) ......................................................................................................232

16. (Programming language constructs) ........... 232

17.(System Identification Toolbox).................. 233
1)GUI(Graphical User Interface)......................................................................................................233
2) (Simulation and prediction).....................................................................................233
3) (Data manipulation) ......................................................................................................233
4) (Nonparametric estimation)...............................................................................234
5) (Parameter estimation) ..........................................................................................234
6) (Model structure creation)......................................................................................234
7) (Model conversions)........................................................................................................234
8) (Model presentation)......................................................................................................235
9) (Information extraction) ................................................................................................235
10) (Model validation) ........................................................................................................235
11) (Model structure selection)...................................................................................235
12) (Recursive parameter estimation) ...............................................................236

18.(Signal Processing Toolbox) ..................... 236

9

1) (Waveform generation) ..................................................................................................236

2) (Filter analysis and implementation) ..........................................................236
3) (Linear system transformations)...........................................................................237
4) (IIR digital filter design)...................................................................237
5) (IIR filter order selection) .........................................................237
6) (FIR filter design) .............................................................................238
7) (Transforms)...........................................................................................................................238
8) (Statistical signal processing and spectral analysis)................238
9) (Windows) ...........................................................................................................................239
10) (Parametric modeling)......................................................................................239
11) (Specialized operations) ...............................................................................................239
12) (Analog lowpass filter prototypes)............................................................240
13) (Frequency translation) ...........................................................................................240
14) (Filter discretization)...................................................................................240
15) .......................................................................................................................................240
16) (Demonstrations)..........................................................................................................241

10


.
,
,

.
.


.

, ,


.



.

.

MATLAB
MATLAB .
MATLAB


.
11


MATLAB

.

12

MATLAB
.
. MATLAB

MATLAB(MATrix LABoratory) MathWorks

. MATLAB 73(1984)
1 (DOS ) 20

,
.
MATLAB ( ,
, , )
(
) (30 Toolbox
) 3
.
, , ,
.
MATLAB
.

, (Visualization)
,
GUI(Graph User Interface)
13

MATLAB FORTRAN
,
LINPACK EISPACK . C

.
1

1 10 MATLAB

(OS) .
1

1.

76(1987)
80(1991)
82(1993)
82(1993)
82(1993)
83(1994)
84(1995)
86(1997)

MATLAB

1
11
5
5

86(1997) 5
87(1998) 1
88(1999) 1
89(2000)

MATLAB 3.0
3.5
3.5K
4.0
4.1
4.2
4.2C
5.0
& Simulink 2.0
MATLAB 5.1
& Simulink 2.1
MATLAB 5.2
& Simulink 2.2
MATLAB 5.3
& Simulink 3.0
MATLAB 6.0

DOS
DOS
Windows 3.0
Windows 3.x

Windows 95
Windows 95 &
NT

MATLAB 5.2 MATLAB

, Toolbox .

14

.
. MATLAB
. MATLAB
MATLAB .

1)
WIndows 95 MATLAB 1

(Command Window) . MATLAB

. MATLAB ,
MATLAB . MATLAB
>> .

1. MATLAB

MATLAB . 33
.
>>A = [1 2 3 ; 4 5 6 ; 7 8 9]
15

 ( )
(;) . MATLAB
.
A =
1 2 3
4 5 6
7 8 9

>>B = inv(A);
. MATLAB .
(;)
,
>>B = inv(A)
.
A B (Workspace)
.
MATLAB MATLAB (
) .

2)
MATLAB .
MATLAB
. MATLAB (Figure Window) .
Figure No:
.
16


.
.
figure
. File New Figure
.

3)
MATLAB
. MATLAB example
MATLAB .
1) example .
2) example .
3) (Folder) example.mex, example.dll
example.m . MEX
MATLAB .
4) MATLAB (path )
example.mex, example.dll example.m
.
MATLAB path
.
>>path
MATLAB PATH
C:\PROGRAM FILES\MATLAB\toolbox\matlab\general
C:\PROGRAM FILES\MATLAB\toolbox\matlab\ops
C:\PROGRAM FILES\MATLAB\toolbox\matlab\lang
17

C:\PROGRAM FILES\MATLAB\toolbox\matlab\elmat
C:\PROGRAM FILES\MATLAB\toolbox\matlab\elfun
C:\PROGRAM FILES\MATLAB\toolbox\matlab\specfun
C:\PROGRAM FILES\MATLAB\toolbox\matlab\matfun
C:\PROGRAM FILES\MATLAB\toolbox\matlab\datafun
C:\PROGRAM FILES\MATLAB\toolbox\matlab\polyfun
C:\PROGRAM FILES\MATLAB\toolbox\matlab\funfun
C:\PROGRAM FILES\MATLAB\toolbox\matlab\graphics
C:\PROGRAM FILES\MATLAB\toolbox\matlab\uitools
C:\PROGRAM FILES\MATLAB\toolbox\matlab\strfun
C:\PROGRAM FILES\MATLAB\toolbox\matlab\iofun
C:\PROGRAM FILES\MATLAB\toolbox\matlab\timefun
C:\PROGRAM FILES\MATLAB\toolbox\matlab\datatypes
C:\PROGRAM FILES\MATLAB\toolbox\matlab\winfun
C:\PROGRAM FILES\MATLAB\toolbox\matlab\demos
C:\PROGRAM FILES\MATLAB\toolbox\compiler
C:\PROGRAM FILES\MATLAB\toolbox\wavelet\wavelet
C:\PROGRAM FILES\MATLAB\toolbox\lmi\lmictrl
C:\PROGRAM FILES\MATLAB\toolbox\lmi\lmilab
C:\PROGRAM FILES\MATLAB\toolbox\fuzzy\fuzzy
C:\PROGRAM FILES\MATLAB\toolbox\mpc\mpccmds
C:\PROGRAM FILES\MATLAB\toolbox\ncd
C:\PROGRAM FILES\MATLAB\toolbox\nnet\nnet
C:\PROGRAM FILES\MATLAB\toolbox\nnet\nnutils
C:\PROGRAM FILES\MATLAB\toolbox\nnet\nnobsolete
C:\PROGRAM FILES\MATLAB\toolbox\mutools\commands
C:\PROGRAM FILES\MATLAB\toolbox\mutools\subs
C:\PROGRAM FILES\MATLAB\toolbox\signal
18

C:\PROGRAM FILES\MATLAB\toolbox\optim
C:\PROGRAM FILES\MATLAB\toolbox\robust
C:\PROGRAM FILES\MATLAB\toolbox\ident
C:\PROGRAM FILES\MATLAB\toolbox\control
C:\PROGRAM FILES\MATLAB\toolbox\rtw
C:\PROGRAM FILES\MATLAB\toolbox\Simulink\Simulink
C:\PROGRAM FILES\MATLAB\toolbox\Simulink\blocks
C:\PROGRAM FILES\MATLAB\toolbox\Simulink\simdemos
C:\PROGRAM FILES\MATLAB\toolbox\Simulink\dee
C:\PROGRAM FILES\MATLAB\toolbox\tour
C:\PROGRAM FILES\MATLAB\toolbox\local
path MATLAB
.
MATLAB matlabrc.m
( MATLAB .) .

.

. MATLAB
MATLAB
. .

1) M
M m ASCII
(MATLAB M ) .
MATLAB M . M (
19

M ) M ( ).
M MATLAB
MATLAB C FORTRAN
M MATLAB
MATLAB function
.
M MATLAB
.
M MATLAB
M
(global)
(local). M
.
M edit .
poof M
>> edit poof
poof.m .
File New Open
M .

2) MAT
MAT MATLAB 2 . MATLAB
. MATLAB
MATLAB
MAT . MAT
MATLAB .
MAT , ,
20

3) MEX
MEX MATLAB 2 . MEX
MATLAB . MATLAB BASIC
M
MEX . M
MEX .

. MATLAB
MATLAB 1

1 .

1)
MATLAB .
.
MATLAB
.
MATLAB
.
(;)
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>>A = [1, 2, 3; 4, 5, 6; 7, 8, 9]
Enter
.
>>A =
21

1 2 3
4 5 6
7 8 9


>>A = [1 2 3
4 5 6
7 8 9]
Enter .
Enter (
) MATLAB (>>) .
A MATLAB (WorkSpase)
. clear
MATLAB
(MATLAB ) .


>>a = [1, 2, 3]

>>b = [4, 5, 6]?
()
>>b = [4; 5; 6]
.
(, ) .
MATLAB (;) (,)
22

 . .
(;) 3 :
.
.

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(,) 3 :
.
.

.
1]

[ 1

>>A = [1 2; 3 4]; B = [5 6; 7 8];

>>C = [0 1; 2 3], D = [4 5; 6 7]
C =
0 1
2 3
D =
4 5
6 7
2) (statement)
MATLAB
. MATLAB .

=
, , .
MATLAB
23

 (ans) . ans
.

>>1996/18

ans =
110.889
.

.
=, +, -, * .(
.)
.
, 31
. MATLAB
A a .
MATLAB ,
.
()
.
[ 1

2]

>>S = 1-1/2+1/3-1/4+1/5-1/61/7+1/8;

24

3)
MATLAB
(Permanent variables) . 1-2
.
1

2.

Eps
Pi
inf Inf
NaN
i, j

. PC 2 52 .
3.14159265358979
1
. ( )
0
0
(Not a Number) ,
,0
0
, i = 1 , j = 1

MATLAB clear
. clear
.
IEEE 0

. .
[ 1

3]

>>S = 1/0
Warning:Divide by zero
S =
inf

25

4)
10 .
.
3

-99

0.001

9.456

1.3e-3

4.5e33

10 308

10 308 .

.
* , / , ? , ^

.
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[ 1

4]

>>x = 2*pi/3+2^3/5-0.3e-3
x =
3.6941

5)
MATLAB i j .
z = 3+4*i z = 3+4*j .
.
>>A = [1, 2; 3, 4]+i*[5, 6; 7, 8]
>>A = [1+5*i 2+6*i ; 3+7*i 4+8*i]
26

 i
.
.
1 + 5i( .)
.
[ 1

5] ( )

>>A = [1, 3; 2, 4]-i*[5, 8; 6, 9]

>>B = [1+5*i, 2+6*i; 3+8*i, 4+9*i]
>>C = A*B
A =
1.0000-5.0000i 3.0000-8.0000i
2.0000-6.0000i 4.0000-9.0000i
B =
1.0000+5.0000i 2.0000+6.0000i
3.0000+8.0000i 4.0000+9.0000i
C =
1.0e+0.02*
0.9900

1.1600-0.0900i

1.1600+0.0900i 1.3700

6)
MATLAB
.
( )
format
. format
27

 .
()

.
( ) short g
5 .
.
>>x = [4/3 1.2345e-6]
.
>>format short
1.3333 0.0000
>>format short e
1.3333e+000 1.2345e-006
>>format long
1.33333333333333 0.00000123450000
>>format long e
1.33333333333333e+000 1.2345000000000e-006
>>format short g
1.3333

1.2345e-006

>>format long g
1.33333333333333

1.2345e-006

>>format bank
1.33 0.00
>>format hex
3ff555555555 3eb4b6231abfd271
>>format +
++
format 1

3 .
28

3.

Format
format short
format long
format short e
format long e
format short g

format

5
15
5
15
5

format long g 15

format rat

format hex
16
format +
+, -, , ,

format bank
() ,
format compact
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format loose

.

3.1416
3.14159265358979
3.1416e+00
3.14159265358979e+00

355/113
400921fb54442d18
+
3.14

7) MATLAB
(1) who whos
MATLAB
who whos .
.
who whos
( ,
) .
29

[ 1

6]

>>who
Your variables are:
A ans S
A, S, ans 3 .
[ 1

7]

>>whos
Name

Size

Bytes

class

3*3

72

double array

ans

1*1

16

double array(complex)

1*1

double array

Grand total is 10 elements using 80 bytes

(2) save, load

.
load
. MATLAB
MAT . mat
, .
>>load clown
MATLAB clown.mat
.
. (MATLAB Editor,
Notepad )
Enter .
. MATLAB
30

 .
>>load mydata.dat
mydata.dat MATLAB
mydata .
save
load save .
. MATLAB
temp.mat .
>>save temp

>>save temp X Y Z
save temp save temp X Y Z
X, Y, Z temp .

.
>>A = rand(2, 3);
>>save temp.dat A -ascii
temp.dat 2 3

0.2113

0.8096

0.4842

0.8217

0.8234

0.2354

.
(3) clear
.

>>clear

.
31

>>clear X Y Z

X, Y, Z .

>>clear functions

>>clear variables

.
>>clear mex
>>clear global
>>clear all

MEX .
.
, , MEX .

MATLAB 1

.
1

4.

clc
clf
clear
dir
cd
disp
type
echo
exit,
quit

MATLAB

.
.
.
.
.
() .
.

MATLAB .

8)
C MATLAB .
() .
>>disp(text string?)

% disp:

text string
>>S = Use MATLAB?
32

S =
Use MATLAB
.

. S 1*10 .

9) MATLAB (Help)
(Help)
(Help)
MATLAB (On

line) MATLAB

.
MATLAB
.
Help
(help window)
lookfor
MATLAB HelpDesk
help
help ( )
.
.
3 .
help
.
>> help
HELP topics:
matlab\sparfun

- Sparse matrices.

matlab\graph2d

- Two dimensional graphs.

33

matlab\graph3d

- Three dimensional graphs.

matlab\specgraph

- Specialized graphs.

matlab\graphics

- Handle Graphics.

matlab\uitools

- Graphical user interface tools.

matlab\iofun

- File input/output.

matlab\timefun

- Time and dates.

matlab\datatypes

- Data types and structures.

matlab\winfun

Windows Operating System Interface Files

(DDE/ActiveX)

matlab\demos

Examples and demonstrations.

lmi\lmictrl

LMI Control Toolbox: Control Applications

lmi\lmilab

LMI Control Toolbox

dspblks\dspblks

DSP Blockset.

dspblks\dspmex

(No table of contents file)

fuzzy\fuzzy

Fuzzy Logic Toolbox.

fuzzy\fuzdemos

Fuzzy Logic Toolbox Demos.

toolbox\ncd

- Nonlinear Control Design Blockset

nnet\nnet

- Neural Network Toolbox.

mutools\commands

mutools\subs

- Mu-Analysis and Synthesis Toolbox.

toolbox\signal

- Signal Processing Toolbox.

toolbox\robust

- Robust Control Toolbox.

toolbox\ident

- System Identification Toolbox.

toolbox\control

- Control System Toolbox.

Mu-Analysis and Synthesis Toolbox.

Simulink\Simulink

- Simulink

Simulink\blocks

- Simulink block library.

Simulink\simdemos

- Simulink demonstrations and samples.

Simulink\dee

- Differential Equation Editor

34

toolbox\local

- Preferences.

For more help on directory/topic, type "help topic".

MATLAB MATLAB
.
.
matfun .

>> help matfun
.
>> help matfun
Matrix functions - numerical linear algebra.
Matrix analysis.
norm

- Matrix or vector norm.

normest

- Estimate the matrix 2-norm.

rank

- Matrix rank.

det

- Determinant.

trace

- Sum of diagonal elements.

null

- Null space.

orth

- Orthogonalization.

rref

- Reduced row echelon form.

subspace

- Angle between two subspaces.

Linear equations.
\ and /
inv

- Linear equation solution; use "help slash".

- Matrix inverse.
35

cond
condest
chol
cholinc
lu
luinc

- Condition number with respect to inversion.

- 1-norm condition number estimate.
- Cholesky factorization.
- Incomplete Cholesky factorization.
- LU factorization.
- Incomplete LU factorization.

qr

- Orthogonal-triangular decomposition.

nnls

- Non-negative least-squares.

pinv

- Pseudoinverse.

lscov

- Least squares with known covariance.

Eigenvalues and singular values.

eig

- Eigenvalues and eigenvectors.

svd

- Singular value decomposition.

gsvd

- Generalized ingular value decomposition.

eigs

- A few eigenvalues.

svds

- A few singular values.

poly

- Characteristic polynomial.

polyeig

- Polynomial eigenvalue problem.

condeig

- Condition number with respect to eigenvalues.

hess

- Hessenberg form.

qz
schur

- QZ factorization for generalized eigenvalues.

- Schur decomposition.

Matrix functions.
expm

- Matrix exponential.

logm

- Matrix logarithm.

sqrtm

- Matrix square root.

36

funm

- Evaluate general matrix function.

Factorization utilities
qrdelete

- Delete column from QR factorization.

qrinsert

- Insert column in QR factorization.

rsf2csf

- Real block diagonal form to complex diagonal form.

cdf2rdf

- Complex diagonal form to real block diagonal form.

balance

- Diagonal scaling to improve eigenvalue accuracy.

planerot

- Given's plane rotation.

cholupdate

- rank 1 update to Cholesky factorization.

qrupdate

- rank 1 update to QR factorization.

help
.
>>help magic
magic .
MAGIC Magic square.
MAGIC(N) is an N-by-N matrix constructed from the integers
1 through N^2 with equal row, column, and diagonal sums.
Produces valid magic squares for N = 1, 3, 4, 5, ...

. MATLAB
.

MATLAB help Help Window
(Toolbar) ? .

37

>> helpwin
. help .
lookfor
lookfor (keyword)
.

.
>> lookfor inverse
.
INVHILB Inverse Hilbert matrix.
ACOS

Inverse cosine.

ACOSH

Inverse hyperbolic cosine.

ACOT

Inverse cotangent.

ACOTH

Inverse hyperbolic cotangent.

ACSC

Inverse cosecant.

ACSCH

Inverse hyperbolic cosecant.

ASEC

Inverse secant.

ASECH

Inverse hyperbolic secant.

ASIN

Inverse sine.

ASINH

Inverse hyperbolic sine.

ATAN

Inverse tangent.

INV

Matrix inverse.

PINV
IFFT
IFFT2
IFFTN

Pseudoinverse.
Inverse discrete Fourier transform.
Two-dimensional inverse discrete Fourier transform.
N-dimensional inverse discrete Fourier transform.
38

IFFTSHIFT Inverse FFT shift.

IDCT
INV

Inverse discrete cosine transform.

Inverse of LTI systems.

INVHESS Inverse of an upper Hessenberg matrix.

lookfor (help text

% .)
lookfor xyz ?all
xyz .
Help Desk
MATLAB Help Desk
HTML(Hyper Text Markup Language) PDF(Portable Document
Format) .
Help Desk help Help Desk
>> helpdesk
.
MATLAB help Desk HTML
. help

.
doc
. eval
>> doc eval
.
PDF
Adobe Acrobat reader .

39

.
. MATLAB (Toolbox)
(Toolbox)
(Toolbox)

MATLAB (Toolbox) .
30
() 2 .
MATLAB , ,

, , MATLAB
.
MATLAB .

1) (Communication Toolbox)
, , 100

150 SIMULINK
C

2) (control system Toolbox)

, ,
,
, , LQG
40

3) (Financial Toolbox)
,

4) (Frequency Domain System Identification Toolbox)

/, /,

5) (Fuzzy Logic Toolbox)

, (Clustering) Sugeno
SIMULINK
C

6) (Higher

Order Spectral Analysis Toolbox)

41

7) (Image Processing Toolbox)

2


2

8) (LMI Control Toolbox)

, 2
H , H 2 / H
(Loop shaping) (Gain-scheduling)
GUI LMI
LMI

9) (Model Predictive Control Toolbox)

,
,

10) (Mu



H 2 H
42

Analysis and Synthesis Toolbox)

11) (Neural Network Toolbox)

BP, Hopfield, Kohonen, , RBF
, Sigmoid
,

12) (Optimization Toolbox)

2

13) (Partial Differential Equation Toolbox)

2

43

14) (Robust Control Toolbox)

LQG/LTR
H 2 H

15) (Signal Processing Toolbox)

,

FFT, DCT

16) (Spline Toolbox)

B


,

17) (Statistics Toolbox)

44

18) (Symbolic Math Toolbox)

, ,
,
2

19) (System Identification Toolbox)

AR, MA, ARMA

,

20) (Wavelet Toolbox)

1 , 2

45

 MATLAB
MATLAB . MATLAB

.
MATLAB ,
.

.
.

MATLAB , , ,
, , , ,
.
MATLAB
.
.

. A B (
MATLAB ) A(m*n) B(n*k)
A*B(m*k)
, A(m*n) B(m*n)
( a ij bij ).
2

1 .

4 , (.)

2

1.

46

A?

A.?

A+B

A.+B

A-B

A.-B

s+B

(MATLAB
)

(MATLAB
)
(A
B .)
B s .

s-B,B-s

A*B
s*B
A/B
B?A
inv(A)

A^n
A^p

A B (
X*A=B X )
A B (
A*X=B X )
A

A n
A

p^A

expm(A) A
logm(A) A
sqrtm(A)

A.*B
s.*B
A./B
B.?A

s./B,B.?
s
A.^n
A.^p
p.^A
exp(A)
log(A)
sqrt(A)

conj(A?)
(
)
(
)

,

B s .(
.)
A B
.[A(i,j)/B(I,j)]

s B .
A n
A

A
A
A

. , , , 3

.
, ,
.
47

.
.
.
C mn = Amk Bk n .
. Amn Bmn
.

C m n

a11 b11 ! a1n b1n

=
"
!
"

a m1 bm1 ! a mn bmn

.
.
[ 2

1]

A = [11 12 13 14 15 ; 16 17 18 19 20];
B = [1 2 3 4 5 ; 6 7 8 9 10];
C = A*B?
D = A.*B
C=
205 530
280 730
D=
11

24

39

56

75

96 119 144 171 200

.
.
MATLAB
48

 . MATLAB
B\A=(A?/B?)?
.

. MATLAB
.
inv(A)
A .
MATLAB A
Warning:Matrix is singlular to working precision .
Inf().
A (ill-condition) .
MATLAB inv .
.

Ax = b .
.
x = inv(A)*b
A b

x = A\b
.
.
[ 2

2]

.
49

rand(seed?,12);
A = rand(100)+1.e8; % (100x100) .
%
% A .
x = ones(100,1);

% x 1 100

b = A*x;

% A x b .

cond(A)

% A .

ans =
5.0482e+011
A 5 * 1011 .

.
tic

% .(Stopwatch Timer)

xi = inv(A)*b;
toc

% xi .
%
% .

eri = norm(x-xi)

% xi x
% 2

rei = norm(A*xi-b)/norm(b) % 2

elapse_time =
0.8700
eri =
1.0044e-004
rei =
1.2177e-006
50

 .
tic
xd = A\b;

% xd .

toc
erd = norm(x-xd)
red = norm(A*xd-b)/norm(b)

elapsed_time =
0.3300
erd =
2.7502e-005
red =
5.7220e-016

2.5 .
MATLAB inv

.
.

.
a11 / b11 # a1n / b1n
.
A./B,B./A "
#
"

a m1 / bm1 # a mn / bmn

51

 a11 / s # a1n / s
#
" .
A./s "
a m1 / s # a mn / s
s / b11 # s / b1n
s./B,B./s "
#
" .
s / bm1 # s / bmn

.
(1)
A^p
.
p .
1) p>0 A^p A p .
2) p<0 A^p A p
. .
3) p=0 A^0 A .
p .
AV = VD
d11p # 0

A p = V " # " V 1
0 # d nnp

. D .
.
A^p sqrtm(A)
(Schur) .
MATLAB . A^0.5
52

 sqrtm(A) .
[ 2

3] .

>>A = [1 2 3 ; 4 5 6 ; 7 8 9];
>>Ap = A^0.3
Ap =
0.6962+0.6032i 0.4358+0.1636i 0.1755-0.2759i
0.6325+0.0666i 0.7309+0.0181i 0.8292-0.0305i
0.5688-0.4700i 1.0259-0.1275i 1.4830+0.2150i
.
>>[V, D] = eig(A);
>>AAp = V*diag([D(1, 1)^0.3, D(2, 2)^0.3, D(3, 3)^0.3])/V,
AAp =
0.6962+0.6032i 0.4358+0.1636i 0.1755-0.2759i
0.6325+0.0666i 0.7309+0.0181i 0.8292-0.0305i
0.5688-0.4700i 1.0259-0.1275i 1.4830+0.2150i
A.^p
(mxn) A p
a11p # a1pn

" # "
p
a mp1 # a mn

.
[ 2

4]

>>Aap = A.^0.3
Aap =
1.0000 1.2311 1.3904
53

1.5157 1.6207 1.7118

1.7928 1.8661 1.9332
3 2

.
(2)
p^A
p
p d11

pA =V "
0

" V 1
p d nn

#
#
#

. V, D AV = AD .
[ 2

5] .

>>pA = (0.3)^A

% A .

pA=
2.9342

0.4175 -1.0993

-0.0278

0.7495 -0.4731

-1.9898 -0.9184

1.1531

p.^A
(m*n)
p a11 #

#
"
a
m
1
p
#

p a1n

"
p amn

.
[ 2

6] .

>>paA = 0.3.^A
54

paA=
0.3000 0.0900 0.0270
0.0081 0.0024 0.0007
0.0002 0.0001 0.0000

.
MATLAB .
f() .
funm() .

:
f (a11 ) #
a11 # a1n

A = " # " f ( A) = "

#
f (a m1 ) #
a m1 # a mn
2
2

2.

sin
cos
tan
cot
sec
csc
asin

f (a1n )
" .
f (a mn )

2 2

3 .

f()

Acosh
Atanh
Acoth
Asech
Acsch
Fix
Ceil

()

acos
atan
atan2

floor
round
rem
55

acot
asec
acsc
sinh
cosh
tanh
coth
sech
csch
asinh

3.

sign
abs
angle
imag
real
conj
log10
log
exp
sqrt

f()

bessel
beta
gamma
rat

1,2
beta

erf
eerfinv
ellipke
ellipj

MATLAB 2
2

4.

cond(A)

4 .

svd(A)

det(A)
dot(A,B)

A (
)
A

trace(A)
expm(A)

A
e

eig(A)

expm1(A)

A
A

()

norm(A,1)

A 1-

expm2(A)

expm3(A)

e .

norm(A)

A 2-
(A )

e A .
56

norm(A,inf)
norm(A,?fro?
)
rank(A)

[ 2

A -
A

logm(A)
sqrtm(A)

ln(A)
A

1
2

funm(A,?FN? A
)

7] , , , .

>>A = magic(5);
>>s = svd(A)?
>>d = det(A), t = trace(A), rk = rank(A), c = cond(A)
>>n1 = norm(A, 1), n2 = norm(A), ninf = norm(A, inf), nf =
norm(A, ?fro?)

S =
65.0000 22.5471 21.6874 13.4036 11.9008
d =
5070000
t =
65
rk =
5
c =
5.4618
n1 =
65
n2 =
65.0000
ninf =
57

65
nf =
74.3303
.

.

exp(A)
log(A)
sqrt(A)

[ 2

expm(A)
logm(A)
sqrtm(A)
funm(A,?FN?)

8] sqrt sqrtm

>>B = [7 10;15 22];

>>Bs = sqrt(b), BS = sqrtm(B)
>>BsBs = Bs*Bs, BBs = Bs.*Bs, BSBS = BS*BS

Bs =
2.6458 3.1623
3.8730 4.6904
Bs =
1.5667 1.7408
2.6112 4.1779
BsBs =
19.2474 23.1990
28.4129 34.2474
BBs =
58

7.0000 10.0000
15.0000 22.0000
BSBS =
7.0000 10.0000
15.0000 22.0000
[ 2

9] sin(B) funm(B, ?sin?) .

>>sinb = sin(B), fsinmb = funm(B, ?sin?)

sinb =
0.6570 -0.5440
0.6503 -0.0089
fsinmb =
-0.0272 -0.2410
-0.3614 -0.3886

.
.

.
.
<

<=

>

>=

==

:
1) a, b
a, b 1 .
a, b 0 .
2) A B A, B
59

 .
A( B) 0 1
.
3) a B a B
B
0 1 .
4) , , .
[ 2

10]

A = [1 2 3; 4 5 6; 7 8 9];
x = 5; X = 5*ones(3);
Ax = x>=A
AX = X>=A

Ax =
1 1 1
1 1 0
0 0 0
AX =
1 1 1
1 1 0
0 0 0
.

.
3 .
&

,
60

:
1)
1 ;
0 .
2) a b
a&b : a, b 1, 0
.
a|b : a, b 1 .
a : a 1, 0 .
3) A, B A, B
.
4) a B a B
B .
5) , , .
[ 2

11] 3

A = [1 2 3; 4 5 6]; B = [-1 0 0; 0 0.5 0];

AandB = A&B, AorB = A|B, notB =

AandB =
1 0 0
0 1 0
AorB =
1 1 1
1 1 1
notB =
0 1 1
1 0 1
61

[ 2

12]

a = 1&0+3, b = 3>4&1
a1 = (1&0)+3
b1 = 3>(4&1)

a =
1
b =
0
a1 =
3
b1 =
1
.

.
.

.
,
.

.
MATLAB .
: .
: .
1) x = N1:N2
62

 x = [N1, N1+1, N1+2, , N1+k] N2-1<N1+kN2

. N2N1 .
2) x = N1:dn:N2
dn>0 N2N1 x = [N1, N1+dn,
N1+2*dn,, N1+k*dn] . k N2-dn<N1+k*dnN2 .
dn<0 N2N1 x = [N1,N1+dn,N1+2*dn, ,
N1+k*dn] . k N2N1+k*dn<N2-dn .
k .
[ 2

13]

x1 = 0:10
x2 = 0:3:11

% 0 10 1 .
% 0 11 3 .

x3 = 11.5:-3:0

x1 =
0 1 2 3 4 5 6 7 8 9 10
x2 =
0 3 6 9
x3 =
11.5000 8.5000 5.5000 2.5000
.
linspace logspace .
.
y = linspace(x1,x2)

(1*100)
y(1) = x1,y(100) = x2 .

y = linspace(x1,x2,n)

(1*n)
y(1) = 1,y(n) = x2 .
63

 .

.

.
.
y = logspace(a,b)

(1*50)
y(1) = 10 a , y(50) = 10 b .

y = logspace(a,b,n)

(1xn)
y(1) = 10 a , y(n) = 10 b .

[ 2

14] 3

y1 = 1:200:1000
y2 = linspace(1, 1000, 5)
y3 = logspace(0, 3, 5)

y1 =
1 201 401 601 801
y2 =
1.0e+003*
0.0010 0.2507 0.5005 0.7502 1.0000
y3 =
1.0e+003*
0.0010 0.0056 0.0316 0.1778 1.0000

64

.
MATLAB
.
eye ,

o0nes 1 , zeros

rand , randn
linspace , logspace
meshgrid 3 ;
(linspace logspace meshgrid 3 2 .)
, 1 , .
eye(n)
ones(n)

(n*n)
(n*n) .
.

(n*n)
(n*n) 1 .
.
zeros(n) (n*n)
(n*n) .
.

eye(m, n), ones(m, n), zeros(m, n) (m*n)

(m*n) .
.
eye(size(A)), ones(size(A)), zeros(size(A)) A
.
.
rand [0, 1]
randn N(0, 1)
. .
rand(n), rand(m,n), rand(size(A)) (n*n), (m*n) A

.
randn(n), randn(m,n), randn(size(A))(n*n),(m*n) A

.

65

.
MATLAB ,
.
compan

hankel

hilb

invhilb

kron

magic

diag

toeplitz

pascal
vander

Amn B pq

a11 B # a1n B
= "
#
"
a m1 B # a mn B ( m p )( nq )

.
K = kron(A, B)
[ 2

15] .

A = [1 2 3; 4 5 6], B = [2 4; 6 8]
C = kron(A, B)
A =
1 2 3
4 5 6
B =
2 4
6 8
C =

6 12
66

8 12 16 18 24

8 16 10 20 12 24
24 32 30 40 36 48

.
.
.
MATLAB .

p ( x) = a n x n + a n 1 x n 1 + # + a1 x + a 0
n+1 .
p = [a n

a n 1 # a1 a0 ]

.

p(x) = x 3 -2x-5

p = [1 0 -2 -5];
.
poly
.
p = poly(AR)
p . AR .
AR AR . AR
67

 AR = [ar1 ar2 # arn ]

.
( x ar1 )( x ar2 ) # ( x arn ) = x n + a n 1 x n 1 + # + a1 x + a 0
AR ari .
s 3 + 2 s 2 + 3s + 4
>>p = [1 2 3 4];root(p)
ans =
-1.6506
-0.1747+1.5469i
-0.1747-1.5469i
[ 2

15]

>>A = [1 2 3; 4 5 6; 7 8 0];
>>p = poly(A)
p =
1 -6 -72 ?27
>>r = roots(p)
12.1229
-5.7345
-0.3884
>>p2 = poly(r)
p2 =
1 -6 -72 -27
A
A
. roots .

68

.
(1)
polyval .
p(s) = s 3 -2s-5 s = 5 .
>>polyval([1 0 -2 -5], 5)
ans =
110
. p(X)= X 3 -2X-5 p(X)= X 3 2X-5 . X X
p .
>>p = [1 0 -2 -5];
>>X = [2 4 5; -1 0 3; 7 1 5];
>>Y = polyvalm(p, X)
Y =
377 179 439
111

81 136

490 253 639

polyval polyvalm
.
.
PA = polyval(p, S)
PM = polyvalm(p, S)
p , S .
.
69

 S p s 3 -2s+12 polyval(p, S)
S.^3-2*S+12*ones(size(s))
polyvalm
S*S*S-2*S+12*eye(size(s))
. polyval
polyvalm .
(2)
m a n b (convolution) c

c(k ) = a ( j )b(k + 1 j )
j =1

. c (m+n-1).
. MATLAB
c = conv(a, b)
.
[ 2

17] ( s 2 +2s+2)(s+4)(s+1) .

C = conv([1, 2, 2], conv([1, 4], [1, 1]))

C = poly2str(c, ?s?)

C =
1 7 16 18 8
C =
s^4+7s^3+16s^2+18s+8

70

(3)
(Deconvolution) . a
c q
r .
k

c( k ) r ( k ) = a ( j ) q ( k + 1 j )
j =1

c a q
r .
.
[q,r] = deconv(c, a)
(4)
r = roots(p)
PA = polyval(p, S)

p .
.
p , S .

PM = polyvalm(p, S)

.
p , S .

[r,p,k] = residue(b, a)

. b, a ,

r, p, k ,
, .
P = polyfit(x, y, n)

n x, y

.
b(s) na a(s)
.
71

rn
r1
r2
b( s )
=
+
+#+
+ k ( s)
a ( s ) S p1 S p2
S pn
p1 , p2 , # , pn (poles), r1 , r2 ,# rn (Residues), k(s)
(Direct term) . a(s) m p j

rj
S pj

r j 1
(S p j )2

+#+

r j + m1
( S pi ) m

.
18] ( x 3 6 x 2 72 x 27) .

[ 2

>>r = roots([1, -6, -72, -27])

r =
12.1229
-5.7345
-0.3884
[ 2

19]

>>a = [1, 3, 4, 2, 7, 2]; b = [3, 2, 5, 4, 6];

>>[r, s, k] = residue(b, a)
r =
1.1274+1.1513i
1.1274-1.1513i
-0.0232-0.0722i
-0.0232+0.0722i
0.7916+0.0000i
s =
-1.7680+1.2673i
-1.7680-1.2673i
72

0.4176+1.1130i
0.4176-1.1130i
-0.299i
k =
[]
k
.

.
.
.
MATLAB x
. x
( ) .
.
MATLAB
.

max(X)

X .

mean(X)

X .

median(X)

X .

min(X)

X .

std(X)

X .

prod(X)

X .

sum(X)

X .
73

S = cumsum(X) X .( .)
i

S X S ij = x kj .
k =1

P = cumprod(X) X . P X
i

Pij = x kj .
k =1

sort(X)
[ 2

X .

20]

randn(seed?, 0)
A = randn(100, 4);
AMAX = max(max(A))
AMED = median(A)
AMEAN = mean(A)
ASTD = std(A)

AMAX =
3.2069
AMED =
0.1489 0.0301 0.0443 -0.0189
AMEAN =
0.0727 0.0264 0.0351 0.0424
ASTD =
0.9536 1.0628 1.0860 0.9927

74


C = cov(X)

. cov{X } = M {( X x )T ( X x )}

x2
cov( x, y )
.

y2
cov( y, x)
C (i, j )
P = corrcoef(X) .
P(i, j ) =
C (i, i ) C ( j , j )
cov(x,y)

P = corrcoef(x,y) (2*2) .
[ 2

21] X, Y ,

rand(seed?, 1)
X = rand(10, 3); Y = rand(10, 3);
CX = cov(X), CY = cov(Y), Cxy = cov(X, Y)
PX = corrcoef(X), Pxy = corrcoef(X, Y).

CX =
0.0508

0.0159 0.0442

0.0159 0.0332 0.0006

0.0442

0.0006 0.0882

CY =
0.0870

0.0656

0.0318

0.0656

0.0874

0.0576

0.0318

0.0576

0.1013

Cxy =
0.0577 0.0078
0.0078 0.0877
PX =
1.0000

0.3875 0.6600
75

0.3875

1.0000 0.0104

0.6600

0.0104 1.0000

Pxy =
1.0000 0.1104
0.1104 1.0000

.
,
. MATLAB
(Signal Processing Toolbox) . MATLAB
.
abs

angle

conv

con2

deconv

fft

fft2

filter

filter

ifft

ifft2

fftshift

(FFT)
FS = fft(X)
FS = fft(X,n)

n
76

IFS = ifft(X)
IFS = ifft(X,n)

X . fft(X) iff(X)
X
. fft(X, n)
ifft(X, n) X n 0
.
[ 2

22] 5 x1, x2 FFT

.
x1 = [1 1 1 1 1]; x2 = [2 1 3 1 1];
fx1 = fft(x1, 9), fx2 = (x2, 9)
x = conv(x1, x2)
y = ifft(fx1.*fx2)
ry = real(y)

fx1 =
columus 1 throgh 4
5.0000 0.5000-2.8356i 0.5000+0.1820i 0.5000-0.8660i
columus 5 throgh 8
0.5000+0.4195i 0.5000-0.4195i 0.5000+0.8660i 0.5000-0.1820i
column 9
0.5000+2.8356i
fx2 =
columns 1 through 4
8.0000 1.8473-4.8053i -0.3794-0.5021i 0.5000+0.8660i
columns 5 through 8
77

3.0321+1.7051i 3.0321-1.7051i 0.5000-0.8660i -0.3794+0.5021i

column 9
1.8473+4.8053i
x =
2 3 6 7 8 6 5 2 1
y =
columns 1 through 4
2.0000-0.0000i 3.0000-0.0000i 6.0000-0.0000i 7.0000-0.0000i
columns 5 through 8
8.0000+0.0000i 6.0000+0.0000i 5.0000+0.0000i 2.0000+0.0000i
columns 9
1.0000+0.0000i
ry =
Columns 1 through 7
2.0000 3.0000 6.0000 7.0000 8.0000 6.0000 5.0000
Columns 8 through 9
2.0000 1.0000
5 . FFT
N5+5-1 . 9 FFT 9 IFFT
.
FFT fx1, fx2 x1
x2 .
real .
.

[Y, Zf] = filter(B, A, X, Zi)

78

yn =

1
(b1 x n + b2 x n 1 + # + bnb x n nb +1 a 2 y n 1 # a na y n na +1 )
a1

. filter , A = [a1 , a2 ,#, ana ] ,

B = [b1 , b2 ,#, bnb ] . Zi = [ y1 , y 2 ,# , y na 1 ] .

Zf = [ y N na +1 , y N na + 2 , #, y N ] .

X = [ x1 , x 2 , # , x N ] .

Zi .
[ 2

23] ( 2

1)

t = linspace(0, 10, 100); % ..

S = sin(2*pi/5*t);

%
noise = 0.2*rand(size(t)); % .
x = S+noise;

y = zeros(size(x));
A = [1 -0.9]; B = [0.05 0.06]; %

y = filter(B, A, x);

% 1

IIR

1.

plot(t, x, ?b?, t, y, ?r?)

.
.

MATLAB
. MATLAB
.
(Function Functions)
. ,
79

 , .

.

S = quad(fname?, a, b, tol, trace)
.
S = quad8(fname?, a, b, tol, trace) Newto-cotes

.
fname ,
a b tol
. tol = 0.001 .
trace 1 0 .
quad8 quad .
[ 2

24] y (t ) = e

0.5 t

sin(t + )dt
6

S=

y (t )dt

esin.m (esin
) .
function y = esin(t)
y = exp(-0.5*t).*sin(t+pi/6);
function .(
4 .)
esin.m (Folder) .
.
S = quad(esin?, 0, 3*pi)

80

S =
0.9008
esin
.

Z = trapz(X, Y)

Sc = cumsum(Y)

[ 2

25] .

d = pi/1000; t = 0:d:3*pi, nt = length(t);

Y = exp(-0.5*t).*sin(t+pi/6);
Z = trapz(Y)*d
Sc = cumsum(Y)*d;Scf = Sc(nt)

Z =
0.9008
Scf =
0.9016

.
(ODE) MATLAB
.
MATLAB 1

x = f ( x, t ) 1 .

81

y ( n ) = f (t , y, y ' , #, y ( n 1) )

x1 = y, x 2 = y ' ,# , x n = y ( n 1)
.

x1 = x 2

x 2 = x3

xn = f (t , x1 , x2 , # , xn )

y???-3y??-y?y = 0
y(0) = 0, y?(0) = 1, y(0) = -1
. x1 = y, x 2 = y ' , x3 = y ' '

x1 = x 2

x 2 = x3

x3 = 3x3 + x 2 x1

x1 (0) = 0, x 2 (0) = 1, x3 (0) = 1
.

x = f ( x, t ) 1 .

x , t, x
82

 . M
.
function dx = F(t, x)
dx = [x(2); x(3); 3*x(3)+x(2)*x(1)];
ODE .
t x .
ODE .


MATLAB
.
ODE .
[T, X] = solver(F?, tspan, x0)
T
X

()
.

ODE

tspan

[t0, tfinal]

x0

solver
ode45, ode23, ode113, ode15s, ode23
.
[0 1] ode45

[T, X] = ode45(F?, [0 1], [0; 1; -1])
. X T
x1, x2, x3 .
[ 2

26]
83

ODE
y?? - (1 y ) 2 y?+y = 0
. >0 .
.

y = x1 , y = x2

x1 = x2

x 2 = (1 x1 ) 2 x2 x1
.
ODE
=1
.
function dx =
vdp1(t, x)
dx = [x(2); (1x(1)^2)*x(2)-x(1)];
vdp1 .m


.
y(0) = 2,

2.

y (0) = 0 [0 20] ode45 .

[T, X] = ode45(vdp1?, [0 20], [2; 0]);
plot(T, X(:, 1), ?-?, T, X(:, 2), ?--?)
title(Solution of vande Pol Equation, mu=1?);
xlabel(time T?)
84

ylabel(solution X?)
legend(X1?, ?X2?)
2

2 .

85

 MATLAB


.
.
.
MATLAB

, , .
MATLAB 2 3
.

.
.

1 .
. MATLAB 2
.
MATLAB .
3-1 .
.
.

1.

plot
loglog

86

semilogx
semilogy
plotyy

x y
y x

. 2 plot
MATLAB 2 plot . plot
MATLAB (Build-in function) 2
plot .
.
plot 3 .
plot(x)
x x
.
1, 2, 3, .
x

. x
.
x x


.
[ 3

1] ( 3

1)

1.

X = [1, 3, 6, 3, 5, 9, 0, 2];
plot(X)
plot(X,Y)
X, Y X, Y ,
.
87

[ 3

2] ( 3

2)

X = 0:pi/100:2*pi;
Y = sin(X);
plot(X, Y);
X .
. , plot(X, sin(X))
.

2.

3.

plot .
. plot(X, Y) Y
X () Y
. Y .
[ 3

3] ( 3

3)

X = 0:pi/100:2*pi;
X = X?;
Y = [sin(X), cos(X), cos(X+0.5)];
plot(X, Y);
plot X Y
plot(X1, Y1, X2, Y2,) X-Y
88

 .
plot ,
.
.
.
plot(X, S)
plot(X, Y, S)
plot(X1, Y1, S1, X2, Y2, S2,)
S (
) . 1
3 3
[ 3

4] ( 3

2 .

4)

t = 0:pi/12:2*pi;
y1 = sin(t); y2 = cos(t);
plot(t, y1, ?r-?, t, y2, ?b--?);

% ,

grid ;
X = [1.7*pi; 1.6*pi];
Y = [-0.3; 0.8];
S = [Sin(x)?;?Cos(x)?];
Text(X, Y, S);

2.

(RGB)
Y(110)
C(011)
R(100)
G(010)

o
+
*
89

B(001)
M(101)
W(111)
K(000)

--.
:

. 2
2
plot .
MATLAB plot 2


.
MATLAB 2

4.

3.

bar
compass
contour
errorba
r ezplot
feather
fill
fplot

gplot
hist

pcolor

polar
2
quiver
x
rose

stem
2
stairs

3 .

.
[ 3

5] bar(x, y) y ( 3

x = 0:pi/10:2*pi;
90

5)

y = sin(x);
bar(x, y);
bar(y) y x .
plot .
[ 3

6] errorbar(x, y, e) ( 3

5.

6.

x = 0:pi/12:2*pi;
y = sin(x);
e = rand(size(x))/5;
errorbar(x, y, e);
x, y, e .
.
[ 3

7] stem(x, y) ( 3

x = 0:0.2:4*pi;
y = exp(

0.3*x).*sin(x);

stem(x, y)
stem(y)
y x
plot
91

7)

6)

 .
3

[ 3

7.

8] polar(t, y) ( 3

8)

t = 0:0.01:5*pi; y = t;
polar(t, y)
t, y t .
.
[ 3

9] stairs ( 3

9)

x = 0:pi/20:2*pi; y = sin(x);
stairs(x, y)

8.

9.

. 2 fplot
y = f(x) x

.
92

 y = f(x) fplot .

.
.
fplot
.
fplot .
fplot(fname, lims, marker, tol)
[X, Y] = fplot(fname, lims, marker, tol)
.
fname

, MATLAB

.
lims

x , lims = [xmin, xmax]

marker

, , plot .

tol

, 2e-3 .

X, Y

, X Y

. X Y .
fplot .
[ 3

10] fplot plot

(1) (
( 3

10)

[X, Y] = fplot(cos(tan(pi*x))?, [-0.4, 1.4], 0.2e-3);

n = length(X)
plot(X, Y)
n =
93

1337
(2) (
( 3

11)

t = (-0.4:1.8/n:1.4)?;
plot(t, cos(tan(pi*t)));
n
. .

10. fplot

11. plot

.
. 3

MATLAB 3 ,
.

. 3
MATLAB 3
.
mesh, meshc, meshz 3
94

plot3

2 plot 3

surf, surfc, surfz

mesh

3 () mesh .
3 x

z = f(x, y)
x

z 3 .

mesh 2 .
mesh(Z)
Z 3 .
mesh(X, Y, Z)
X, Y X
Z
Y Z
. 3 x
y X, Y

Z . X, Y, Z

3 .
[ 3

11] Z 3 ( 3

Z = [1 1 1 1 1 1 1
1 2 2 2 2 2 1
1 2 2 3 2 2 1
1 2 2 2 2 2 1
1 1 1 1 1 1 1];
mesh(Z); colormap([1 0 0]);
95

2.

12)

xlabel(x?); ylabel(y?);
x-y-z X Z
y . colormap([1 0 0])
.
plot3 3 . plot
plot3 MATLAB 3
.
plot3 3 .
plot3(x, y, z)
x, y, z .
3 {(x(i), y(i), z(i)} .
[ 3

12] ( 3

13)

t = 0:pi/50:10*pi;
plot3(sin(t), cos(t), t);
grid on
3
[ 3

12 3 .
13]( 3

14)

t = 0:0.05:100;
x = t; y = sin(t); z = sin(2*t);
plot3(x, y, z, b:?)

96

13. 3

14. 3

plot3(X, Y, Z)
X, Y, Z . MATLAB X, Y,
Z . plot
MATLAB .
plot3(X, Y, Z, S)
plot , ,
. S , ,
.
.
>>plot3(X1, Y1, Z1, S1, X2, Y2, Z2, S2, )
(Xi, Yi, Zi) .

. 3

1)
2 z = f(x, y) 3 .
MATLAB z = f(x, y) D = [x0,
xm]*[y0, yn]
97

 . [x0, xm] x m [y0, yn] y n

. D
m*n .
(xi, yi, f(xi, yi))
.
x

y meshgrid

. meshgrid .
>>[X, Y] = meshgrid(x, y)
>>[X, Y] = meshgrid(x)
meshgrid(x, x) . x [x0, xm]
y [y0, yn] . X Y
. X x, Y
y . X Y (X(i, j), Y(i, j)) D (i, j)
.
(X(1, 1), Y(1, 1)) (x0, y0) .
meshgrid .

. X Y MATLAB

.
z = sin( x 2 + y 2 ) / x 2 + y 2 [-8, 8]*[-8, 8]
.
[ 3
x =

14]
8:0.5:8; y = x;

[X,Y] = meshgrid(x, y);

R = sqrt(X.^2+Y.^2)+eps;
98

Z = sin(R)./R;
mesh(Z)
R
eps .

2)

mesh
. 3

14

mesh(Z) 3
3 . 3

15

15 x

y Z
. mesh

15.

.
1) mesh(X, Y, Z, C) . X, Y, Z, C
, C .
(i, j), Y(i, j), Z(i, j)

C .
2) mesh(X, Y, Z)

1) C=Z .

3) mesh(x, y, Z, C) x y ,Z C . X
99

 Z y Z
. (x(j), y(i), Z(i, j))

C .
4) mesh(x, y, Z)
5) mesh(Z, C)

3) C=Z .
Z C m*n mesh(x,y,Z,C)
. x, y x=1:n, y=1:m

.
) mesh(Z)

5) C=Z .

mesh meshc meshz .

mesh .
meshc x
( 3

16) meshz mesh

( 3

17).

16. Meshc

17. Meshz

100

 (4 )
.
MATLAB surf .
mesh . surf mesh
mesh surf
.
[ 3

15] ( 3

18)

x = -1.5:0.3:1.5; y = -1:0.2:1;
[X, Y] = meshgrid(x, y);
Z = sqrt(4-X.^2/9-Y.^2/4);
surf(X, Y, Z)
meshc meshz
surfc, surfz
.

18.

.
.

MATLAB

.

1)
MATLAB
101

MATLAB Figure No.1

.
.
.

figure .
.
figure

figure(n) n .
clf( clg) .
cla
.
Windows

>> close(n)
. n .
figure(n) .

2)
MATLAB
.
. MATLAB
.
MATLAB subplot .
>> subplot(m, n, p)
102

 m, n, p . m*n
p . m n
,
p
.
. 4
.
[ 3

16] ( 3

19)

19.

t = 0:pi/20:2*pi;
[x, y] = meshgrid(t);
subplot(221); plot(sin(t), cos(t))
axis equal
subplot(222)
z = sin(x)+cos(y);
plot(t, z)
axis([0 2*pi 2])
103

subplot(223)
z = sin(x).*cos(y);
plot(t, z)
axis([0 2*pi -1 1]
subplot(224)
z = (sin(x).^2)-(cos(y).^2);
plot(t, z)
axis([0 2*pi -1 1])
axis

3)

hold . 3
.
hold on

.
hold off
hold

.
.

hold on MATLAB

.
[ 3

17]

y = ax+b
104

.( 3

20)

x0 = [1.1, 1.2, 1.3, 1.4, 1.5,

1.6, 1.7, 1.8, 1.9, 2.0];
y0 =[123,130, 141, 155, 169,
171, 183, 190, 205, 210];
plot(x0, y0, ?b*?);
hold on
A = [x0?, ones(size(x0?))];
B = y0?;
X = A\B;
A = x(1);b = x(2);y = a*x0+b;
plot(x0, y, ?r?);

20.

% .

string = [y =, num2str(x(1)), ?*x+?, num2str(x(2))];

text(1.3, 200, string);
hold off

.
MATLAB
.
MATLAB
.
.
MATLAB .
axis .
axis([xmin, xmax, ymin, ymax])

2 x- y-

.
105

axis([xmin, ymax, ymin, ymax, zmin, zmax]) 3

.
axis(auto?)

axis(ij?)

(ij) .

axis(xy?)

axis(off?)

axis(on?)

.
[S1, S2, S3] = axis(state?)
S1 auto , manual . S2 on
off . S3 xy
, ij .
.

.
MATLAB
. Windows
(
)
.

1)
MATLAB .
title(String?)

title(String?, ?Property?, Propertyvalve, )

.
106

xlabel(string?)

x () .

xlabel(String? , ?Property? , Propertyvalue, )

x .
ylabel(String?)

y () .

ylabel(String?), ?property?, Propertyvalue, )

y .
legend(String1? , ?String2? , )
.
3 zlabel xlabel
. String?
.
legend
( 2

2 ).

2)
MATLAB text gtext
. text gtext
.
text(x, y, z, ?String?)

(x, y, z) String?

.
gtext(String?)

text x, y, z 3
String . String
.
z 2 ( 3

4 ).

gtext
107

 .
.

108

.MATLAB
.MATLAB
.
.

. BASIC C, PASCAL
MATLAB
.

.

.
.

. MATLAB for-end
while-end .

1) for - end

for-end .
>>for i = 1:n, x(i) = 0, end
x n .
n . n 1
MATLAB .
for-end .
109

>> for i = 1:m

for j = 1:n
A(i, j) = 1/(i+j-1);
end
end
>> A

. A .
for-end for end
.
>> for i = 1:n, x(i) = 0
Enter MATLAB
(>>) . end
.
for-end .
for v =
()
end
MATLAB . for
v
. v .

2) while-end

.
110

 .
>> n = 1;
>> while prod(1:n)<1.e100, n = n+1; end
>> n
n! 100 n . prod(1:n)
1:n .
while

end .

while
()
end
.
1*1 . 1*1
any all 1*1 .
v all(v) 1
.

.
( )
.
if-else-end .
.
if
1
else
2
end

111

if 1
1
elseif 2
2
else
3
end

.
.

M MATLAB

MATLAB .
MATLAB
.
MATLAB MATLAB .
DOS (Batch) .
MATLAB .
MATLAB (Text) M .
m (MATLAB
.) ASCII
.
M MATLAB M
(Toolbox) ,
, , , , , , , , ,
112

 . M

,
. MATLAB C M
C .
MATLAB M M (Script FIle) M
(Function File) .

. M
M
MATLAB . MATLAB M M
. M MATLAB
MATLAB .
MATLAB (Workspace)
,
. clear
.
M MATLAB
.
, MATLAB M
.
M .
.
% An M-file to calculate Fibonacci numbers
f = [1 1]; i = 1;
while f(i)+f(i+1)<1000
f(i+2) = f(i)+f(i+1);
i = i+1;
113

end
plot(f)
fibno.m ( .
m MATLAB
.) MATLAB
.
(>>) fibno
. MATLAB 16
f i MATLAB
.
(%) MATLAB
.
M M (Folder)
MATLAB . M
MATLAB
MATLAB matlabrc.m (
MS-DOS
config.sys .) .

. M
M
MATLAB . M M
function ,
. M
. MATLAB
(Toolbox)
.

114

 .

. M
M
.
M (text)
. M
MATLAB
MATLAB .
M .
.
.
function y = meanvalue(x)
% MEAN Average or mean value
% MEAN(x)
% MEAN(x)
[m, n] = size(x);
if m == 1
m = n;
end
y = sum(x)/m;
mean.m . MATLAB
( ) . 1
99
>> z = 1:99;
z
115

>> mean(z)
.
ans =
50
, ,
.
,
, . MATLAB
(Toolbox)
.
.
, .
. M
.
function [output1, , outputn] = function_name(input1, , inputm)
(%) .
(help) .
>>help function-name
.
.
M mean.m x
y . M
. MATLAB
nargin nargout
. MATLAB
M .
116

.
.

.
MATLAB M (local)
.
(Workspace) .

.
.
(global)
.

.
global .
>> global X Y Z
X, Y, Z .
.

.
gfibno.m .
function f = gfibno
% gfibro.m
% NDCBA .
global NDCBA
f = [1, 1];
117

i = 1;
while f(i)+f(i+1)<NDCBA
f(i+2) = f(i)+f(i+1);
i = i+1;
end
MATLAB .
>> global NDCBA
>>NDCBA = 1000;
>>gfibno
ans =
columns 1 through 12
1 1 2 3 5 8 13 21 34 55 89 144
columns 13 through 16
233 377 610 987

.
.

.

.
.

.
.

. echo
M
118

. echo
.
echo .
M echo
.
echo on

echo on

echo

echo
. echo
.
echo FileName on FileName
.
echo FileName off FileName .
echo FileName

FileName .

echo on all

echo off all

. input, yesinput
input ,
. .
a = input(Please input a number:?)
.
Please input a number:
, ( ),
119

 . Enter a .
a = input(Please input a string:? , ?s?)

Please input a string:
. ( )
a .
a = yesinput(Prompt:? , Default, Possible)
yesinput .
.
[ 4.1] yesinput
MATLAB .
>>a = yesinput(Order of the filter? , 10 , [0, 12]);
.
Order of the filter(10):
. Enter
10, 12 0
.

. pause
pause
. pause
. pause
.
pause

.
.

pause(n)

n .
120

.
.

MATLAB
.

.

.

[]
.
.
M
M .
MATLAB .
.
.
fopen, fread MATLAB I/O

.
MEX
.
MAT
C FORTRAN MAT-
. MAT MATLAB .

121

.
MATLAB .
diary
MATLAB diary
(, , )
.
.
diary
.
.
>>diary filename
filename .
>>diary off
.
save
save .(
.)
fopen, fwrite

.
MEX

.

122

. save load
MATLAB
. save MATLAB
load .
save .
save
MATLAB 2 matlab.mat
. 2
. . 10000
8 .
save dfile
dfile.mat . mat
.
save dfile x y
x y 2 dfile.mat .
.
save dfile.dat x y -ascii
x y 8 dfile.dat .
save dfile.dat x y -ascii -double
x y 16 dfile.dat .
load
.
load

matlab.mat

.
load dfile
load dfile.dat

dfile.mat .
dfile.dat .
123

.
.

SIMULINK

Simulink , , .
MATLAB Simulink (Visual)
Windows
. Simulink MATLAB,
Simulink C, FORTRAM, Simulink DSP, Simulink
,
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Simulink Simulink MATLAB
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MATLAB .
MATLAB .
Simulink Real-Time Workshop Simulink C
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SIMULINK
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>> Simulink
5

1 Simulink untitled

.( 5 ?2)
124

1. Simulink

2. Simulink

Simulink 5

3 PID

.

.

125

3. PID

.
. Simulink
5

Sources
. Sources
(pointer)
5

4 sources

.
Step
. step


.
. 5-5
.
step

4. Sources

. step

.

126

5.

Simulink

. Step 5

, , .

6. Step

127


.
PID Linear , ,
5

7 Blocksets and Toolboxes

Simulink Extras PID Controller( 5

8)

7. PID

8. PID

(
) Linear .
Sinks
scope .
PID
5

9, 5

10 .

128

9. PID

10.

(+)
(+ -) .
5

11 .

.
. Simulink
(>) .

.
(>)
(>)
.
.
5

12 .

. (Menubar)
Simulation Start
129

(Toolbar)
5

13 Scope

11.

12. PID

130

13. .

.
.
. Simulink
MATLAB () Simulink 2
. MATLAB Simulink (

( New Simulink Model )

MATLAB Simulink
.
5

1, 5

2 MATLAB

.
Simulink ()
. Sources Sinks

( ) Discrete,
Linear,
Nonlinear , ,
Connections
.
131

 ()
.
MATLAB

, , .
Simulink S-
, , M
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1) ,
,

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4
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Delete .
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(cut) Edit cut .
Windows (Clipboard) .
132

 Edit Paste
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Edit Copy
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Paste .
.

Ctrl
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2)
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(+)
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3)
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.
()
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133

 .
. 5

14

( Gain, Transfer Fcn)

Controller, Plant .

.
.
.
5

14

.
. Transfer Fcn
.
Plant

.

14.

. (sum)

134

 . 5

15 .

(+ -) . 5

14

. 3

. .
5

16

. Numerator Denominator
5

14

15.

4)

File Save ( Save )
. M
.
135

16.

Simulink type
, .

.
.

()
.
.
Simulink
.
.

. (menu)
(menu)
(menu)
Simulink
.
136

1)

.

.
. ( ,
) .
.
.

2)
Simulink Simulation Parameters
. 5
Simulink .

137

17

17.

3 .
(1) Solver
Solver
.
Start time
Stop time . 0.0
10.0 . . 10
10 . ,
, .
Simulink (ODE)
Simulink .


138

.
.

.
Simulink
.
ode45, ode23, ode113, ode15s, ode23s
discrete . ode45,
discrete .
Ode45 Dormand-Prince -(4, 5)
y (t n ) y (t n 1 ) .
ode45
.
Ode23 Bogacki Shampine -(2, 3)
.
Ode113 Adams-Bashforth-Moulton PECE
ode15s ode23s 2
Rosenbrock .
Discrete Simulink
.
ode5, ode4, ode3, ode2, ode1 discrete
.
Ode5 Dormand-Prime ode45 ode4 4 , ode3 Bogacki-Shampine ode23 , ode2
Euler Heun , ode1 Euler .

. auto
.
139

 .
auto .
(Max Step Size)
. .
hmax =

t stop t start
50

.

.
.
Solver (Output options)

Refine Output Produce additional output,
Produce specified output only .
(2) Workspace I/O
MATLAB Simulink (Workspace)
.
Simulation Parameters Workspace I/O
.
( 5-18) Inport .
Load from workspace Input
. Save to workspace
.

140

18. Workspace I/O

Time, States, Output .

Simulink ( ), ,
.

19. Diagnostics

141

Save options .
Limit rows to last .
(3) Diagnostics

Simulation Parameters Diagnostics
.( 5

19)

,
.

.
M
. sim set-param .
Sim .
[t, x, y] = sim(model, timespan, option, ut, p1, , pn);
Simulink
.
model
Simulation parameters .
t, x, y , , .
model MEX-, M S-
.
Timespan [tStart, tFinal] .
tFinal 0 . [tStart OutputTimes
tFinal] t
.
Options
simset .
142

ut Inport p1, , pn
sys = sfun(t, x , u , flag , p1 , p2 , , pn)
s-.

>>[t, x, y] = sim(vdp?, 1000, simset(MaxRows?, 100,
?OutputVariables?, ?ty?, ?FinalStateName?, ?xFinal
?));
vdp 1000s 100 .
t y xFinal .
set_param , , .
get_param . set_param
.
set_param(sys? , ?Simulation Command ? , ? cmd?)
sys cmd start, stop, pause, continue, update
.
5

12 5

14

Scope . (menu) Scope

.
. Scope

.
. Scope
.
(Output)
(To Workspace) .

143

 .
5

1 5-20

.


. Output
Connections
.
sim1.mdl
MATLAB

5-20.

.
[t, x, y] = sim(sim1?, 20)
plot(t, y)
5-21

. Output
plot
y
.
5-2

5-21.

.
5-22 .
(ToWorkspace) Variable Name y
. To WorkSpace1 t .
(clock) Sources .
144

 sim2.mdl MATLAB MATLAB Editor

5-21
sim(sim2?, 20)
plot(x, y).

[t, x, y] = sim(sim2?, 20)

.



.
y

.

Output
To Work-

5-22.

Space .

.
. S

Simulink Simulink

S
S

MATLAB C
145

 . C S
MEX

mex MEX

MATLAB

(Link).
S

M , MEX (C FORTRAN

) 3 . S

.
. M
. MEX
.
.
S

3 ,

. S

.
.

SIMULINK SIMULINK
M () . S

()

.
MATLAB .
SIMULINK () .

. S

SIMULINK .
S
S

SIMULINK .

MATLAB

. MATLAB
.
M , .
.
.
146

SIMULINK S

M C MEX S
. S

,
SIMULINK .
M MEX
S

. S

. S
S

Simulink

, , ,
.
Simulink .
u y, x .(
.)

,
.
y = f 0 (t , x, u )

()

dxc

()

dt

= f a (t , x, u )

x d (k + 1) = f u (t , x, u )

()

xc
x=
x d
.
147

Simulink .
.
x .
Simulink
, , .
S- .
S- mdl .
M S- Simulink flag
. flag
S-
. flag M
. C MEX S- Simulink S-
.
S- .
sys = sfunction(t, x, u, flag)
[sys, x0, str, ts] = sfunction(t, x, u, flag)
sfunction t , x
, u flag S-
.
sys, x0, str, ts .
sys flag .
flag = 3 sys S- . x0 (
) str S- API
M S- .
ts 2 .
.
flag 5

1 .
148

flag

x(k+1)
dx/dt

S-
mdlInitializeSizes
mdlGetTimeOfNextVarHit
mdlOutputs
mdlUpdate
mdlDerivativeqs
mdlTerminate

flag
0
4
3
2
1
9

flag = 0
[sizes,x0] = sfunction([],[],[],0)
x0 .
sizes .
S

.

. S

flag = 0 .
( .)
(flag = 1 .) (flag = 3
.) . (
.) flag = 2 flag = 3
.

. S

3 (, M MEX )
S

149

1) S

(Van de pol Equation)

d 2x
dx
+ ( x 2 1) + x = 0
2
dt
dt
. .
dx1
= x1 (1 x 22 ) x 2
dt
dx 2
= x1
dt
SIMULINK 5

23 .

23.

S
S

( M )

M .
150

 MATLAB M
Simulink S

vdps.mdl MATLAB
flag .
5

3] flag=0 vdps .

[sizes,x0] = vdps([],[],[],0)
sizes =
2
0
0
0
0
0
x0 =
0.2500
0.2500
sizes 2
, .
x0 .
[ 5

4]flag = 1 .

flag = 1;
u = [];
t = 0;
x = [0.25; 0.25];
dx = vdps(t, x, u, flag)

151

dx =
0.2500
-0.0156

2) M S

M
S

.
Simulink M S- S-

. , , .
Simulink S-
mdlInitializeSizes simsizes .
sizes = simsizes;
5-2 sizes .
5-2

Sizes

Sizes.NumContStates
Sizes.NumDiscStates
Sizes.NumOutputs
Sizes.NumInputs
Sizes.DirFeedthrough
Sizes.NumSampleTime

s
Sizes simsizes
sys = simsizes(sizes);
Sizes Simulink sys
152

 .
.

.
M
.
function [sys, x0, str, ts] = vdpm(t, x, u, flag)
%VDPM Example M-File S-function implementing
%

the Van der Pol equation

switch flag,
% Initialization %
case 0,
[sys, x0, str, ts] = mdlInitializeSizes;
% Derivatives %
case 1,
sys = mdlDerivatives(t,x,u);
% Update, Output, and Terminate %
case {2, 3, 9},
sys = [];

% do nothing

otherwise
error(['unhandled flag = ',num2str(flag)]);
end
%=============================================
% mdlInitializeSizes
% Return the sizes, initial conditions,
%

and sample times for the S-function.

%=============================================%
function [sys, x0,str,ts] = mdlInitializeSizes
153

sizes = simsizes;
sizes.NumContStates = 2;
sizes.NumDiscStates

= 0;

sizes.NumOutputs

= 0;

sizes.NumInputs

= 0;

sizes.DirFeedthrough

= 1;

sizes.NumSampleTimes = 1;
sys = simsizes(sizes);
x0 = [.25 .25];
str = [];
ts = [0 0]; % continuous sample time: [period, offset]
% end mdlInitializeSizes
%===========================================
% mdlDerivatives
%===========================================
function sys = mdlDerivatives(t,x,u)
sys(1) = x(1) .* (1 - x(2).^2) - x(2);
sys(2) = x(1);
% end mdlInitializeSizes

3) C (MEX )
) S

S- C MEX .
Simulink Simulink ODE ,
MEX .
154

 , ,
.
MEX
. 5-3
Simulink . S? MEX
.
5-3.

S-
MdlInitializeSizes
MdlInitializeSampleTime
MdlInitializeCondition
MdlOutputs
MdlUpdate
MdlGetTimeOfNextVarHit
MdlDerivatives
mdlTerminate

C MEX S- M- S-
. M S- C MEX S-
mdlInitializeSampleTimes mdlInitializeCondition
. M S- C MEX S- S-
flag .
Simulink S- .
Simulink SimStruct S-
. SimStruct include
#include Simulink.h
.
C MEX S-
.
155

#ifdef MATLAB_MEX_FILE /*Is this file being compiled as a MEX-file?*/

#include Simulink.c /*MEX-file Interface mechanism */
#else
#include cg_sfun.h /*Code generation resistration function */
#endif
.
MEX Simulink.c Simulink
Real-Time Workshop
cg_sfun.h .
SimStruc sizes ,
S- . sizes
mdlInitializeSizes . 5-4 sizes
.
5-4. Size

(pointer)

ssSetNumStates(S, numContStates)
ssSetNumDiskStates(S, numDiscStates)
ssSetNumOutputs(S, numOutputs)
ssSetNumInputs(S, numInputs)
ssSetDirectFeedThrough(S,
dirFeedThru)
ssSetNumSampleTimes(S,
numSampleTimes)
ssSetNumInputArgs(S, numInputArgs)
ssSetNumIWork(S, numIWork)
ssSetNumRWork(S, numRWork)
ssSetNumPWork(S, nuimPWork)

.
2 SimStruct
156

 S . S- Sizes
.
Static void mdlInitializeSizes(Simstruct *S)
{ ssSetNumContStates(S, 1);
ssSetNumDiscStates(S, 0);
ssSetNumOutputs(S, 1);
ssSetNumInputs(S, 1);
ssSetDirectFeedThrough(S, 0);
ssSetNumSampleTimes(S, 1);
}
, ,
.(
.)
5-5 C MEX S-
/*
*

MEX-file system for Van der Pol equations

Syntax [sys, x0] = vdpmex(t, x, u, flag)

*
*/

#define S_FUNCTION_NAME vdpmex

#define S_FUNCTION_LEVEL 2
#include "simstruc.h"
/* Function: mdlInitializeSizes */
static void mdlInitializeSizes(SimStruct *S)
{ ssSetNumSFcnParams(S, 0);
if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S))
{ return; }
ssSetNumContStates(S, 2);
157

ssSetNumDiscStates(S, 0);
if (!ssSetNumInputPorts(S, 0)) return;
if (!ssSetNumOutputPorts(S, 0)) return;
ssSetNumSampleTimes(S, 1);
ssSetNumRWork(S, 0);
ssSetNumIWork(S, 0);
ssSetNumPWork(S, 0);
ssSetNumModes(S, 0);
ssSetNumNonsampledZCs(S, 0);
ssSetOptions(S, SS_OPTION_EXCEPTION_FREE_CODE);
}
/* Function: */
static void mdlInitializeSampleTimes(SimStruct *S)
{

ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
ssSetOffsetTime(S, 0, 0.0); }

#define MDL_INITIALIZE_CONDITIONS
/* Function: mdlInitializeConditions
*

Initialize both continuous states to zero */

static void mdlInitializeConditions(SimStruct *S)

{

real_T *x0 = ssGetContStates(S);

x0[0] = 0.25; /* int x2 */
x0[1] = 0.25; /* int x1 */

/* Function: mdlOutputs
*

y = Cx + Du

*/

static void mdlOutputs(SimStruct *S, int_T tid)

158

{ }
#define MDL_DERIVATIVES
/* Function: mdlDerivatives
*

xdot(x0) = x0*(1-x1^2) -x1

xdot(x1) = x0

*/

static void mdlDerivatives(SimStruct *S)

{

real_T *dx

= ssGetdX(S);

real_T *x

= ssGetContStates(S);

dx[0] = x[0] * (1.0 - x[1] * x[1]) - x[1];

dx[1] = x[0]; }
/* Function: mdlTerminate */
static void mdlTerminate(SimStruct *S)
{ }
#ifdef MATLAB_MEX_FILE
#include "Simulink.c"
#else
#include "cg_sfun.h"
#endif
C C (Compiler) MATLAB BIN
(batch) cmex.bat vdpmex.dll .
>>cmex vdpmex.c
MS

Windows vdpmex.dll .

Window MATLAB .
[sys, x0] = vdpmex([], [], [], 0)
5

3 .
159

C MEX S-
mdlUpdate mdlDerivative .
MEX . C MEX S- M S .

4) S

3
S

.
.
MEX S

M
S

5-24.

.( 5-24)
[ts, xs] = sim(vdps?, 10);
[tm, xm] = sim(vdpm?, 10);
plot(ts, xs, ?o?, tm, xm, ?-?);
S

>>t0 = clock; [tx, xs] = sim(vdps?, 100); etime(clock, t0)

ans =
0.1100
>>t0 = clock; [tm, xm] = sim(vdpm?, 100); etime(clock, t0)
ans =
160

2.9100
S

. S

Simulink .
S

.
5-6 2 .( 5-25)
M .
function [sys,x0,str,ts] = timestwo(t,x,u,flag)
%TIMESTWO S-function whose output is two times its input.
%

y = 2 * u;

switch flag,
% Initialization %
case 0
[sys,x0,str,ts]=mdlInitializeSizes;
% Outputs %
case 3
sys=mdlOutputs(t,x,u);
% Unhandled flags %
case { 1, 2, 4, 9 }
sys=[];
% Unexpected flags (error handling)%
otherwise
161

error(['Unhandled flag = ', num2str(flag)]);

end
% end timestwo
timestwo.m S- .
% mdlInitializeSizes
function [sys,x0,str,ts] = mdlInitializeSizes()
sizes = simsizes;
sizes.NumContStates = 0;
sizes.NumDiscStates = 0;
sizes.NumOutputs
sizes.NumInputs

= -1;
= -1;

sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;
sys = simsizes(sizes);
str = [];
x0 = [];
ts = [-1 0];
% end mdlInitializeSizes

5-25.

% mdlOutputs
function sys = mdlOutputs(t,x,u)
sys = u * 2;
% end mdlOutputs
5-25 .
162

Sine Scope Sources Sinks , S-Function

Nonlinear .
S-Function


S-
.
timestwo
. ( 5-26)



.

5-26. S-

.
5-26
.

163

.
.
.
,
. (CAD)
20 .

.
MATLAB . MATLAB
Control system Toolbox, System Identification Toolbox, Model Predictive
control Toolbox, Robust control Toolbox,

Analysis and Synthesis

Toolbox, LMI Control Toolbox .

(Control System Toolbox Ver 4.0) .
,

, LQ
.

.
.
.
(Linear Time Invariant
LTI) .
.

164

dx
= Ax + Bu
dt
y = Cx + Du
. u x y
.

.
Y ( s ) = G ( s )U ( s )

G ( s ) = C ( sI A) 1 B + D
.

G (s) =

bm s m + bm 1 s m1 + # +b 1 s + b0
an s n + a n 1 s n1 + # + a1 s + a0

,
G (s) = k

( s z1 )( s z 2 ) # ( s z m )
( s p1 )( s p2 ) # ( s pn )

.
MATLAB 3 ,
, .

1) LTI
LTI ,
/(SISO) /(MIMO) .
165

 3 LTI .
(TF),
G (s) =

s+2
s + s + 10
2

(ZPK),
2( z 0.5)
G( z ) =
z ( z + 0.1)

z2 + z +1

( z + 0.1)( z + 0.2)

(SS)
dx
= Ax + Bu
dt
y = Cx + Du
3 tf, zpk, ss
.
sys = tf(num,den)

sys = zpk(z,p,k)

sys = ss(A,B,C,D)

sys TF, ZPK, SS

. sys
.
LTI 3 tf, zpk, ss
.

SISO

166

G (s) =

n( s )
d ( s)

n(s) d(s) .

sys = tf(num, den)

num, den (2 4 1
) .
G (s) =

s+2
s + s + 10
2

>>G = tf([1 2], [1 1 10])
. .
Transfer function:
s+2
------------s^2+s+10

>>num = [1 2];
>>den = [1 1 10];
>>G = tf(num, den);
>>G
.
MATLAB
s .
167

 [1 3 5] s 2 + 3s + 5 . MATLAB
.
MIMO SISO . MIMO
. ,
SISO .

s 1
N (s) =

s + 2

s +1
D( s) = 2

s + 4 s + 5

s 1

s + 1

G (s) =
s + 2

s + 4 s + 5
. MIMO G(s) .
>>N = {[1 -1]; [1 2]}

% N(s)

>>D = {[1 1]; [1 4 5]}

% D(s)

>>G = tf(N, D)
Transfer function from input to output...
s-1
#1: ---s+1
s+2
#2: -------s^2+4s+5
SISO G(s) .
>>g11 = tf([1 -1], [1 1]

%(s-1)/(s+1)
168

>>g21 = tf([1 2], [1 4 5]

%(s+2)/(s^2+4s+5)

>>G = [g11; g21]

-
SISO .
g (s) = k

( s z1 ) ! ( s z m )
( s p1 ) ! ( s p n )

k z1 ,! , z m p1 , # p n g(s)
.
.
g = zpk(z, p, k)
z p k .

g(s) =

2s
( s 2)( s 2 2 s + 2)

.
>>g = zpk(0, [1-i 1+i 2], -2)
Zero/pole/gain:
-2s
-----------------------(s-2)(s^2-2s+2)
MIMO . p*m MIMO
.
G = zpk(Z, P, K)
z p*m , p p*m , K p*m
169

.
>>Z = {[], -5; [1-i 1+i] []}

% []

>>P = {0, [-1 -1]; [1 2 3], []}

>>K = [-1 3 ; 2 0]
>>G = zpk(Z, P, K)
2 /2 .
1
s

G ( s ) = 2( s 2 2s + 2)

( s 1)( s 2)( s 3)

3( s + 5)

( s + 1) 2

SISO MIMO
.

.
dx
= Ax + Bu
dt
y = Cx + Du
ss .
sys = ss(A, B, C, D)
A, B, C, D .

dx
= Ax + Bu
dt
y = Cx
170

0 1
A=

5 2

0
B=
3

C = [0 1]

.
>>sys = ss([0 1 ; -5 -2], [0; 3], [0 1], 0)
a =
x1

x2

x1

x2

-5

-2

b =
u1
x1

x2

c =
y1

x1

x2

d =
u1
y1

LTI , , ,
.

.
SS > ZPK > TF
LTI SS SS
, SS ZPK ZPK , TF
171

 TF .
>>sys = sys1+sys2
sys1 TF , sys2 SS sys
SS .

2) LTI
LTI
Ts() .
sys = tf(num, den, Ts)
sys = zpk(z, p, k, Ts)
sys = ss(a, b, c, d, Ts)

>>g = tf([1 -1], [1 -0.5], 0.1)

0.1s g(z)=(z-1)/(z-0.5)
>>sys = ss(A, B, C, D, 0.5)
0.5s
x(k+1) = Ax(k)+Bu(k)
y(k) = Cx(k)+Du(k)
.

3)

()
172

x(t ) = Ax(t ) + Bu (t )
y (t ) = Cx(t ) + Du (t )
.
y = G ( s )e su
.

G ( s ) = D + C ( sI A) 1 B exp(

s)

.

.
.

x(t ) = Ax(t ) + B1u1 (t 1 ) + # + Bm u m (t m )

y (t ) = Cx(t ) + D1u1 (t 1 ) + # + Dm u m (t m )
.
y = G1 ( s )e s 1 u1 + # + Gm ( s )e s m um
H j ( s ) = D j + C ( sI A) 1 B j .
LTI LTI

A, B = [B1 Bm], C, D = [D1 Dm]

G(s) = [G1(s) Gm(s)]
. Td [1 m]
.

173

>>G = tf({1, [1 2]}, {[1 0] [1 2 5]}, ?td?, [0 0.2])

Transfer function from input 1 to output:
1
--s
Transfer function from input 2 to output:
s+2
--------------s^2+2s+5
Input delays (listed by channel): 0 0.2

>>sys = ss(-1, [1 2], [2;1], 0)

% 2 , 2

>>set(sys, ?td?, [0.1 0.05])

set .
Td
.
>>sys = ss(-1, [1 2], [2;1], 0)
>>set(sys, ?td?, 0.05)
.
>>sys = ss(-1,[1 2],[2;1],0)
>>set(sys, ?td?, [0.05 0.05])
Pade pade
. pade .
rsys = pade(sys,n)
174

 sys LTI n Pade

. LTI rsys
.

.
tf, zpk, ss LTI
.
( , A, B, C, D )
LTI
.
tfdata, zpkdata, ssdata
.
[num, den, Ts] = tfdata(sys)

% Ts =

[z, p, k, Ts] = zpkdata(sys)

[A, B, C, D, Ts] = ssdata(sys)

>>G = [tf([1 -1], [1 2 10]), tf(1, [1 0])]
/
s 1

G( s) = 2
s + 2 s + 10

1
s

, .
>>[num, den] = tfdata(G)
>>num{1, 1}
ans =
0 1 -1
>>den{1, 1}
175

ans =
1 2 10
.
SISO .
[num, den, Ts] = tfdata(sys, ?v?)

>>sys = tf([1 3], [1 2 5])

>>[num, den] = tfdata(sys, v?)
num =
0 1 3
den =
1 2 5

[z, p, k, Ts] = zpkdata(sys, ?v?)

z p SISO .
3 (tfdata, zpkdata, ssdata)
LTI . tfdata
.

.
sys.num
sys.a
sys.Ts
, , .
6

1 LTI
176

.
6

1.

LTI

tf
,
zpk
-, -
ss
,
dss
Decriptor
filt
DSP
set
LTI
get
LTI
tfdata

zpkdata
-
ssdata, dssdata

.
.
.
MATLAB LTI
, .
,
.

.
6

.
.

177

1)
tf, ss, zpk
.
6

2.

tf
zpk
ss
c2d
d2c
d2d
ssbal
ss2ss
canon
ctrbf
obsvf
minreal
balreal
modred

LTI sys .
sys_tf = tf(sys)

% TF

sys_zpk = zpk(sys)

% ZPK

sys_ss = ss(sys)

% SS

>>sys = ss(-2,1,1,3)
.
>>zpk(sys)
178

Zero/pole/gain:
3 (s+2.333)
---------------(s+2)
LTI 3
.
.
.

2)
c2d d2c
. .
sysd = c2d(sysc,Ts)

% Ts =

sysc = d2c(sysd)
/ (ZOH), 1 (FOH), Tustin
.
.
.
sysd = c2d(sysc,Ts,?foh?)

% 1

sysc = d2c(sysd,?tustin?)

% tustin

Gd (z ) d2c ZOH Gd (z )
G(s) .
. ZOH d2c z=0
. z s
. d2c
179

 .
[ 6-1] .
>>gd = zpk([],-0.5,1,0.1)
Zero/pole/gain:

1
---------(z+0.5)
Sampling time: 0.1
>>gc = d2c(gd)

% gc 2

Zero/pole/gain:
4.621(s+149.3)
-------------------------(s^2+13.86s+0.035)
>>c2d(gc,0.1)

% c2d gd

Zero/pole/gain:
(z+0.5)
------------(z+0.5)^2
Sampling time: 0.1
LTI
.
sys2 = d2d(sys1, Ts)
sys1 Ts sys2
180

>>g1 = tf([1 0.4], [1 -0.7], 0.1);

>>g2 = d2d(g1, 0.25);
>>step(g1, ?--?, g2, ?-?)

0.1s 2.5 . 6
1 .

6-1.

181

3)
, .

x = Ax + Bu
y = Cx + Du

z = Tx

x = (TAT 1 ) z + (TB )u
y = (CT 1 ) z + Du
. T
.
ss2ss: T .
sys2 = ss2ss(sys1, T)
sys1 A, B, C, D sys2 TAT 1 , TB, CT 1 , D
.
ctrbf: .

.
[Ab, Bb, Cb, T, K] = ctrbf(A, B, C)
[Ab, Bb, Cb, T, K] = ctrbf(A, B, C, tol)
T , K , tol .
182

 T
Ab = TAT? , Bb = TB , Cb = CT?
Ab, Bb, Cb .
A
Ab = nC
A21

0
AC

0
Bb =
Bc

Cb = C nC

CC

( AC , BC ) AnC .
C C ( sI AC ) 1 BC = C ( sI A) 1 B
obsvf: .

.
[Ab, Bb, Cb, T, K] = obsvf(A, B, C)
[Ab, Bb, Cb, T, K] = obsvf(A, B, C, tol)
T A, B, C
Ab, Bb, Cb
.
A
Ab = nO
0

A12
AO

B
Bb = nO
BO

C b = [0 C O ]

(C O , AO ) AnO .
canon: .
csys = canon(sys, type)
LTI sys csys . type
.
modal?:

).
183

companion?: .
ctrbf, obsvf, canon
.
.
minreal: , .
sysr = minreal(sys)
sysr = minreal(sys, tol)
sys sysr
sysr
.
sysr sys
.

>>g = zpk([], 1, 1);
>>h = tf([2 1], [1 0]);
>>cloop = inv(1+g*h)*g;
.
>>cloop
Zero/pole/gain:
s(s-1)
--------------------(s-1)(s^2+s+1)
s=1 .
>>cloop = minreal(cloop)
Zero/pole/gain:
s
-------------------184

(s^2 + s + 1)
balreal: .
sysb = balreal(sys)
LTI sys
sysb .
ssbal: .
[sysb, T] = ssbal(sys)
(A,B,C,D) sys
TAT 1 TB

1
0
CT
T
.
(TAT 1 , TB , CT 1 , D)
sysb z=Tx .
modred:
rsys = modred(sys, elim)
rsys = modred(sys, elim, ?mdc?)
rsys = modred(sys, elim, ?del?)
sys
balreal .
rsys = modred(sys, elim) rsys = modred(sys, elim, ?mdc?)
( ) rsys
. elim .
185

rsys = modred(sys, elim, ?del?) elim .

.

.
sys = sys1+sys2
6

LTI .
sys1 sys2
H1, H2
y = ( H 1 + H 2 )u
6

2.

.
( A1 , B1 , C1 , D1 ) sys1, ( A2 , B2 , C 2 , D2 ) sys2 sys1+sys2
.
A1
0

0
A2

B1
B
2

[C1

C2 ] ,

D1 + D2

.
sys = sys1*sys2
6

3 LTI .
186


y = H 1v = H 1 ( H 2 u ) = ( H 1 H 2 )u

.

A1
0

B1C 2 B1 D2
,
, [C
A2 B2 1

D1 C 2 ], D1 D2

6-3 .

inv .
sys = inv(sys)
.
y = Hu u = H 1 y
.
A, B, C, D D
.
.
A BD 1C

BD 1

, D 1 C? D 1

2)

.
sys = [sys1, sys2]

sys = [sys1; sys2]

4 .( H 1
187

 H 2 sys1 sys2 .)

4.

3 .

.
append: LTI
sys = append(sys1, sys2, , sysN)
6

3.

append
augstate
connect
feedback
ord2
parallel
series
star

LTI

LTI sys1,
,sysN

.( 6

5)

LTI
H 1 ( s ),# , H N ( s )
188

sys .
0
H 1 ( s)
0
H 2 ( s)

"
"

0
0
6

#
0
#
0
$
"

# H N ( s)
( A1 , B1 , C1 , D1 ) , ( A2 , B2 , C 2 , D2 )

5.

sys1, sys2
append(sys1,sys2) .
A
x1 = 1
x 0
2

0 x1 B1
+
A2 x 2 0

y1 C1 0 x1 D1
y. = 0 C x + 0
2 2
2.

0 u1
B2 u 2
0 u1
D2 u 2

sys1, , sysN LTI .

augstate:
asys = augstate(sys)

x = Ax + Bu
y = Cx + Du
sys augstate x y
.

189

x = Ax + Bu
y C
D
=
x
+
x I
0 u


.
parallel: LTI
sys = parallel(sys1, sys2)
sys = parallel(sys1, sys2, inp1, inp2, out1, out2)
LTI

.
sys = parallel(sys1, sys2)
6

sys = sys1+sys2

6-6

.
sys=parallel(sys1, sys2, inp1, inp2, out1, out2)
( 6

6) . inp1 inp2 sys1

u1 sys2 u2 .
out1 out2 sys1 y1 sys2 y2
. sys [v 1 ; u; v 2 ], [z 1 ;
y; z 2 ] .
series : LTI
sys = series(sys1, sys2)
sys = series(sys1, sys2, outputs1, inputs2)
LTI

190

 .
sys = series(sys1, sys2)
6

sys = sys1*sys2

7.

.
sys = series(sys1, sys2, outputs1, input2)
( 6

7)

. outputs1 input2
sys1 y1 sys2 y2
.
sys u, y .
feedback : LTI

8.

sys = feedback(sys1, sys2)

sys = feedback(sys1, sys2, sign)
sys = feedback(sys1, sys2, feedin, feedout, sign)
sys = feedback(sys1, sys2) LTI sys (
6-8) sys u,
y
.
sys =
feedback(sys1, sys2, +1)
. (sign)

feedback(sys1, sys2, -1)
6-9

.
sys =

feedback(sys1,sys2,feedin,feedout)
( 6-9) sys .
191

.
.
.

.
6
6

4.

4 .

class
size
isct
isct
ctrb
obsv
gram

(tf, zpk ss)

//

.
ctrb:
Mc = ctrb(A, B)
Mc = ctrb(sys)
ctrb(A, B) A(n*n) B(n*m)

MC = B

AB # A n 1 B

. n*nm .
Mc = ctrb(sys) sys .
.
Mc = ctrb(sys.A, sys.B)
192

 .
rank(Mc)
n .
obsv:
Mo = obsv(A, C)
Mo = obsv(sys)

M o = C T AT C T

( A 2 )T C T

# ( An1 )T C T

. .
gram:
Wc = gram(sys, ?c?)

Wo = gram(sys, ?o?)

, .
(A, B, C, D)

WC = e A BB T e A d
T

WO = e A C T Ce A d
T

. .

WC = A k BB T ( AT ) k
k =0

193

WO = ( AT ) k C T CA k
k =0

A .
6

.
6

5.

pole,eig
tzero
damp
dcgain
pzmap
norm
covar
esort
esort

(DC)
/
LTI (H2 H )

pole: LTI
p = pole(sys)
SISO MIMO LTI sys p .
eig .
tzero: LTI
z = tzero(sys)
[z, gain] = tzero(sys)
z = tzero(a, b, c, d)
SISO MIMO .
z = tzero(sys) LTI sys .
194

sys SISO [z, gain] = tzero(sys) .

z = tzero(a, b, c, d) z = tzero(ss(a, b, c,
d)) .
damp:
[Wn, Z] = damp(sys)
[Wn, Z, P]=damp(sys)
LTI sys .
,
.
[Wn, Z] = damp(sys) sys Wn Wn
Z .
P P = pole(sys) .
dcgain: LTI (DC)
k = dcgain(sys)
DC s=0 (A, B, C,
D)
1

k = D-CA B
.
z=1
k = d+C(I-A) 1 B
.
DC .
pzmap: LTI
pzmap(sys)
[p, z] = pzmap(sys)
195

pzmap(sys) LTI sys

. *, o .
[P,z] = pzmap(sys) p, z
.
norm: LTI
norm(sys)
norm(sys, 2)
norm(sys,inf)
[ninf, fpeak] = norm(sys)
LTI H 2 H .
H(s) H 2
.
H

1
2

Trace[ H

( j ) H ( j )]d

w y=Hw .
.
H

= max H ( j )

(SISO)

= max max H ( j )

(MIMO)

.
H ( z)

= max max ( H ( j ))
[ 0 , ]

norm(sys) norm(sys, 2) LTI sys H 2 .

sys .
196

norm(sys, inf) sys . sys

, .
[ninf, fpeak] = norm(sys, inf) fpeak
.
.
[ 6

2]

>>h = tf([4 8.4 30.8 60], [1 4.12 17.4 30.8 60])

Transfer function:
4 s^3 + 8.4 s^2 + 30.8 s + 60
----------------------------------------------------------s^4 + 4.12 s^3 + 17.4 s^2 + 30.8 s + 60

>>pole(h)
ans =
-1.7971 + 2.2137I
-1.7971 - 2.2137I
-0.2629 + 2.7039I
-0.2629 - 2.7039I
>>tzero(h)
ans =
-0.0500 + 2.7382I
-0.0500 - 2.7382I
-2.0000
>>dcgain(h)
ans =
1
197

>>[ninf, fpeak] = norm(h, inf)

ninf =
1.3402

fpeak =
1.8537

.
LTI
. , , ,
.
LTI
6

6 .

.
step(sys)
impulse(sys)
initial(sys, x0)
6

6.

step
impulse
initial
lsim
gensig

% x0

198

 sys LTI . MIMO

( initial lsim )
.

10.

>>h = [tf(10, [1 2 10]), tf(1, [1 1])]

>>step(h)
6

10 .

>>step(sys, 10)

% 0 10s
199

 . .
>>t = 0:0.01:10

%0.01s 10s

>>step(sys, t)
lsim .
>>t = 0:0.01:10;
>>u = sin(t);
>>lsim(sys, u, t)
LTI sys 10s 0.01s
.
LTI

.
step(sys1, sys2, , sysN)
impulse(sys1, sys2, , sysN)
initial(sys1, sys2, , sysN)
.
,
(3 1 1) .
>>step(sys1, ?r?, sys2, ?b--?)
sys1 , sys2 .
.
[ 6

3] ( 6

11)
sysc = tf(1000, [1 10 1000]);
sysd = c2d(sysc,0.2)

% 0.2

step(sysc, ?--?, sysd,?-?)

%
200

.
LTI .
, , DC , ,
.
.

7.

bode
nichols
nyquist
sigma
margin

11.

Bode
Nichols
Nyquist

201

evalfr
fregres
p

bode(sys)
nichols(sys)
nyquist(sys)
sigma(sys)
LTI sys , , ,
. sys
.

>>bode(sys, {wmin, wmax})
wmin wmax .

>>bode(sys, [0.1, 100])

% 0.1 100rad/s

.
>>w = logspace(-1, 2, 100)
>>bode(sys, w)

.
bode(sys1, sys2, , sysN)
nichols(sys1, sys2, , sysN)
nyquist(sys1,sys2,# , sysN)
sigma(sys1,sys2, #, sysN)

202

 .
bode(sys1, S1, sys2, S2, , sysN, SN)
6

>>bode(sysc, ?--?, sysd, ?-?)

6

12 .

12.

.
.

, LQG
.
203

.
( )
. 6

13

.
P(s) H(s) k .

q(s) = 1+kP(s)H(s)
.
k

6-13.

k . SISO
.
MATLAB
.( 6

8)

rlocus .
rlocus(sys)
rlocus(sys, k)

k .
6

8.

rlocus
rlocfind
pzmap

-
204

sgrid
zgrid

s-
z-

rlocus(sys, k) k
.
rlocfind k
rlocus .
[k, poles] = rlocfind(sys)

k poles .
SISO sys
. rlocus(sys)
.
[ 6
h( s ) =

4]
2 s 2 + 5s + 1
s 2 + 2s + 3

=0.707 .
h = tf([2 5 1], [1 2 3]);
rlocus(h)
k = rlocfind(h)

%
% =0.707

.
.

. .

x = Ax + Bu
205


u = -Kx

x =(A-BK)x
. (A,B)

K .

.
^

x .

x = A x + Bu + L( y C x Du )

= ( A LC ) x + ( B LD )u + Ly
A-LC
(C, A) L
.

. A BK
.x =
e 0

BK x
A LC e

e= xx
(A-BK) (A-LC)
.
206


.( 6

9)

9.

acker
place
estim
reg

Ackermann (SISO )
(MIMO )

acker SISO . place

SISO MIMO acker
.
place:
K = place(A, B, p)
A, B p K
.

L = place(A?, C?, op)?
. op
L .
[ 6

5]
0.4 0 0.01
6.3
x = 1
0
0 x + 0 u
1.4 9.8 0.02
9.8

y=[0 0 1]x
-1+j, -1-j, -2 K .

207

 .
>>A = [-0.4, 0, -0.01; 1, 0, 0;-1.4, 9.8, -0.02];
>>B = [6.3; 0; 9.8]; C = [0 0 1]; D = [];
>>sys = ss(A,B,C,D);
>>pole(sys)
ans =
-0.6565
0.1183+0.3678i
0.1183-0.3678i
>>rank(ctrb(A, B))
ans =
3

. -2 -1j
.
>>p = [-2 -1+j -1-j];
>>K = place(A, B, P)
K =
0.4706 1.0000 0.0627
>>pole(ss(A-BK, B, C, D))
ans =
-2.0000
-1.0000+1.0000i
-1.0000-1.0000i
estim:
est = estim(sys, L)
208

 sys L /
est . est (SS ) .

x =Ax+Bu
y=Cx+Dw
sys est

x = A x + L( y C x)
C
y = x
x I

y x .
reg:
rsys = reg(sys, K, L)
sys, K,
L rsys . K L
LQG .
.

x = Ax+Bu
y = Cx+Du
.

x = [ A LC ( B LD) K ] x + Ly

u = K x
209

. LQG
2 (LQG)
(trade-off)
.
() .
LQG 6

14 .
y
.
w u

y v = y + v
.

14. LQG

x = Ax + Bu + G
y v = Cx + Du + H + v
w v
E ( T ) = Qn , E (vv T ) = Rn , E (v T ) = N n
.
LQG
.
2

J [u ] = ( x T Qx + 2 x T Nu + u T Ru )dt
0

. Q, N, R .
210

x = A x + Bu + L( y v C x Du )

= ( A LC ) x + ( B LD)u + Ly v

u = K x
.
K L
.
LQG 6

15
.

x = [ A LC ( B LD ) K ] x + Ly v

u = K x
LQG

.
6-15. LQG
6

10.

lqr
dlqr
lqry
lqrd
kalman
kalmd
lqgreg

LQG

LQ
LQ
LQ
LQ

LQG
211

care
dare

lqr: LQ
[K, S, e] = lqr(A, B, Q, R)
[K, S, e] = lqr(A, B, Q, R, N)
(A, B)

x = Ax + Bu
2

J [u ] = ( x T Qx + u T Ru + 2 x T Nu )du
0

u =

Kx

K .
N N = 0 .
S
AT S + SA ( SB + N ) R 1 ( B T S + N T ) + Q = 0
e e = eig(A

B*K). K

K = R 1 ( B T S + N T )
.
dlqr: LQ
[K, S, e] = dlqr(A, B, Q, R)
[K, S, e] = dlgr(A, B, Q, R, N)
212

 (A, B)
x(k+1) = Ax(k)+Bu(k)
2

J [u ] = [ x T (k )Qx(k ) + u T (k ) Ru (k ) + 2 x T (k ) Nu (k )]
k =1

u(k) =

Kx(k)

K .

AT SA S ( AT SB + N )( B T SB + R) 1 ( B T SA + N T ) + Q = 0
S
e = eig(A-B*K)
. K
K = ( B T SB + R) 1 ( B T SA + N T )
.
lqry: LQ
[K, S, e] = lqry(sys, Q, R)
[K, S, e] = lqry(sys, Q, R, N)

J [u ] = ( y T Qy + u T Ru + 2 y T Nu )dt
0

A, B C, D
SS sys .
Kalman:
213

[kest, L, P] = Kalman(sys, Qn, Rn, Nn)

,
.
sys

x = Ax + Bu + Gw
y v = Cx + Du + Hw + v
{A, [B G], C, [D H]} . Qn, Rn, N
.
kest

x = A x + Bu + L( y v C x Du )
C D
y = x + u
x I 0

. kest [u; y v ] ,

[ y; x] SS .
L , P
.
.
lqgreg: LQG
rlqg = lqgreg(kest, K)
kalman (L) lqr, dlqr lqrg
(K) LQG .

214

x = [ A LC ( B LD ) K ] x + Ly v

u = K x
ss rlqg .( 6
[ 6

6] LQG 6

15)
16

. y .

E (d 2 ) = 1, E (n 2 ) = 0.01

J [u ] = (10 y 2 + u 2 )dt
0

x = Ax + Bu + Bd
y n = Cx + n
. (A, B, C)

16.

100 /( s 2 + s + 100) .
LQG F(s)
.
%
sys = ss(tf(100, [1 1 100]))
% LQ K
K = lqry(sys, 10, 1)
% u d
[A, B, C, D] = ssdata(sys)
% [u; d], y
P = ss(A, [B B], c, [D D])
% Kest
215

Kest = Kalman(P, 1, 0.01)

% LQG = LQ +
F = lqgreg(Kest, K)
% .
clsys = feedback(sys, F, +1)
%
impulse(sys, ?r--?, clsys, ?b-?)
SS
F
.
feedback


.
6
.

17.

216

17

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!
218

(OS)

dos

DOS

unix

UNIX

computer

7) M-
M-(Debugging
(Debugging M-files)
debug

dbstop

dbclear

dbcont

dbdown
dbstep
dbstatus

dbup

dbtype

M-

dbquit

3. (Elementary
(Elementary math functions)

1)
1)(Trigonometric)
(Trigonometric)
sin

sinh

asin

asinh

cos

cosh

acos

acosh

tan

tanh

atan

atan2

atanh

sec

sech

asec

asech

csc

csch

acsc

acsch

cot

coth

acot

acoth

219

2) (Exponential)
(Exponential)
exp

log

log10

log2

sqrt

pow2

3) (Complex)
(Complex)
abs

angle

conj

imag

real

isreal

cplxpair

4) (Rounding
(Rounding and remainder)
fix

rem

floor

ceil

round

mod

sign

4.
(Elementary
(Elementary matrices and matrix
manipulation)

1) (Elementary
(Elementary matrices)
zeros

ones

eye

repmat

rand

randn

220

linspace

logspace

meshgrid

2) (Basic
(Basic array information)
size

length

ndims

disp

isempty

isnumeric

islogical

logical

3) (Matrix
(Matrix manipulation)
reshape

tril

triu

end

fliplr

flipud

flipdim

rot90

find

diag

90

4) (Special
(Special variables and constants)
ans

eps

realmax

realmin

pi

3.1415926535897....

i, j

inf

NaN

isnan

isinf

isfinite

flops

221

why

5) (Specialized
(Specialized matrices)
compan

toeplitz

hankel

vander

hilb
magic

invhilb

pascal

5. (Character
(Character String Function)
char

double

blanks

deblank

strcmp

strncmp

upper

lower

num2str

int2str

hex2num

16 -10

hex2dec

10 -16

bin2dec

2 -10

dec2bin

10 -2

eval

MATLAB

str2num

6.
(Matrix
(Matrix functions - numerical linear
algebra)

1) (Matrix
(Matrix analysis)
norm

normest

rank

det

trace

null

222

orth

rref

subspace

2) (Linear
(Linear equations)
\ , /

inv

cond

condest

chol

lu

LU

qr

QR

nnls

pinv

lscov

1-

3) (Eigenvalues
(Eigenvalues and singular values)
eig

svd

eigs

svds

poly

polyeig

condeig

hess

qz

schur

4) (Matrix
(Matrix functions)
expm

logm

sqrtm

funm

5) (Factorization
(Factorization utilities)
qrdelete

QR

qrinsert QR
223

balance

rsf2csf

cdf2rdf

planerot

7. (Data
(Data analysis and Fourier transforms)

1) (Basic
(Basic operations)
max

min

mean

median

std

sort

sum

prod

trapz

hist

cumsum

cumprod

2) (Finite
(Finite differences)
diff

gradient

del2

corrcoef

cov

subspace

3) (Filtering
(Filtering and convolution)
filter

filter2

2
2

conv

conv2

convn

deconv

224

4) (Fourier
(Fourier transforms)
fft

fft2

fftn

ifft

ifft2

ifftn

fftshift

ifftshift

FFTSHIFT.

8. (Interpolation
(Interpolation and polynomials)

1) (Data
(Data interpolation)
interp1
interpft
interp3

interp1q

FFT 1 interp2
3

interpn

2
N

2) (Spline
(Spline interpolation)
spline

ppval

3) (Polynomials)
(Polynomials)
roots

poly

polyval

polyvalm

residue

polyfit

polyder

225

9.
(Function
(Function functions and ODE
solvers)

1) (Optimization)
(Optimization)
fmin

fzero

fmins

2) (Numerical
(Numerical integration)
quad

dblquad

quad8

3) (Plotting)
(Plotting)
ezplot

fplot

4) (Ordinary
(Ordinary differential equation solvers)
ode45

ode23

ode113

ode23t

ode15s

ode23s

ode23tb

odefile

odeplot
odephas3

odephas2

226

10. (Handle
(Handle Graphics)

1) (Figure
(Figure window creation and control)
figure

gcf

clf

shg

close

refresh

2) (Axis
(Axis creation and control)
subplot

axes

gca

cla

axis

hold

ishold

3) (Handle
(Handle Graphics objects)
line
patch
image

uicontrol

text

surface

light

light ,

uimenu

uicontextmenu
set

get

reset

delete

gco

drawnow

print

printopt
227

orient

newplot

11. 2 (Two
(Two dimensional graphs)

1) X-Y (Elementary
(Elementary X-Y graphs)
plot

loglog

semilogx

semilogy

polar

plotyy

2) (Axis
(Axis control)
grid

box

hold

xlim

ylim

zlim

3) (Graph
(Graph annotation)
legend

title

xlabel

X-

ylabel

Y-

text

gtext

12. 3 (Three
(Three dimensional graphs)

1) 3 (Elementary
(Elementary 3-D plots)
plot3

surf

mesh
fill3
228

3
3

2) (Color
(Color control)
colormap

hidden

caxis

3) (Viewpoint
(Viewpoint control)
view

viewmtx

4) (Graph
(Graph annotation)
title

xlabel

ylabel

zlabel

colorbar

13. (File
(File input/output)

1) (File
(File opening and closing)
fopen

fclose

2) 2 (Binary
(Binary file I/O)
fread

fwrite

3) (Formatted
(Formatted file I/O)
fscanf

fprintf
229

fgets

fgetl

input

4) (String
(String conversion)
sprintf

sscanf

5) (File
(File positioning)
ferror
fseek

feof
ftell

6) (File
(File name handling)
matlabroot MATLAB
tempdir

partialpath
tempname

7) (File
(File import/export functions)
load

MAT

save

MAT

dlmread

dlmwrite

imread

imwrite

230

8) (Command
(Command window I/O)
clc

home

pause

(cursor)

disp

14. (Time
(Time and dates)
now

date

clock

datestr

calendar

weekday

tic, toc

etime

cputime

MATLAB CPU

15. (Demonatration)
(Demonatration)
demo

MATLAB, Toolboxes SIMULINK

1) MATLAB/
MATLAB/(Matrices)
(Matrices)
intro

inverter

buckydem

matmanip

eigmovie

rrefmovie

delsqdemo

sepdemo

eigshow

svdshow

2) MATLAB/
MATLAB/(Numerics)
(Numerics)
funfuns
e2pi

fitdemo
bench
231

MATLAB


fftdemo

FFT

lotkademo

quaddemo

zerodemo

fplotdemo

quake

3) MATLAB/
MATLAB/(Visualization)
(Visualization)
graf2d

graf2d2

grafcplx

imagedemo

MATLAB

earthmap

xfourier

cplxdemo

4) MATLAB/
MATLAB/(Language)
(Language)
xplang

MATLAB

graf3d

hndlgraf
hndlaxis

5) MATLAB/
MATLAB/(ODE)
(ODE)
odedemo

a2ode

a3ode

b5ode

brussode

vdpode

16. (Programming
(Programming language constructs)
if
elseif
for

IF

else
return
while
232

IF

break

WHILE,FOR switch

case

SWITCH

try

TRY

catch

CATCH

function

global

nargout

otherwise
end

nargin

SWITCH

FOR, WHILE, SWITCH, TRY IF

17.
17.(System
(System Identification Toolbox)
Readme

Readme

iddemo

1)GUI(Graphical User Interface)

ident

midprefs

2) (Simulation
(Simulation and prediction)
idsim
poly2th

theta

pe

predict

3) (Data
(Data manipulation)
dtrend

idfilt

idinput

idresamp

233

4) (Nonparametric
(Nonparametric estimation)
covf

cra

etfe

spa

5) (Parameter
(Parameter estimation)
ar

AR

armax

ARMAX

arx

ARX LS

canstart

Theta

bj

B-J

ivar

AR

iv4

ARX n4sid

oe

pem

6) (Model
(Model structure creation)
arx2th

ARX Theta

canform

7) (Model
(Model conversions)
idmodred

th2arx

ARX Theta

th2par

Theta

th2poly

Theta

th2ss

Theta

th2tf

Theta

th2zp

Theta

thc2thd

234

thd2thc

8) (Model
(Model presentation)
bodeplot
idplot
present

ffplot

nyqplot

Theta

zpplot

9) (Information
(Information extraction)
getmfth

m-

getncap

gett

getff

getzp

10) (Model
(Model validation)
compare
pe

idsim
resid

11) (Model
(Model structure selection)
selstruc

struc

ivstruc

arxstruc

ARX

235

12) (Recursive
(Recursive parameter estimation)
rarx

ARX

rarmax

ARMAX

rbj

B-J

roe

rpem

rplr

18.
18.(Signal
(Signal Processing Toolbox)

1)
(Waveform
(Waveform generation)
chirp
diric

pulstran

rectpuls

sinc

sinc

gauspuls

tripuls

sawtooth

square

2) (Filter
(Filter analysis and implementation)
abs

angle

conv

fftfilt

filter

filtic

fft FIR

filtfilt

filter

freqs

freqspace
grpdelay

zplane

latcfilt

freqz

impz

unwrap

236

3) (Linear
(Linear system transformations)
convmtx

residuez Z

sos2ss

sos2tf

sos2zp

ss2tf

tf2ss

zp2sos 2

zp2ss

latc2tf

zp2tf

poly2rc
rc2poly
ss2sos

ss2zp

tf2zp

4) (IIR
(IIR digital filter design)
butter

cheby1

cheby2

ellip

maxflat

yulewalk -

5) (IIR
(IIR filter order selection)
buttord

cheb2ord 2

cheb1ord 1
ellipord
237

6) (FIR
(FIR filter design)
cremez

FIR

fir1

FIR()

fir2

FIR()

fircls
fircls1
firls

, FIR
FIR

intfilt FIR
kaiserord fir1
remez
remezord

Parks-McClellanFIR
Parks-McClellanFIR

7) (Transforms)
(Transforms)
czt

dct

dftmtx

fft

fft2

ifft2

idct

ifft

fftshift

hilbert

8) (Statistical
(Statistical signal processing and spectral
analysis)
cohere

corrcoef

cov

csd

tfe

xcorr

238

xcov

xcorr2

pburg

()

pmusic

(MUSIC)

psd

(Welch)

pyulear

(- AR)

spectrum

psd, csd, cohere tfe

pmtm

9) (Windows)
(Windows)
bartlett

blackman

boxcar

chebwin

hamming

hanning

kaiser

triang

10) (Parametric
(Parametric modeling)
invfreqs

levinson

invfreqz

prony

Prony IIR

stmcb

Steiglitz-McBride ARMA

lpc

11) (Specialized
(Specialized operations)
cceps
deconv

decimate

demod

239

interp

interp1

medfilt1

modulate

resample

specgram

vco

spline

rceps

12) (Analog
(Analog lowpass filter prototypes)
besselap

buttap

cheb1ap

cheb2ap

ellipap

13) (Frequency
(Frequency translation)
lp2bp

lp2bs

lp2hp

lp2lp

14) (Filter
(Filter discretization)
bilinear

impinvar

15)
besself

cplxpair

conv2

detrend

240

polystab

stem

sptool

(GUI)

16) (Demonstrations)
(Demonstrations)
cztdemo

z FFT

moddemo

filtdemo
sosdemo

241