SL Using

Dynamic System Simulation for MATLAB
Modeling
Simulation
Implementation
Using Simulink
Version 4
03-5978-5411
03-5978-5440
2 15 6
http://www.cybernet.co.jp/products/matlab
infomatlab@cybernet.co.jp
techmatlab@cybernet.co.jp
Web
Using Simulink
COPYRIGHT 1990 - 2000 by The MathWorks, Inc.
The software described in this document is furnished under a license agreement. The software may be used or copied only
under the terms of the license agreement. No part of this manual may be photocopied or reproduced in any form without prior
written consent from The MathWorks, Inc.
FEDERAL ACQUISITION: This provision applies to all acquisitions of the Program and Documentation by or for the federal
government of the United States. By accepting delivery of the Program, the government hereby agrees that this software qualifies as "commercial" computer software within the meaning of FAR Part 12.212, DFARS Part 227.7202-1, DFARS Part
227.7202-3, DFARS Part 252.227-7013, and DFARS Part 252.227-7014. The terms and conditions of The MathWorks, Inc.
Software License Agreement shall pertain to the governments use and disclosure of the Program and Documentation, and
shall supersede any conflicting contractual terms or conditions. If this license fails to meet the governments minimum needs
or is inconsistent in any respect with federal procurement law, the government agrees to return the Program and Documentation, unused, to MathWorks.
MATLAB, Simulink, Stateflow, Handle Graphics, and Real-Time Workshop are registered trademarks, and Target Language
Compiler is a trademark of The MathWorks, Inc.
Other product or brand names are trademarks or registered trademarks of their respective holders.
Printing History:
November 1990
December 1996
January 1999
November 2000
January 2001
First printing
Revised for Simulink 2
Revised for Simulink 3 (Release 11)
Revised for Simulink 4 (Release 12)

Getting Started
1
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Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
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2
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2-2
2-3
2-4
2-4
2-5
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Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
Simulink Preferences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
Simulink
3
Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
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3-4
3-4
3-5
3-6
3-6
3-6
3-7
3-7
3-8
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Atomic . . . . . . . . . . . . . . . . . . . . 3-13
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3-23
3-23
3-23
3-23
3-24
3-24
3-26
3-27
3-28
4
Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ii
4-2
4-3
4-3
4-4
Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
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1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
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4-10
4-10
4-10
4-11
4-13
4-13
4-14
4-14
4-15
4-17
4-17
4-18
4-18
4-19
4-20
4-20
4-21
4-21
4-22
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4-24
4-24
4-25
4-25
4-26
4-27
4-28
4-28
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4-30
4-30
4-32
4-33
4-34
iii
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4-35
4-36
4-37
4-38
4-38
4-39
4-39
4-40
4-40
4-41
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Simulink . . . . . . . . . . . . . . . . . . . . .
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Boolean . . . . . . . . . . . . . . . . . . . . . . .
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4-45
4-45
4-46
4-46
4-47
4-47
4-47
4-48
4-49
4-49
4-49
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Simulink . . . . . . . . . . . . . . .
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Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-51
4-51
4-52
4-53
4-53
4-54
4-54
4-56
4-61
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Subsystem . . . . . . . . . 4-66
iv
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4-67
4-68
4-68
4-69
4-70
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4-71
4-71
4-71
4-72
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4-77
4-77
4-77
4-78
4-78
4-79
4-79
4-80
4-80
4-80
4-81
4-81
4-82
4-82
4-83
4-85
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Print . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-91
Print . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-92
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4-106
4-106
4-109
4-113
4-114
Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-116
5
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Simulation Diagnostics . . . . . . . . . . . . . . . . . . . .
5-4
5-4
5-4
5-4
5-6
Simulation Parameters . . . . . . . . . . . . . . . . . . . . . . 5-8

Solver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Workspace I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
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vi
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sim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
set_param . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
sim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
simplot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
simset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
simget . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-36
5-36
5-36
5-38
5-41
5-43
5-47
6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
To Workspace . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-2
6-2
6-2
6-3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
linfun . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
trim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
7
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-3
7-4
7-6
7-6
Mask Editor: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
vii
Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
. . . . . . . 7-13
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14
Icon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-17
7-17
7-19
7-20
7-21
7-22
Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mask Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Block Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mask Help Text . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-26
7-26
7-26
7-27
Self-Modifying . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
. . . . . . . . . . . . . . . . . 7-29
. . . . . . . . . . . . . . . 7-29
. . . . . . . . . . . . . . . . . . . . . . . 7-30
8
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Enabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
Enabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
Enabled . . . . . . . . . . . . . . . 8-5
Triggered . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
Triggered . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
Function-Call . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
viii
Triggered . . . . . . . . . . . . 8-10
Triggered and Enabled . . . . . . . . . . . . . . . . . . . . . . . . . . .
Triggered and Enabled . . . . . . . . . . . . . . . . . . . .
Triggered and Enabled . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . .
8-12
8-12
8-13
8-13
9
. . . . . . . . . . . . . . . . . . . . . . . . 9-2
Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
Abs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
Algebraic Constraint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
Backlash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-15
Band-Limited White Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19
Bitwise Logical Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21
Bus Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-25
Chirp Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-27
Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-29
Combinatorial Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-31
Complex to Magnitude-Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-34
Complex to Real-Imag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-35
Configurable Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-36
Constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-40
Coulomb and Viscous Friction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-42
Data Store Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-44
Data Store Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-46
Data Store Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-47
Data Type Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-49
Dead Zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-51
Demux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-53
Derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-58
Digital Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-60
Direct Look-Up Table (n-D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-61
Discrete Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-67
ix
Discrete Pulse Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-69

Discrete State-Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-72
Discrete-Time Integrator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-74
Discrete Transfer Fcn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-82
Discrete Zero-Pole . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-84
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-86
Dot Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-89
Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-91
Fcn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-93
First-Order Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-95
From . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-97
From File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-99
From Workspace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-102
Function-Call Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-106
Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-108
Goto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-111
Goto Tag Visibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-114
Ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-115
Hit Crossing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-116
IC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-118
Inport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-120
Integrator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-124
Logical Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-130
Look-Up Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-132
Look-Up Table (2-D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-135
Look-Up Table (n-D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-138
Magnitude-Angle to Complex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-143
Manual Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-145
Math Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-146
MATLAB Fcn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-148
Matrix Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-150
Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-152
Merge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-154
MinMax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-157
Model Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-159
Multiport Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-162
Mux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-164
Outport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-166
Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-170
Probe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-173
Pulse Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Quantizer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Random Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Rate Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Real-Imag to Complex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Relational Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Repeating Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reshape . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Rounding Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Saturation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
S-Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signal Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sine Wave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slider Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
State-Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Stop Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terminator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
To File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
To Workspace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transfer Fcn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transport Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Trigger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Trigonometric Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Uniform Random Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Unit Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Variable Transport Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
XY Graph . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Zero-Order Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Zero-Pole . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-175
9-177
9-179
9-181
9-183
9-185
9-187
9-189
9-191
9-193
9-195
9-196
9-198
9-208
9-212
9-214
9-215
9-218
9-221
9-223
9-225
9-227
9-228
9-232
9-235
9-237
9-238
9-240
9-243
9-246
9-248
9-250
9-252
9-254
9-256
9-259
9-260
9-262
9-263
xi
10
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
. . . . . . . . . . . . . . . . . . . . . . . 10-3
Simulink . . . . . . . . . . . . . . . . . 10-3
add_block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
add_line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
bdclose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
bdroot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
close_system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
delete_block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-10
delete_line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-11
find_system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-12
gcb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-17
gcbh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-18
gcs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-19
get_param . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-20
new_system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-22
open_system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-23
replace_block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-24
save_system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-26
set_param . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-27
simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-29
Simulink
11
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
. . . . . . . . . . . . . 11-6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6
MATLAB . . . . . . . . . . . . . . . . . . . . . . 11-6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7
xii
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
. . . . . . . . . . . . . . . . . . . . . 11-9
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
11-11
11-12
11-14
11-14
11-14
11-14
. . . . . . . . . . . . . . . . . . . . . . . .
I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11-16
11-16
11-18
11-18
11-19
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-20
. . . . . . . . . . . . . . . . . . . . . . . . . . 11-20
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-20
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ashow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
atrace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
bafter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
break . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
bshow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
clear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
continue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
disp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ishow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
minor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
nanbreak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
next . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
probe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
quit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11-24
11-27
11-28
11-29
11-30
11-31
11-32
11-33
11-34
11-35
11-36
11-37
11-38
11-39
11-40
11-41
11-42
xiii
slist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
tbreak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
undisp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
untrace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xbreak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
zcbreak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
zclist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11-43
11-44
11-45
11-46
11-47
11-48
11-49
11-50
11-51
11-52
11-53
11-54
11-55
Performance Tools
12
Simulink Performance Tools . . . . . . . . . . . . . . . . . . . . . . . . 12-2
Simulink Accelerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-3
Simulink Accelerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-5
Accelerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7
Simulink Accelerator Simulink Debugger . . . . . . . . . . . . . . 12-8
Simulink Accelerator . . . . . . . . . . . 12-9
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-10
Simulink Accelerator Build . . . . . . . . . . . 12-10
Simulink Accelerator S- . . . . . 12-11
Model Differencing Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-13
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-15
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-15
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-17
. . . . . . . . . . . . . . . . . . . . . . 12-17
xiv
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-19
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-20
Model Coverage Tool( ) . . . . . . . . . . . . . . . . .
Model Coverage Tool . . . . . . . . . . . . . . .
Model Coverage Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . .
Model Coverage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12-23
12-23
12-23
12-24
12-26
12-29
12-31
A
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-26
B
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BlockDefaults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AnnotationDefaults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B-2
B-3
B-3
B-3
B-3
xv
xvi
1
Getting Started
. . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Simulink . . . . . . . . . . . . . . . . . . . . . . . 1-2
. . . . . . . . . . . . . . . . . . . . 1-3
. . . . . . . . . . . . . . . . . . . . . . 1-6
1 Getting Started
Simulink ! Simulink
Simulink
MATLAB
Simulink
Simulink
-
Simulink
Simulink
Simulink
Simulink
Simulink
Simulink
(GUI)
( )
1-2
Simulink
Writing S-Functions
Simulink
MATLAB
"what if (
)"
MATLAB
MATLAB
MATLAB
MATLAB
Simulink
Simulink
Simulink 2

Simulink
1-3
1 Getting Started
Simulink 3 Simulink
Simulink
5
Simulink
6
Simulink MATLAB
7
9 Simulink
10 MATLAB M
11 Simulink Simulink
Simulink
12 Performance Tools Simulink
Simulink
A
10
get_param set_param
B
1-4
Simulink Known Software and

Documentation Problems
1-5
1 Getting Started
The MathWorks Simulink
CD
The MathWorks Web www.mathworks.com "products"

The Math Works Web
www.mathworks.com Simulink
www.mathworks.com/products/connections/
MATLAB
Simulink
1-6
-Analysis and Synthesis

Toolbox
CDMA Reference Blockset
IS-95A
Simulink
Communications Blockset
Simulink
Communications Toolbox
MATLAB
Control System Toolbox
Dials & Gauges Blockset
Simulink
DSP Blockset
Simulink
Fixed-Point Blockset
Simulink
Frequency Domain System

Identification Toolbox
Motorola DSP Developers

Kit
Motorola Suite56TM DSP

MEX- S-
Nonlinear Control Design

(NCD) Blockset
Simulink
Power System Blockset
Simulink
Real-Time Windows Target
PC Simulink
Real-Time Workshop
.Simulink Stateflow
Real-Time Workshop Ada

Coder
Ada 95
Simulink
1-7
1 Getting Started
1-8
Real-Time Workshop
Production Coder
Simulink
Requirements Management
Interface
( )
Robust Control Toolbox
Signal Processing Toolbox
Simulink Performance Tools
Simulink Report Generator
MATLAB, Simulink, Stateflow
Stateflow
Stateflow Coder
Stateflow
C
System Identification
Toolbox
Developers Kit for

Texas Instruments DSP
Texas Instruments (TI) C6701

(C6701 EVM) Simulink
xPC Target
Simulink I/O
Real-Time Workshop
xPC Target
PC
xPC Target DSP
hardware-in-the-loop
1-9
1 Getting Started
1-10
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2-2
2-3
2-4
2-4
2-5
. . . . . . . . . . . . . . . . . . . . . 2-6
Simulink . . . . . . . . . . . . . . . . . . . . . .2-15
Simulink Preferences . . . . . . . . . . . . . . . . . . . . 2-15
Simulink
1 MATLAB MATLAB
2 MATLAB thermo
Simulink
3 Thermo Plots Scope
Scope Indoor vs. Outdoor Temp Heat Cost ($) 2
4 Simulation Start
( Windows Simulink
Start )
2-2
Indoor vs. Outdoor Temp Scope

Heat Cost ($) Scope
5 Simulation Stop
( Pause )
2-4
6 File Close
( ) 70
15 50
Subsystem
5
ThermostatHouse Temp Convert 3 (2 1
)
House
House
House subsystem
2-3
Thermostat
Thermostat subsystem
Fahrenheit to Celsius conversion (F2C)
Heat Cost ($) Thermo Plots Scope

Indoor Temp Scope
Scope
Scope 9-198
Scope
( )Set Point Constant
80
(Avg Outdoor Temp )
Daily Temp Variation Sine Wave

Amplitude
2-4
Start
5-4

4-66

7
thermo Subsystem
Scope
Scope 9-198 Scope
Simulink
1 MATLAB simulink3 Simulink
Demos
2 Demos MATLAB Demo Window
Simulink
2-5
MATLAB simulink
Microsoft Windows Simulink
2-6
UNIX Simulink
UNIX Simulink
File New Model Windows
New Model
New Model
2-7
Simulink
Simulink
Sources (Sine Wave )

Sinks (Scope )
Continuous (the Integrator )
Signals & System (Mux )
(Windows ) Sources
Sources (UNIX Windows) Sine Wave
Sine Wave
Sources
Simulink Sources
Sources Sources
Sine Wave Sine Wave
2-8
Simulink
Sources
Sine Wave
Sine Wave
Simulink Sine Wave
Sources Sine Wave

Simulink Sources Sources
(Windows Simulink
Simulink
Open Library )Simulink Sources
2-9
Sine Wave
Sources Sine Wave
2-10
Sine Wave (>)

Mux 2 >
Input port
Output port
Sine Wave Mux

Sine Wave
( )
Mux
Mux
2-11
( 2-6
)1
Sine Wave Integrator
Sine Wave Mux
1
Sine Wave Mux
2 Ctrl
Integrator Integrator
2-12
3 Simulink Integrator
Scope Scope
10
Simulation Simulation Parameters
Stop time
10.0( )
Stop time parameter
OK Simulation Parameters
Simulink
2-13
Simulation Start Scope
Simulation Parameters
Simulation Stop
File Save
Simulink MATLAB File Exit MATLAB

(Microsoft Windows )Quit MATLAB (UNIX
MATLAB quit
Simulink MATLAB Simulink
2-14
Simulink
Simulink
MATLAB Preferences Simulink
Preferences
Simulink File Preferences
Simulink Preferences
Preferences
Simulink
Window reuse
(4-68
)
Model Browser
2-15
(4-100
)
Display
(4-38
)
Callback tracing
Simulink
(4-71
)
Simulink Fonts
Solver
(5-8 Solver
)
Workspace
(5-18
Workspace I/O )
Diagnostics
(5-25
Diagnostics )
2-16
3
Simulink
Simulink
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3-3
3-3
3-4
3-4
3-5
3-6
3-6
3-6
3-7
3-7
3-8
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Atomic
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. . 3-9
. . 3-9
. 3-10
. 3-10
. 3-11
. 3-13
. 3-13
. 3-14
. 3-18
. . . . . . . . . .3-23
. . . . . . . . . . .
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3-23
3-23
3-23
3-24
3-24
3-26
3-27
3-28
3 Simulink
Simulink
Simulink
Simulink
Simulink 2
Simulink
(3-3
)Simulink
Simulink (
3-9 )
3-2
Simulink
Simulink point-and-click
( 4 )Simulink
( 9
)
(continuous )
(discrete )
The MathWorks web site MATLAB Based Books
u
(input)
x
(states)
y
(output)
3-3
3 Simulink
Simulink Integrator Integrator
Integrator
Integrator
Simulink Memory
Memory
Memory
Simulink Gain Gain
Gain
Sum Product
(Sum Product )
Simulink
fo
fu,
3-4
xd
y = f o ( t, x, u )
Output function
= f u ( t, x, u )
Update function
k+1
x' c = f d ( t, x, u )
where
x =
Derivative function
xc
xdk
t x u y
xd xc
Simulink
Simulink Gain
MATLAB
Simulink
Gain
Simulink
Simulink
Gain
529

3-5
3 Simulink
Simulink
Constant Simulink Continuous

Discrete Pulse Generator
Discrete
Simulink Gain
Simulink
( ) ( )
( ) ( )3-28

Simulink
Simulink Subsystem
Simulink
( 8
. )
Simulink
Simulink
Subsystem wrap Simulink
3-6
M- MEX-
(Writing S-Functions )S-
S- Simulink
S-function S-function Subsystem
Subsystem
S-function
Simulink signal
Simulink ( 8 16 32
) ( ) (1 2 )
Simulink MATLAB
int8, double boolean(4-45 )
Simulink 2
Simulink
Simulink.Parameter
Simulink.Signal
Simulink int32
Simulink Simulink
Simulink
Simulink
Simulink
Simulink MATALB
Simulink
3-7
3 Simulink
Simulink
Simulink (ODE)
3-8
Simulink Simulation
Start
Simulink
1
2
( 3-13 Atomic
)
3
( 3-11 )
4 (
Simulink
source
3-9
3 Simulink
Simulink
( 3-13
) ( 3-23
)
(3-14 )
Simulink
Simulink
Simulink
1 ( 3-11
)
Simulink
Simulink
Simulink
Simulink
Simulink
3-10
Simulink
3-14
Simulink 1 4
Simulink
1
Simulink
Direct Feedthrough
Simulink
direct feedthrough
nondirect-feedthrough
direct-feedthrough Gain, Product, Sum
nondirect-feedthrough Integrator (
)Constant ( )Memory (
)
3-11
3 Simulink
Simulink
direct-feedthrough
direct-feedthrough
Nondirect-feedthrough direct-feedthrough
Simulink
direct-feedthrough
Simulink direct-feedthrough
Simulink
direct-feedthrough deadlock condition
Simulink
direct-feedthrough
3-18
Simulink ( 4-20
)
3-12
Atomic
virtual atomic Simulink
Simulink
atomic
atomic
atomic
Simulink
Simulink
Simulink
Simulink
2
(
)
3-13
3 Simulink
Simulink
Simulink
3-14
Simulink
Simulink
Simulink
Simulink
Simulink
( )
Simulink
Simulink
Simulink
Simulink
Simulink Saturation
Saturation

Simulink

Hit Crossing
3-17

Saturation
zcSignal = UpperLimit - u u
3-15
3 Simulink
rising
falling
either rising falling
Saturation either
Simulink
1
" " 2
not
detected
detected
513 Error
Tolerances
Refine (5-16 )
3-16
( )
Diagnostics Disable zero crossing detection
5-31
Abs
1 :
Backlash
2 : 1 1
Dead Zone
2 : 1 (
) 1 (
)
Hit Crossing
1 :
Disable zero crossing detection
Integrator
3
1 1
1
3-17
3 Simulink
(Continued)
MinMax
1 :
Relay
1 :
Relational
Operator
1 :
Saturation
2 : 1
1
Sign
1 :
Step
1 :
Subsystem
1
1
Switch
1 :
Simulink
Elementary Math
Gain
Integrator
Product
D State-Space
Sum
Transfer Fcn
Zero-Pole
3-18
9
.
(
3-20 )
Sum z
u z ( z = u - z)
z = u/2
z1, z2
Algebraic Constraint (Algebraic Constraint )

Algebraic Constraint
F(z) z
3-19
3 Simulink
F(z) = 0
z 1 F
1 F(z) = z - (u - z)
z2 + z1 1 = 0
z2 z1 1 = 0
F(z) = 0
(DAE)
Simulink
( )
F(z) = 0 Simulink
1
z
1 (
) IC
1
IC Algebraic Constraint
2

( 8-8
Triggered ).
3-20
Simulink
z=1+u
3-21
3 Simulink
u z
u2
z=z+1
3-22
Simulink ( )

Sample time
Sample time [Ts,offset]

Ts offset
t = n * Ts + offset
n offset
discrete 1
3-23
3 Simulink
DTF1 Discrete Transfer Fcn Sample time [1 0.1]

0.1 DTF2 Discrete Transfer Fcn
Sample time 0.7
( 5-3 Running a Simulation from the Command
Line ) stairs
[t,x,y] = sim(multirate, 3);
stairs(t,y)
y(2)
y(1)
0.1 DTF1 t = 0.1

DTF1 y(1)
3-24
Simulink
Simulink

0.25 0.5
0.25 0.5
0.75 0.25
(
)
0.00
0.25
0.50
0.75
1.00
1.25
1.50
1.00
1.25
1.50
Fixed-Step Solver
0.00
0.25
0.50
0.75
Variable-Step Solver
3-25
3 Simulink
(Real-Time Workshop )Simulink
Gain Ts Discrete Filter
Gain
Gain
Simulink
Simulink
Continuous ( Integrator, Derivative, Transfer Fcn )
Constant ( Constant)
Discrete ( Zero-Order Hold, Unit Delay, Discrete Transfer Fcn )

Integrator Gain
Zero-Order Hold Gain
Zero-Order Hold
( )
Simulink source
3-26
Simulink Signal Generator Discrete-Time

Integrator Signal Generator Gain
Discrete-Time Integrator
Simulink Format Sample Time Colors
Discrete-Time Integrator Integrator

Edit Update diagram
Signal Generator Gain
Simulink Constant
Constant
Constant Gain
3-27
3 Simulink
Simulink
Format Sample Time Colors
Simulink (5-29
) " "
2 1
2
Runge-Kutta
ode23 ode45
ode15s
ode113
3-28
Simulink
. . . . . . . . . . . . . . . . . . . . . . 4-2
. . . . . . . . . . . . . . . . . . . . . 4-8
. . . . . . . . . . . . . . . . . . . . . . . . .4-10
. . . . . . . . . . . . . . . . . . . . . .4-24
. . . . . . . . . . . . . . . . . . . . . . . .4-30
. . . . . . . . . . . . . . . . . . . . . . . . . . .4-44
. . . . . . . . . . . . . . . . . . . . .4-45
. . . . . . . . . . . . . . . . . .4-51
. . . . . . . . . . . . . .4-63
. . . . . . . . . . . . . . . . . . . . .4-66
. . . . . . . . . . . . . . . .4-71
. . . . . . . . . . . . . . . . . . . . .4-76
. . . . . . . . . . . . . . . . . . . . . . . .4-77
. . . . . . . . . . . . . . . . . . . . .4-87
. . . . . . . . . . . . . . . . . . . . . . .4-90
. . . . . . . . . . . . . . . . . . . . .4-91
. . . . . . . . . . . . . . . . . . .4-95
. . . . . . . . . . . . . . . . . . 4-106
Simulink . . . . . . . . . . . . . . . . . 4-116
Simulink
Simulink MATLAB
MATLAB Simulink
2
MATLAB Simulink
MATLAB simulink
Microsoft Windows Simulink Simulink
Simulink
4-2
Simulink
UNIX Simulink Simulink
Simulink Simulink
Windows Simulink
Simulink
(Windows )
New File
New Model
2
477
(Windows) Open
Simulink File Open
MATLAB .mdl )
4-3
Simulink
Simulink
Simulink
Simulink (Microsoft Windows )
Simulink (Windows )
MATLAB
Simulink
Simulink
Windows Simulink
Simulink
Windows Simulink Simulink
Simulink View Toolbar
Toolbar
Simulink
4-4
Simulink
Simulink
Simulink View Toolbar
MATLAB
MATLAB
MATLAB
5 , 6

Edit Undo 101

Edit Redo Undo
Simulink
Simulink
( )
MATLAB Figure
Handle Graphics
Simulink
/
4-5
Windows Simulink
Simulink View
Status Bar / /
Simulink Simulink
View Zoom In ( r
View Zoom Out ( v
Select View Fit System to View(

) (
)
ViewNormal (
100%)
Simulink
4-6
Simulink
Simulink
View Fit System to View( )
4-7
1
( )
1
1 1
4
" "
Sine Wave
Shift
Shift
4-8
Edit
Select All
466

4-9
Simulink
Microsoft Windows Simulink
Simulink View Block Data Tips(

)
Simulink 2
Simulink
4-1:
4-10
Bus Selector
Data Store Memory
Demux
Enable Port
From
4-1: (Continued)
Goto
Goto Tag Visibility
Ground
Inport
Outport
Mux
Outport
(
) Simulink
( )
Selector
Subsystem
Treat as Atomic Unit
Terminator
Test Point
Trigger Port
Simulink
1
2
4-11
Simulink Library Browser

4-83
Simulink sum,mux,demux,bus selector Simulink
(
)
Edit Copy/Paste
1
2 Edit Copy
3
4 Edit Paste
Simulink
Linear Gain
Gain
Gain
Simulink ( Gain1Gain2)
418 .
Simulink 5
4-12
MATLAB
set_param(<model name>,showgrid,on)
set_param(<model name>,gridspacing,<number of pixels>)
20
set_param(<model name>,gridspacing,20)
2 <model name>
gcs
CopyCutPaste ( )
Shift
Edit Undo
1
Simulink
48
2
Ctrl
4-13
Simulink
( A-7 )
4-15
1
( A-10
)
Edit
( ) BLOCK Parameters
BLOCK Constat
Parameters
Library
Edit
9

Simulink set_param
10-27 set_param
set_param
MATLAB
4-14
Simulink
(4-54
)
Edit Edit BLOCK Parameters

BLOCK
Constat Properties
Block Properties
Description( )
4-15
Priority( )
4-20
Tag( )
Open function( )
MATLAB
Attributes format string( )

AttributesFormatString
A
%< >
%<priority> Simulink
(\n)
pri=%<priority>\ngain=%<Gain>
Gain
Simulink
N/S( ) Simulink
"???"
4-16
1 Delete
Backspace Edit Clear Cut
Cut
Delete Backspace
Clear
Edit Undo
Format
Flip Block 180

Rotate Block 90
Rotate Block Flip Block
Simulink
2
3
3
Rotate
Down
Rotate
Left
to
Right
Right
to
Left
Flip
Up
Rotate
1
1
2
3
Rotate
3
4-17
Signal Generator
Microsoft WindowsUNIX
4-18
Simulink
Format
Font Set Font
Edit Undo

Format Flip Name
417
Format
Hide Name
Hide Name Show Name
Show Name
Simulink
4-19
Block PropertiesAttributes format string

( 4-15
)
tset_param (10-27 set_param )
Shift
set_param(b,Priority,n)
b n ( 0
)2
3
Block Properties Priority
( 4-15
)
Simulink Simulink
(3-11
)
Simulink
Simulink
(5-25 Diagnostics
)
4-20
Simulink Format
Execution order( )
1
2 2
Format Show Drop Shadow
Hide Drop Shadow

Subsystem
4-21
Simulink
4-2:
MuxDemux )
Format Sample Time

Colors
Simulink
Edit Update Diagram
Sample Time Colors
4-22
Mux Demux
Demux
Mux
Demux ( )
4-23
430

2
3 2
4 Simulink
Simulink
Shift
4-24
1
Product Scope To Workspace
1
2 Ctrl
3
Ctrl
Ctrl
Simulink
Simulink
Shift
4-25
4-26
2
Simulink
3 Shift
5 Shift
4-27
Simulink
4-28
3 Simulink
4-29
Simulink
Simulink
Simulink
Simulink
Simulink
Simulink 1 2 1
(1-D) 1 (
) 1 (1-D) 2
(2-D) 1 2-D ( )
2 Simulink
1-D 2-D
1 1
1 2 (2-D) 1 1 2 (2-D)
Simulink
9
, .
4-34
Simulink double
Simulink MATLAB
4-45

4-30
Simulink
4-37

Mux
(4-10
)
Mux (
) 1
1
1
Simulink (signal propagation)
Simulink
s4 Gain G1 s4
Gain G1 s1 Simulink
Simulink Show Propagated Signals (4-41

)
4-31

Mux
1
Simulink
Simulink
( 9-53 Demux
) Mux,Demux
Signal Bus
4-32
1
Simulink
Simulink Format Signal
Dimentions Simulink
Simulink
445
( )
1 1 1-D 2-D
Mux Demux
Simulink
(2-D)
M x N M
N
4-33
source
Source
source source
Constant Sine Wave (Simulink source
9-1, Sources Library )source
Interpret Vector Parameters as 1-D
off( )
Interpret Vector Parameters as
1-D on N 1
1 N
N
source Interpret Vector Parameters as 1-D
Constant
Constant value
Constant value Interpret Vector Parameters as 1-D
4-34
Constant value
Interpret vector
parameters as 1-D
2-D
off
2-D
2-D
on
1-D
1 N
off
1 N
1 N
on
N 1
off
N 1
N 1
on
Constant value
Interpret vector
parameters as 1-D
M N
off
M N
M N
on
M N
Simulink source
Source
(
Simulink
( 4-36
)
2

Simulink
( 4-37
)
4-35
Nx1 1xN
Simulink N
MATLAB
1xN Nx1
Simulink
Simulink
1 1
1 1
Simulink
1
1 Simulink 1 1

527

Simulink
9 Simulink
Simulink
4-36
Constant1 Constant
[3 3 3]
Simulink
Simulink
Gain
Simulink
Simulink
(Gain)
3
Simulink
MATLAB
Constant
4-37

Real-Imag to Complex
Simulink
9 , .
Simulink
Simulink
Simulink
Edit Update Diagram

Simulink
Simulink
Wide nonscalar lines
Signal dimensions
Port data types
Simulink Format
( )
4-38

Name (4-41
)
name
p = get_param(gcb, PortHandles)
l = get_param(p.Inport, Line)
set_param(l, Name, s9)
(<)
Ctrl
4-39
1
Shift Delete
Backspace
Format
Font Set Font
(<) (
)
Simulink
Show Propagated Signals
(4-41 )
Simulink Signal Properties

Simulink Edit Signal
Properties
4-40
Signal Properties
Signal Name
Show propagated signals

4-41
off
on
s1 s2 s3
s1
s1<s2,s3>
all
s1 s2 s3
s3 s4 s5
s1
s1<s2,s4,s5>
Description
Document link
MATLAB
(
)
web([file:/// which(foo_signal.html)])
MATLAB
Web foo_signal.html
Displayable (Test Point)
4-42
2 Real-Time Workshop
RTW storage class
Real-Time Workshop Users Guide
RTW storage type qualifier

Real-Time
Workshop Users Guide
4-43
Microsoft Windows UNIX
Shift key Delete

Backspace
Format Font
( )
Format Text Alignment
Text Alignment 1
( Center)
4-44
MATLAB
MATLAB MATLAB
Simulink Simulink
Simulink The
MathWorks Real-Time Workshop
Simulink
Simulink (double) Simulink
( 4-48
)
Simulink
Simulink MATLAB "
" MATLAB
MATLAB
4-45
Simulink " "

MATLAB
double
single
int8
uint8
int16
16
uint16
16
int32
32
uint32
32
Simulink boolean (1 0)
uint8
Simulink double
boolean
9

double
type(value)
4-46
type value
single(1.0)
1.0
int8(2)
8 2
int32(3+2i)
32
inport From Workspace

MATLAB
Constant
Data Type Conversion
Simulink Format
Port Data Types Simulink
Ctrl-D
Simulink
Simulink
Simulink
4-47
typecasting ( )
4-49
Constant

Simulink
4-49

Constant

Mux Demux
( ) boolean
double
Solver double
double
4-48
Boolean
Simulink boolean double
double
Simulink Simulation Parameters
Advanced Boolean logic signals
boolean (5-29
)
Simulink
Simulink Data
Type Conversion ( 9-49
Data Type Conversion )
Simulink
( )
Simulink
uint8( 8 )
4-49
int32( 32 )
Simulink
Simulink
(uint8)
uint8 (0 255) 255
Simulink
( 256)Simulink
out-of-range

Simulink
( 5-27 )
Simulink
(2)
2.0 Simulink
int32 float double

int32
Simulink
4-50
Simulink Simulink
( )
Simulink
Simulink
Simulink
2 Simulink.Parameter Simulink.Signal
Simulink
Simulink Simulink
Simulink Simulink.Parameter Simulink.Signal Simulink
MATLAB M-
PackageName.ClassName
4-51
PackageName.ClassName
Simulink
Simulink.Parameter
2
A B C
MATLAB
M-
Simulink
Parameter Signal

A.B a.b
Simulink Simulink
MATLAB
4-61
Simulink
MATLAB
h = package.class(arg1, arg2, ...argn);
h MATLAB package class

arg1, arg2, ... argn
(Simulink.Parameter Simulink.Signal
)Simulink.Parameter
MATLAB
hGain = Simulink.Parameter;
Simulink.Parameter
4-52
Simulink
(4-61 Simulink )
MATLAB
4-58

MATLAB M-
hObject.property
hObject property
hGain = Simulink.Parameter;
hGain.Value = 5;
Simulink
5 gain.RTWInfo.StorageClass gain
StorageClass
hObject.method
method(hObject)
hObject Simulink
get
MATLAB
copy
4-53
MAT- MATLAB save

MATLAB
MATLAB load
MATLAB
Simulink
Simulink
Simulink
Simulink
Simulink.Parameter
1 MATLAB Simulink
2 Value
(4-56 )
( Real-Time Workshop )
4 set_param
4-56
4-54
(5-29
)
RTWInfo.StorageClass Auto
( )
gain.RTWInfo.StorageClass = SimulinkGlobal;
RTWInfo.StorageClass Auto
(5-32
)
Simulink
Simulink.Signal
1
2
(4-56
) (
Real-Time Workshop )
Simulink
4-56

4-55
(
)
RTWInfo.StorageClass auto
Signal
Properties (4-41
)
Simulink
Simulink
MAT- (4-54
)
PreLoadFcn
load data_objects.mat
set_param(gcs, PreLoadFcn, load data_objects);
MATLAB load data_objects
M-
M-
4-56
Simulink (matlabroot/toolbox/simulink/simdemos)
UserDefined
MATLAB
@PackageName
PackageName

4-57
@ClassName
ClassName
schema.m M
schema.m ClassName.m
ClassName
@package_name
MATLAB @PackageName
schema.m
M- schema.m MATLAB
function schema ()
%
schema.package('PackageName);
PackageName
1 @ClassName
ClassName
2
3
MATLAB schema
create_user_class (4-60
create_user_class )
4-58
function schema()
%
%
userClass = UserDefined.Parameter;
%
deriveFromClass = Simulink.Parameter;
%
%
create_user_enumtype(colors, {red, green, blue});
%
addProperties = {
UserMATLABArray1, MATLAB array, []; ...
UserMATLABArray2, MATLAB array, ; ...
UserDouble,
double,
0; ...
UserInt32,
int32,
0; ...
UserOnOff,
on/off,
off; ...
UserString,
string,
; ...
UserColorEnum, colors,
red; ...
};
% ( )
create_user_class(userClass, deriveFromClass, addProperties);
Simulink
M-
Parameter Simulink Parameter.m M-

Parameter M-
function h = Parameter()
%
%
h = UserDefined.Parameter;
4-59
function h = Parameter(varargin)
%
%
h = UserDefined.Parameter;
% ( )
if nargin == 1
% 1 "Value"
h.Value = varargin{1};
end
(4-60 create_user_class
) n 3 n
( angle) ( double)
Simulink.Signal Simulink.Parameter
Simulink Simulink Simulink
create_user_class.
(schema.m)
3
( UserDefined.Parameter)
( Simulink.Parameter)
4-60
(4-60
)
create_user_enumtype.
create_user_enumtype 2

colors
create_user_enumtype(colors, {red, green, blue});

findpackage.
h_SimulinkPackage = findpackage(Simulink);
findclass.
h_SimulinkParameter = findclass(h_SimulinkPackage, Parameter);
findproperty.
h_ParamValue = findparameter(h_SimulinkParameter, Value);
Simulink
Simulink MATLAB
Simulink Tools Data explorer

MATLAB slexplr
4-61
2 MATLAB
Filter (
Simulink )
value
1
4-62
LMB CMB RMB
4-3:
Microsoft Windows
UNIX
LMB
LMB
Shift + LMB
Shift + LMB; CMB
Tab
Tab
Shift + Tab
Shift + Tab
Ctrl + LMB
Ctrl + LMB
RMB
RMB
LMB
LMB
Shift +
Shift +
CMB
Enter
Return
Esc
Esc
4-63
4-4:
Microsoft Windows
UNIX
LMB
LMB
Shift + LMB
Shift + LMB; CMB
Ctrl +
RMB
Ctrl +
RMB +
Shift +
Shift +
CMB +
Shift +
Shift +
CMB +
4-5:
4-64
Microsoft Windows
UNIX
Ctrl +
Ctrl +
4-5: (Continued)
Microsoft Windows
UNIX
Shift +
Delete
Shift +
Delete
4-6:
Microsoft Windows
UNIX
Ctrl +
Ctrl +
Shift + ,
Delete
Shift + +
Delete
4-65

1
Subsystem 1
2
Subsystem
Subsystem
Subsystem
1 Signals & Systems Subsystem

2 Subsystem
Simulink (4-68
)
3 Subsystem
Inport Outport
Sum
Inport Outport
4-66
Select All
48
Sum
Unit Delay
2 Edit Create Subsystem Simulink
Subsystem Create Subsystem

( Subsystem
)
Subsystem Simulink
Simulink
Inport Outport
4-67
Subsystem
Simulink Model Browser(4-95 )
Open
Open
Simulink Edit Open Enter
Go to Parent
Go to Parent
Esc Simulink
View Go to Parent
Simulink File Preferences Simulink Preferences
4-68
Window reuse type 1
Open
Go to Parent (Esc)
none
reuse
replace
mixed
Simulink Subsystem
Inport Outport
( )
Format Hide Port Labels (
Show Port Labels)
Inport Outport Format
Hide Name ( Show Name)
Show port labels
4-69
2 2
Inport 1 Outport Subsystem
Access ReadOnly
NoReadOrWrite
9-228 Subsystem
(4-77 )
4-70
MATLAB
OpenFcn
set_param ( 10-27 set_param )

mymodel Test
testvar
set_param(mymodel/Test, OpenFcn, testvar)
clutch
(clutch.mdl)
Simulink
Simulink
Preferences (2-15 Simulink )
Callback tracing set_param(0, CallbackTracing, on)
Simulink
MATLAB
4-71
CloseFcn
PostLoadFcn
InitFcn
PostSaveFcn
PreLoadFcn
PreSaveFcn
StartFcn
StopFcn
StopFcn
4-72
CloseFcn
close_system
CopyFcn
Subsystem (
CopyFcn
Subsystem
)add_block
DeleteFcn
Subsystem
DestroyFcn
InitFcn
LoadFcn
Subsystem
ModelCloseFcn
Subsystem
MoveFcn
NameChangeFcn
Subsystem
NameChangeFcn
4-73
4-74
OpenFcn
Subsystem
open_system
OpenFcn
ParentCloseFcn
new_system (10-22 new_system

)
PreSaveFcn
Subsystem
PostSaveFcn
Subsystem
StartFcn
S-Function
StartFcn mdlProcessParameters
Writing S-Functions 3 "Overview of the C

MEX S-Function Routines"
StopFcn
S-Function
StopFcn mdlTerminate
Writing S-Functions 3
"Overview of the C MEX S-Function Routines"
UndoDeleteFcn
CloseFcn
close_system
CopyFcn
Subsystem (
CopyFcn
Subsystem
)add_block
DeleteFcn
Subsystem
DestroyFcn
InitFcn
LoadFcn
Subsystem
ModelCloseFcn
Subsystem
MoveFcn
NameChangeFcn
Subsystem
NameChangeFcn
4-75

Simulink

466
(4-100
)

439 424

MATLAB
4-76
( )
Library File New Library
Library block -
Reference block
Link
Simulink
Copy
link
library
block
Library (Source)
copy
reference
block
Model or Library (Destination)
File New Library

Simulink Library: untitled
4-77
new_system(newlib, Library)
newlib
open_system
10
(
)
Edit
Unlock Library
(4-11 )
(4-83
)
Simulink
(4-79
)
MATLAB Simulink
unresolved Simulink
4-78
Failed to find block "source-block-name"

in library "source-library-name"
referenced by block
"reference-block-path".
( )
MATLAB Edit
Update Diagram

Apply Close
Simulink
Edit
Link options Disable link
Link Options Restore link
Simulink
Simulink
4-79
Simulink
Simulink
Simulink
Simulink
Edit
Link options Propagate/Discard
changes
Link options View changes
Simulink

Edit Update Diagram
get_param ( 4-81 )
LinkStatus
find_system
4-80
Edit Break Library Link

LinkStatus none
set_param(refblock, LinkStatus, none)
save_system(sys, newname, BreakLinks)
Edit
Link options Go To Library Link
Simulink (
)
LinkStatus
none
resolved
resolved
unresolved
unresolved
implicit
inactive
4-81
library link
Format Library Link Display

User( ) All(
)
libinfo
libdata = libinfo(sys)
sys n 1
n sys
4
Block
4-82
Library
ReferenceBlock
LinkStatus'resolved' 'unresolved'
Library Browser
Library Browser MATLAB
Simulink Library
Browser MATLAB Simulink
Microsoft Windows
4-83
Documentation Pane
Tree Pane
Icon Pane
/
+/- +/- /
/
4-84
Find
Find
Simulink Open Library

Open Library
New
Open
slblocks.m
slblocks.m slblocks.m
MATLAB
which(slblocks.m, -all)
slblocks.m
4-85
MATLAB
4-86
Simulink 1
TF = 9/5(TC) + 32
Sources Ramp
Sources 32 Constant
Math 9/5 Gain
Math 2 Sum
Sinks Scope
( )
Gain Constant
Close
4-87
Ramp Initial
output 0 Gain 9/5
Sum 32
Scope Simulation
Start 10
x ( t ) = 2x ( t ) + u ( t )
u(t) 1 1 / Integrator
x x
Gain Sum Signal
Generator Wave form Square
rad/sec Scope
Gain
Gain
Format Flip Block Integrator
Gain Ctrl
425
Sum Integrator Gain

x Integrator x
x
4-88
Scope x 10
Transfer Fcn u x
x/u x sx
sx = 2x + u
x
x = u (s + 2)
x u = 1 (s + 2)
Transfer Fcn
1 s+2 s
[1]( 1) [1
2]
4-89
File Save Save As

Simulink
(.mdl )
B
Save
31
Save
Save As
Simulink
1 mdl
2 Simulink PreSaveFcn
PreSaveFcn
3 Simulink mdl
4 Simulink PostSaveFcn
PostSaveFcn
5 Simulink
Simulink
. err
Simulink
2 4
4-90
File Print (Microsoft Windows

) MATLAB print (
)
Microsoft Windows Print
Print
Print Print Print

Print
Microsoft Windows
4-91
Current system and below All systems

2 All systems
Look Under Mask Dialog
Simulink
Expand Unique Library Links
1
4-77
Include Print Log

Frame
MATLAB
frameedit
Print
print
4-92
print ssys device filename

sys s
sys
device
Using MATLAB Graphics

filename PostScript filename
filename
untitled
print suntitled
Sub1
print sSub1
Requisite Friction
print (['sRequisite Friction'])
2 Friction Model
2
cr = sprintf('\n');
print (['sFriction' cr 'Model'])
print(['-s', gcb])
Simulink
set_param PaperType
PaperOrientation
4-93
( A-1
)MATLAB orient
Windows Print
Printer Setup
PaperPositionMode PaperPosition
PaperPosition
[left bottom width height] 2
2
PaperPositionMode manual Simulink
(
)
vdp
set_param(vdp, PaperType, usletter)
set_param('vdp', 'PaperOrientation', 'landscape')
set_param(vdp, PaperPositionMode, manual)
set_param(vdp, PaperPosition, [0.5 0.5 4 4])
print -svdp
vdp U.S.
PaperPositionMode auto Simulink
4-94
Simulink
Simulink Edit Find Simulink Find
4-95
Find dialog box Filter options ( 4-97

) Search criteria ( 4-97
Finder Start in system

Find Finder
Finder
Simulink ( )
Type
1 2
4-96
Parameter Properties
Filter options
Object type
Object type list. object type list Finder
Finder
Look inside masked subsystem. Finder
Look inside linked systems. Finder
Search criteria
Basic. Basic
Find what
Find what
4-97
Search block dialog

parameters
Advanced. Advanced
7
Advanced Property 1
Value
Finder Select
Match case.
Other match options. Match case
Match whole word
Contains word
4-98
Regular expression
\.. .a .2
wo-
0
ba* b, ba, baa
1
ba+ ba, baa
[]
[a-zA-Z0-9_]+ foo_bar1 foo$bar

^
1
[^0-9]
\w
([a-z_A-Z0-9])
\W
([â-z_A-Z0-9])
\d
([0-9] )
\D
([^0-9] )
\s
([ \t\r\n\f] )
4-99
\S
([^ \t\r\n\f] )
\<WORD\>
WORD WORD

source control system MATLAB Users Guide 8
"Interfacing with Source Control Systems"
Microsoft Windows UNIX
Windows
Model Browser Simulink View Model
Browser 2
Browser initially visible
Simulink File Preferences
4-100
+/- /
+/- /
/
. /
/ +/-
4-101
Simulink Preferences
Simulink
View Model browser options Show library links
Simulink
Preferences
Simulink View Model browser options
Look under masks
UNIX
File Show Browser
Current
system and
subsystems
it contains
4-102
Blocks in
the selected
system
File Print, Close Model, Close Browser

Options Open System, Look Into System, Display Alphabetical/
Hierarchical List, Expand All, Look Under Mask Dialog, Expand Library Links
OptionsLook Under [M]ask DialogExpand [L]ibrary

Links Open System Look Into System
Simulink

Help, Print, Close
Simulink OpenFcn
(+)
(-)
[M]
[L] 4-24

[O] open function (OpenFcn)
4-71

4-103
[S] Stateflow
-
Open System
- [M] [O]
Look Into System
([M] )
([L] )
Open System
(Open System
)
OpenFcn
Open System
Look Into System
(+)
(-)
4-104
Options
Display Alphabetical List
4-105
Simulink
Simulink
Simulink
4-114
Simulink Model Parameters
( 4109 )
Simulink Model Info
( 9-159 Model Info

)
Simulink MATLAB
M-
Simulink File Source Control
MATLAB
Interfacing with Source Control Systems,
Simulink
Simulink USER, USERNAME,
LOGIN, LOGNAME
Simulink
UNIX USER
USER
Simulink
Windows
Windows
Simulink " "
MATLAB
4-106
getenv
MATLAB
getenv(user)
USER Windows
Windows95 98 autoexec.bat
set user=yourname
yourname
autoexec.bat
autoexec.bat c:\
4-107
Windows/NT Windows/NT
( )USER
> >
Control Panel USER
USER

OK
4-108
Model Properties
Simulink File Model Properties
Model Properties Pane
Creator. Simulink
USER
Created.
Model description.
4-109
Options Pane
Options
Configuration manager.
Model Info
Configuration manager ( ) Model Info

9-159 Model Info
Model version format. Model Properties Model Info
%<AutoIncrement:#>
# Simulink
1.%<AutoIncrement:2>
4-110
1.2
Simulink # 1
1.%<1.%<AutoIncrement:2>
1.%<1.%<AutoIncrement:3>
Simulink 1.3
Modified by . History Model Info
"Last modified by"

%<Auto>
Simulink USER
Modified date . History Model Info

"Last modified date"
%<Auto>
Simulink
4-111
History Pane
History
Last modified by. Simulink
USER
Last modified date. Simulink
Modified history update.

"Prompt for Comments When Save" Simulink
Simulink
4113

Modified history. Simulink
Edit
4-112
Simulink
Simulink
Simulink Model Properties History

Modified history update "Prompt For Comments When
Save" Simulink Log
Change
Modified Comments
Save
Include "Modified Contents" in "Modified
History"
Show this dialog box next time when save
4-113
Simulink Model Properties

History Edit Simulink
Modification History
Apply OK
Simulink
MATLAB M Simulink get_param
Simulink
4-114
Created
Creator
ModifiedBy
ModifiedByFormat
ModifiedBy
%<Auto>
Simulink USER
ModifiedDate
ModifiedDateFormat
ModifiedDate
%<Auto>
Simulink
ModifiedComment
ModifiedHistory
ModelVersion
ModelVersionFormat
%<AutoIncrement:#>
# Simulink
#
#
Description
LastModificationDate
4-115
Simulink
Simulink Simulink
File MATLAB
Microsoft Windows : Exit MATLAB

UNIX : Quit MATLAB
4-116
. . . . . . . . . . . . . . . . . . . . . . . . . 5-2
. . . . . . . . . . . . . . . . . 5-2
Running a Simulation from the Command Line . . . . . . . . . . 5-3
. . . . . . .
. . . . . . . . . . . .
Simulation Diagnostics . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
Solver . . . . . . . . . . . .
Workspace I/O . . . . . . . . .
Diagnostics . . . . . . . . . .
. . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
. . 5-8
. . 5-8
. 5-18
. 5-25
. 5-29
.
.
.
.
.
.
.
.
.
.
.
.
.
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.
.
.
5-4
5-4
5-4
5-4
5-6
. . . . . . . . . . . . .5-34
Speeding Up the Simulation . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . .
5-33
5-35
. . . . . . . . .5-36
sim . . . . . . . . . . . . . . . . . . .
Using the set_param Command . . . . . . . . . . . . . . .
5-36
5-35
Simulink
MATLAB
" " MATLAB
ODE

( )Scope Display
-
-
-
-
-
5-2
536

5-3
3 " "
Solver
Workspace I/O MATLAB

Diagnostics
58 Simulation Parameters
MATLAB
MATLAB
Apply
Close
Simulation Start
Ctrl-T
Start Stop
5-4
Simulink Simulink
Simulation Stop
Ctrl-T
Simulation Pause
Pause Continue
Continue
Simulink
5-5
Simulation Diagnostics
Simulink Simulation Diagnostics
Click to display error

message.
Double-click to display error

source.
Click to display error source.
Message. ( )
Source. ( )
Fullpath
Summary.
Reported by. ( Simulink, Stateflow,
5-6
Simulation Diagnostics Simulink (

)
( )
Open
5-7
Simulation Parameters sim (5-38
sim ) simset( 5-43 simset )
5-1: Simulation Parameters
OK
Cancel
Help
Apply
Solver
Solver Simulation Parameters
Solver
Solver

5-8
Start time Stop time
0.0 10.0
10 10
Simulink (ODE)
Simulink
5-9
Using MATLAB
Simulink
ode45 ode45
ode45 ode15s
5-11
Variable-step solvers
Simulink discrete
ode45
Simulink discrete
2 discrete
0.5 0.75 0.25

discrete
discrete
[0.0 0.25 0.5 0.75 1.0 1.25 ...]
discrete
[0.0 0.5 0.75 1.0 1.5 2.0 2.25 ...]
discrete
discrete
ode45, ode23, ode113, ode15s,
ode23s discrete
ode45 discrete
5-10
ode45 Dormand-Prince Runge-Kutta(4,5)

y(tn) y(tn-1)
ode45 "
"
ode23 Bogacki Shampine Runge-Kutta(2,3)
ode45
ode23
ode113 Adams-Bashforth-Moulton PECE
ode45 ode113
ode15s (NDF)
(BDF)(Gear )
ode113 , ode15s
ode45 ode15s
ode23s 2 Rosenbrock
ode15s
ode15s
ode23t " "
ode23tb
Runge-Kutta TR-BDF
ode23s
ode15s
discrete( )
Simulink

5-11
ode15s ode23s
Shampine, L. F. Numerical Solution of Ordinary Differential Equations, Chapman &

Hall, 1994
ode5, ode4, ode3, ode2, ode1,

discrete .
ode5 Dormand-Prince ode45
ode4 4 Runge-Kutta RK4
ode3 Bogacki-Shampine ode23
ode2 Euler Heun
ode1 Euler
discrete( )
534

( 534
)
Solver
auto
auto
5-12
. Max step size
t stop t start
h max = ----------------------------50
1
(1/4 )
516
2
2 1 2
Diagnostics
5-13
(rtol ) (atol )

1e-3
0.1%

i ei
e i max ( rtol x i , atol i )
rtol*|x|
State
Region in which rtol determines acceptable error

Region in which atol determines acceptable error
atol
Time
auto ( ) Simulink
1e-6 Simulink
0 1 reltol
1e-3 abstol 1e-3
0 1000 abstol 1
5-14
Integrator
ode15s
ode15s 1 5 NDF
2 (NDF
A- )ode15s
1 ( A- )
ode23s
Multitasking
Solver Mode
1
MultiTasking.
rate transition
Simulink 2 Unit Delay( 9-254 Unit Delay )
Zero-Order Hold ( 9-262 Zero-Order Hold )
Unit Delay
Zero-Order Hold Real-Time Workshop

Users Guide 7 " "
5-15
SingleTasking.
Auto. Simulink
Output options
3
Refine output
Produce additional output
Produce specified output only
. Refine output
ode45
ode45

( 3-14 )
5-16
. Produce additional output
Simulink Solver Ouput Times

MATLAB
Produce specified output only

0, 2.5, 5, 8.5, 10
Refine output 2
0, 1.25, 2.5, 3.75, 5, 6.75, 8.5, 9.25, 10
5-17
Produce additional output [0:10]
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10
Produce Specified Output Only [0:10]
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10
[1:100]*0.01
[1:0.01:100]
Workspace I/O
Workspace I/O
5-18
Simulink
Workspace I/O Load from workspace Input

( )
Apply
Array. Load from workspace Input

Workspace I/O Format Matrix
Simulink Input
double ( )
( )Inport
Simulink Interpolate data

( 9-123
Interpolate data )
n + 1 n
[t,u]
t u
Input
2 1 2
1
u t
t = (0:0.1:1);
u = [sin(t), cos(t), 4*cos(t)];
double ( )
double (2-D)
5-19
Structure with time. Simulink Input
2 time signals
time signals
values values
signals values dimensions 2

values
time
dimensions
1-D dimensions
1)
2-D dimensions 2
1 2
values M
N M time
N
int8 2 11
a.time = (0:0.1:1);
c1 = int8([0:1:10]);
c2 = int8([0:10:100]);
a.signals(1).values = [c1 c2];
a.signals(1).dimensions = 2;
Workspace I/O Input

a
(2-D ) Mx N T
M N T
4 5 51 1
[4 5] 4 5 51
5-20
1 2
a
a.time = (0:0.1:1);
a.signals(1).values = sin(a.time);
a.signals(2).values = cos(a.time);
Input a
I/O Structure with time
Simulink Structure with time

5-23
Structure with time
Structure. time
Structure with time
time
a.time = []
Simulink 1
2 2
Simulink Structure
5-24 Structure
5-21
Per-Port Structures.
signals
Input
in1, in2, ..., inN
in1 in2
2
Time Expression.
MATLAB 2
1 timefcn 2
[3*sin(t), cos(2*t)]
4*timefcn(w*t)+7
Simulink
Simulink t 1
Simulink sin sin(t)
Saving Output to the Workspace

Save to workspace Time, States, Output
Simulink ( )
Simulink Save to Workspace
Simulink
To Workspace
( 9-240 To Workspace )
5-22
Save options
Array. Simulink
Save to Workspace ( xout)
2
2
2 1 2
2
Save to Workspace ( yout)

(
)
Structure with time. Save to

Workspace
2 time signals time

signals
4
values, dimensions, label, blockName values
values time
2-Dvalue
M 3-
=1 MATLAB
label
5-23
dimensions label
blockName
outport
2 time signals time

signals
signals 4 valuesdemensionlabelblockName
values blockName
label
state CSTATE( ) DSTATE( )
S- label S-
values
values
2 2 51
Simulink values
51 4
2 1
2 2
Structure. Simulink time
Per-Port Structures.
signals
Output
out1, out2, ..., outN
out1 out2 2
Limit data points to last
Decimation
2 1
5-24
States
WorkspaceI/O
Save
( ) Final State
Initial State
save final states
Simulink Structure Structure with time
([])
Simulink
Diagnostics
Simulation Parameters Diagnostics
5-25
Simulink ODE
S- Simulink
( 40%) off
S-
Simulink
( )
1 t ( )
t
(ode23s ode15s)
Simulink
Simulink
5-26
Simulink
S-
S-
-1
(Sine Wave ) -1
Simulink
318
Product
(9-170 Product )
4-45

5-27
5-28
(Continued)
int32 float
32-bit
4-45

514 514

2
(5-15 Multitasking
)
S-function
S-function
(4-31
)
2
(5-15 Multitasking
)
9-49
(Continued)
(436
)
.
() ( 35
)
Simulink
(5-32 )
5-29
MATLAB

(
)
Simulink
(Ctrl+D)
Simulink
Boolean . Boolean
boolean double
double boolean
Boolean
Boolean
5-30
double
Simulink Simulink
. (
.
Simulink
Simulink
C-MEX S-function
Scope Display
Simulink
Scope Display
314
5-31
(529 )
MATLAB
MATLAB
Referenced workspace variables
.
MATLAB
5-32
MATLAB
. Real-Time Workshop
. Real-Time
Workshop
5-33
MATLAB Fcn MATLAB Fcn

MATLAB
Fcn Elementary Math

M- S- M-
S- MATLAB
S- C-MEX
S-
Memory Memory
(ode15s ode113) 1

(auto)
(0.1% )
5-14

ode15s
5-34
3-18
Random Number Integrator
Sources Band-Limited White Noise
1e-4 (
1e-3)
" "

ode15s
2 ( A-
)ode23s
Integrator
5-35
MATLAB M
sim set_param
sim
[t,x,y] = sim(model, timespan, options, ut);
model
sim 5-38 sim
options
simset ( 5-43 simset )
options
5-8 Simulation Parameters

set_param
set_param
get_param
set_param
set_param(sys, SimulationCommand, cmd)
'sys' 'cmd' 'start', 'stop', 'pause', 'continue', 'update'
get_param
get_param(sys, SimulationStatus)
5-36
Simulink stopped, initializing, running, paused, terminating (Real-Time

Workshop )external
5-37
sim
5sim
[t,x,y] = sim(model,timespan,options,ut);
[t,x,y1, y2, ..., yn] = sim(model,timespan,options,ut);
sim Workspace I/O

Simulink
1 ( ) ([])
sim
sim options
Simulation parameters
Workspace I/O (5-18 Workspace I/O )
simset ( 5-43 simset )

solver
VariableStepDiscrete
5-38
Outport
Outport
y1,...,yn
yi n Outport
model
sim
timespan
tFinal 0
[tStart tFinal]
[tStart OutputTimes tFinal] t
t
OutputTimes Produce additional
output
options
simset
( 5-43 simset )
ut
Inport
ut u = UT(t) (
)MATLAB
vs.
ut1, ut2, ...,
MATLAB
5-19

Simulink vdp Van der Pol
[t,x,y] = sim(vdp)
Refine vdp
Van der Pol
[t,x,y] = sim(vdp, [], simset(Refine,2));
1,000 Van der Pol

100 t y
xFinal
5-39
sim
[t,x,y] = sim(vdp, 1000, simset(MaxRows, 100,
OutputVariables, ty, FinalStateName, xFinal));
5-40
simset, simget
simplot
5simplot
simplot(data);
simplot(time, data);
simplot Handle Graphics figure

Scope
figure
data
( Outport To
Workspace ) Array,
Structure, Structure with time
(5-18 Workspace I/O )
time
Array Structure
simplot Structure with time
figure
5-41
simplot
vdp
set_param(gcs, SaveOutput, on)
set_param(gcs, SaveFormat, StructureWithTime)
sim(gcs)
simplot(yout)
figure vdp
5-42
sim, set_param
simset
5simset
options = simset(property, value, ...);

options = simset(old_opstruct, property, value, ...);
options = simset(old_opstruct, new_opstruct);
simset
simset
options
sim
options = simset(property, value, ...) options
options = simset(old_opstruct, property, value, ...) old_opstruct
options = simset(old_opstruct, new_opstruct) old_opstruct new_opstruct 2
options new_opstruct
old_opstruct
simset
get_param set_param
AbsTol
{1e-6}
.
AbsTol
Decimation
{1}
. t, x, y
1 2
1
5-43
simset
DstWorkspace
base | {current} | parent
. To
Workspace
FinalStateName
string {}
. Simulink
FixedStep
positive scalar
50 1
InitialState
vector {[]}
. ( )
( )
InitialState
InitialStep
positive scalar {auto}
.
InitialStep
MaxOrder
1 | 2 | 3 | 4 | {5}
ode15s . This property applies only to ode15s.

MaxDataPoints
nonnegative integer {0}
. t, x, y
MaxRows 0
MaxStep
positive scalar {auto}
.
50 1
OutputPoints
{specified} | all
. specified timespan
t, x, y all t, x, y
5-44
simset
OutputVariables
{txy} | tx | ty | xy | t | x | y
. t, x, y
t, x, y
Refine
positive integer {1}
.
Refine
Refine
RelTol
positive scalar {1e-3}
e(i) <= max(RelTol*abs(x(i)),AbsTol(i))
0.1%
1e-3
Solver
VariableStepDiscrete |
ode45 | ode23 | ode113 | ode15s | ode23s |
FixedStepDiscrete |
ode5 | ode4 | ode3 | ode2 | ode1
SrcWorkspace
{base} | current | parent
.
MATLAB
Trace
minstep, siminfo, compile {}
.
( 1 )
'minstep'
Simulink
siminfo
compile
5-45
simset
ZeroCross
{on} | off
/
off
MaxRows Refine
myopts
myopts = simset(MaxDataPoints, 100, Refine, 2);
vdp model 10 myopts
[t,x,y] = sim(vdp, 10, myopts);
5-46
sim, simget
simget
5simget
struct = simget(model)
value = simget(model, property)
value = simget(OptionStructure, property)
simget Simulink
simget
struct = simget(model) Simulink
sim simset
value = simget(model, property)
value = simget(OptionStructure, property)
OptionStructure
property
vdp
options = simget(vdp);
vdp Refine
refine = simget(vdp, Refine);
sim, simset
5-47
simget
5-48
. . . . . . . . . . . . . . . . . . . . . . . . 6-2
Scope . . . . . . . . . . . . . . . . . . 6-2
. . . . . . . . . . . . . . . . . . . . . 6-2
To Workspace . . . . . . . . . . . . . . . 6-3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
. . . . . . . . . . . . . . . . . . . . . . . . . 6-7
linfun . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
trim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
Simulink 3
Scope XY Graph
MATLAB
To Workspace MATLAB
Scope
Scope
Scope
Scope Scope
XY Graph
MATLAB
Out Signals & Systems Outport

yout
5-18 Workspace I/O
Workspace I/O
6-2
Simulation
plot(tout,yout)
To Workspace
To Workspace MATLAB
y t
Clock To Workspace
Simulation Parameters Workspace I/O

sim
( 5-18 Workspace I/O
)
To Workspace
6-3
Simulink A, B, C, D
linmod dlinmod
x = Ax + Bu
y = Cx + Du
x, u, y
lmod
Simulink
[A,B,C,D] = linmod(lmod)
A=
-2 -1 -1
1 0 0
0 1 -1
B=
1
0
0
C=
0 1 0
0 0 -1
D=
0
1
6-4
Signals & Systems Inport Outport

Sources
Sinks Inport
Sum Sources
LTI
Control System Toolbox
LTI :
sys = ss(A,B,C,D);
:
bode(A,B,C,D) or bode(sys)
:
step(A,B,C,D) or step(sys)
impulse(A,B,C,D) or impulse(sys)
lsim(A,B,C,D,u,t) or lsim(sys,u,t)
Control System Toolbox Robust Control Toolbox
linmod
[A,B,C,D] = linmod(sys, x, u, pert, xpert, upert)
dlinmod 2
linmod
6-9 linfun
Derivative Transport Delay

linmod
Simulink Extras Linearization

Extras Blocksets & Toolboxes
6-5
Derivative Switched derivative for linearization

Transport Delay Switched transport delay for linearization
( Control System Toolbox )
Derivative
Transfer Fcn
Derivative Transfer Fcn
(
s
----------s+a
6-6
Simulink trim lmod
trim 1
(x) (u)
(y)
x = [0; 0; 0];
u = 0;
y = [1; 1];
ix = []; % Dont fix any of the states

iu = []; % Dont fix the input
iy = [1;2]; % Fix both output 1 and output 2
trim
[x,u,y,dx] = trim(lmod,x,u,y,ix,iu,iy)
x=
0.0000
1.0000
1.0000
u=
2
y=
1.0000
6-7
1.0000
dx =
1.0e015 *
-0.2220
-0.0227
0.3331
trim
trim
6-12 trim
6-8
linfun
6linfun
[A,B,C,D] = linfun(sys, x, u)
[num,den] = linfun(sys, x, u)
sys_struc = linfun(sys, x, u)
linfun
linmoddlinmod linmod2
sys
Simulink
xu
linmod Simulink
linmod
A, B, C, D
x = Ax + Bu
y = Cx + Du
Inport Outport Simulink
[A,B,C,D] = linmod(sys, x, u) x u sys

x u
[num,den] = linfun(sys, x, u)
sys_struc = linfun(sys, x, u)
dlinmod
dlinmod linmod 2
[Ad,Bd,Cd,Dd] = dlinmod(sys, Ts, x, u);
6-9
linfun
Ts x u
Ts 0
dlinmod Ts
( )
Ts

-
dlinmod [A,B,C,D]
Ad
Ts>0
all(abs(eig(Ad))) < 1
Ts = 0
all(real(eig(Ad))) < 0
dlinmod Ad Bd
Ad
dlinmod
bode
pert 2 2
t
Simulink
6-10
linfun
[sizes,x0,xstring] = sys
xstring i i
ss2tf
ss2zp -
ss LTI
LTI LTI tf zpk
- -
Derivative Transport Delay
6-4
6-11
trim
6trim
[x,u,y,dx] = trim(sys)
[x,u,y,dx] = trim(sys,x0,u0,y0)
[x,u,y,dx] = trim(sys,x0,u0,y0,ix,iu,iy)
[x,u,y,dx] = trim(sys,x0,u0,y0,ix,iu,iy,dx0,idx)
[x,u,y,dx] = trim(sys,x0,u0,y0,ix,iu,iy,dx0,idx,options)
[x,u,y,dx] = trim(sys,x0,u0,y0,ix,iu,iy,dx0,idx,options,t)
[x,u,y,dx,options] = trim(sys,...)
trim
trim
trim
min-max
trim
[x,u,y] = trim(sys) x0
trim [x-x0,u,y]
trim
abs(dx-0)
x0
[sizes,x0,xstr] = sys([],[],[],0)
[x,u,y] = trim(sys,x0,u0,y0) x0,u0,y0
abs([x-x0; u-u0; y-y0])
trim(sys, x0, u0, y0, ix, iu, iy)
x0, u0, y0
ix, iu, iy x0, u0, y0
6-12
trim
trim
abs([x(ix)-x0(ix); u(iu)-u0(iu); y(iy)-y0(iy)])
[x,u,y,dx] = trim(sys, x0, u0, y0, ix, iu, iy, dx0, idx)
dx0 idx
dx0
options trim
trim
options
trim
No.
0 1
-1
0.0001
0.0001
0.0001
10
N/A
6-13
trim
options Optimization Toolbox Users Guide
x = Ax + Bu
y = Cx + Du
A, B, C, D sys
A = [-0.09 -0.01; 1 0];
B = [ 0 -7; 0 -2];
C = [ 0 2; 1 -5];
D = [-3 0; 1 0];
[x,u,y,dx,options] = trim(sys)
x=
0
0
u=
0
y=
0
0
dx =
0
0
6-14
trim
options(10)
ans =
7
x = [1;1], u = [1;1]
x0 = [1;1];
u0 = [1;1];
[x,u,y,dx,options] = trim(sys, x0, u0);
x=
1.0e11 *
-0.1167
-0.1167
u=
0.3333
0.0000
y=
-1.0000
0.3333
dx =
1.0e11 *
0.4214
0.0003
options(10)
ans =
25
1
y = [1;1];
iy = [1;2];
[x,u,y,dx] = trim('sys', [], [], y, [], [], iy)
x=
0.0009
-0.3075
u=
6-15
trim
-0.5383
0.0004
y=
1.0000
1.0000
dx =
1.0e-16 *
-0.0173
0.2396
1 0 1
y = [1;1];
iy = [1;2];
dx = [0;1];
idx = [1;2];
[x,u,y,dx,options] = trim(sys,[],[],y,[],[],iy,dx,idx)
x=
0.9752
-0.0827
u=
-0.3884
-0.0124
y=
1.0000
1.0000
dx =
0.0000
1.0000
options(10)
ans =
13
6-16
trim
trim
x, u, y
trim
Optimization Toolbox Users Guide
6-17
trim
6-18
. . . . . . . . . . . . . . . . . . . . . . . . . 7-2
. . . . . . . . . . . . . . 7-3
. . . . . . . . 7-4
. . . . . . . . . . . . 7-6
. . . . . . . . . . . . . . . . . . 7-6
Mask Editor:
. . . . . . . . . . . . . . . . . . . . . 7-8
Initialization . . . . . . . . . . . . . . . . . . . . . 7-9
. . . . . . . . . . . . .
. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . .
.
.
.
.
.
.
.
.
. . 7-9
. 7-13
. 7-13
. 7-13
Icon . . . . . . . . . . . . . . . .
. . .
. . . . . . . .
. . .
. . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
. .7-17
. 7-17
. 7-19
. 7-20
. 7-21
. 7-22
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
Documentation . . . . . . . . . . . . . . . . . . . .7-26
Mask Type . . . . . . . . . . . . . . . . . .
Block Description . . . . . . . . . . . . . . .
Mask Help Text . . . . . . . . . . . . . . . .
Self-Modifying
7-26
7-26
7-27
. . . . . . . . . . . . .7-28
. . . . . . . . .7-29
. . . . . . .
. . . . . . . . . . .
7-29
7-30
Simulink
7-2
y = mx + b
Subsystem Subsystem
mx + b Gain
m Slope Gain
b Intercept Constant
Subsystem
Slope Intercept
Simulink
Slope Intercept

Simulink
7-3

(
1
Subsystem
Edit Mask Subsystem
Mask Editor
Initialization
7-4
Mask Editor
-
-
Slope
Intercept
( 7-14 )

m Slope
Mask Editor
OK
Subsystem
Slope 3 Intercept
2
7-5
Documentation
mx + b
Subsystem Simulink
7-6
Icon
Icon
(0,0) (0,m)
1
Drawing coordinates
Normalized (0,0) (1,1)
7-19
7-7
Mask Editor:
(Subsystem )
Subsystem Edit Mask Subsystem
Mask Editor Mask Editor 3
Initialization
Icon
Documentation
Mask Editor 5
OK Mask Editor
Cancel Mask Editor

Apply
Unmask Mask Editor
Create Mask Mask Editor
Help
Apply
Mask Editor
Subsystem
Edit Look Under Mask
7-8
Initialization
Initialization
Initialization
mx+b Initialization
Prompt
Assignment Evaluate
MATLAB Literal
7-9
gain Assignment
Evaluate gain MATLAB
Literal MATLAB
gain
Literal
MATLAB eval
LitVal gain
value = eval(LitVal)
Evaluate Assignment
Prompt
Variable
Add
2 Prompt
Variable
2 Enter
Return Simulink
7-10
Initialization
1
2 Delete
1
2 1
Up
Down
Simulink
3
3
( )
7-11
(freq)
Assignment
Assignment
Evaluate
Literal
(label)
Assignment
on
off

Popup strings (|)
7-12
Initialization
(color)
Assignment
Assignment
Evaluate
1
3 3
Literal
3
'green'
1
2
4-77
MaskTunableValues
1
2 2
on off
get_param
7-13
on off
set_param MaskTunableValues
ca = get_param(gcb, MaskTunableValues);
ca(1) = off
set_param(gcb, 'MaskTunableValues, ca)
(
)
Simulink

MATLAB MATLAB
Simulink
7-14
Initialization
mx + b Mask Editor
m b
( )
( )
M-
Mask
Editor M-
" "
7-15
M
A A B
B A M
x x A

keyboard keyboard
MATLAB
dbstop if error
dbstop if warning
dbstop
7-16
Icon
Icon
Icon
Drawing commands
Icon
disp(text) or disp(variablename)
7-17
text(x, y, text)
text(x, y, stringvariablename)
text(x, y, text, horizontalAlignment, halign, verticalAlignment, valign)
fprintf(text) or fprintf(format, variablename)
port_label(port_type, port_number, label)
disp text variablename
text (x,y) (text

stringvariablename ) Drawing coordinates
7-22
text (x,y)
text(0.5, 0.5, foobar, horizontalAlignment, center)
"foobar"
text
left
right
center
text
7-18
base
bottom
middle
Icon
cap
top
fprintf
variablename text
MATLAB
\n
disp 2
port_label
port_label(port_type, port_number, label)
port_type input outputport_number label
port_label(input, 1, a)
1 a
1 plot
plot
plot(Y);
plot(X1,Y1,X2,Y2,...);
7-19
plot(Y) Y
Y
plot(X1,Y1,X2,Y2,...) X1 Y1X2 Y2
Sources Ramp
plot([0 1 5], [0 0 4])
NaN inf NaN inf

Simulink NaN inf
Drawing coordinates
7-22
Simulink 3 (? ? ?)
image patch
Bitmap
image(a) a
a m n 3 RGB
Bitmap MATLAB
imread ind2rgb
image(imread(icon.tif))
7-20
Icon
MATLAB icon.tif TIF
image(a, [x, y, w, h])
image(a, [x, y, w, h], rotation)
(on) (off) off

patch(x, y) x, y
foreground
patch(x, y, [r g b]) [r g b]
r g b
patch([0 .5 1], [0 1 0], [1 0 0])
Drawing commands
dpoly(num, den)
dpoly(num, den, character)
num den
character
s
s
dpoly(num, den)
num = [0 0 1]; den = [1 2 1];
7-21
dpoly(num, den, z)
num = [0 0 1] den = [1 2 1]
1/z
dpoly(num, den, z-)
num den
- -
droots(z, p, k)
z = []; p = [-1 -1]; k = 1;
4 (z z-) z 1/z
Simulink 3 (? ? ?)
Simulink
Drawing commands
7-22
Icon
Icon frame(
Icon frame
Visible Invisible
AND
Visible
Invisible
Icon transparency(
Opaque
Transparent Opaque
Simulink AND
(opaque) (transparent)
Opaque
Transparent
Icon rotation(
AND
Fixed ( ) Rotates ( )
Fixed
Rotates
7-23
Drawing coodinates(
plot text Autoscale,

Normalized, Pixel
max(X), max(Y)
min(X), min(Y)
Autoscale
1,1
0,0
Normalized
block width, block height
0,0
Pixel
Autoscale
X = [0 2 3 4 9]; Y = [4 6 3 5 8];
(0,3) (9,8) x 9 (0
9) y 5 (3 8)
Normalized (0,0) (1,1)
0 1 X Y
X = [.0 .2 .3 .4 .9]; Y = [.4 .6 .3 .5 .8];
Pixel X Y
mx + b
7-24
Icon
pos = get_param(gcb, Position);

width = pos(3) pos(1); height = pos(4) pos(2);
x = [0, width];
if (m >= 0), y = [0, (m*width)]; end
if (m < 0), y = [height, (height + (m*width))]; end
plot(x,y)
7-25
Documentation
Documentation
Documentation mx+b
Mask Type
Mask
Editor
Simulink
"(mask)"
Block Description
7-26
Documentation
Simulink Enter
Return
Mask Help Text

Help
URL (http:, www, file:, ftp:, mailto:

web (
eval (MATLAB )
Web Static
Simulink 1 URL
web eval
web([docroot /My Blockset Doc/ get_param(gcb,MaskType)... .html])

eval(!Word My_Spec.doc)
http://www.mathworks.com
file:///c:/mydir/helpdoc.html
www.mathworks.com
Simulink
7-27
Self-Modifying
self-modifying MaskSelfModifiable
on Simulink
MaskSelfModifiable self-modifying
MATLAB
set_param(gcb, MaskSelfModifiable, on);
7-28
Simulink
Simulink
Simulink set_param
MATLAB Simulink set_param
Simulink
Simulink
get_param set_param
set_param
MATLAB set_param
7-29
set_param
Simulink
MaskCallbacks
1 1
2 2
MATLAB M
MATLAB set_param
set_param(gcb,MaskCallbacks,{parm1_callback, ,... parm3_callback});
1 3
MaskDescription
MaskEnables
1 1
2 2
on
off
7-30
set_param(gcb,MaskEnables,{on,on,off});
3
Simulink
MaskPrompts
1 1
2 2
MaskType
MaskValues
1 1
2 2
MaskVisibilities
on off
set_param(gcb,MaskVisibilities,{on,off,on});
7-31
2
Simulink
7-32
. . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Enabled . . . . . . . . . . . . . . . . . . . . 8-3
Enabled . . . . . . . . . . . . . . . . . 8-3
Enabled . . . . . . . . 8-5
Triggered . . . . . . . . . . . . . . . . . . . 8-8
Triggered . . . . . . . . . . . . . . . . 8-9
Function-Call . . . . . . . . . . . . . . . . 8-10
Triggered . . . . . . 8-10
Triggered and Enabled . . . . . . . . . . . . . .8-12
Triggered and Enabled . . . . . . . . . .

Triggered and Enabled . . . . . . . .
. . . . . . . . . . . .
8-12
8-13
8-13
Subsystem
Simulink 3
enabled
( )
Enabled
8-3 Enabled
triggered subsystem ""
Triggered 8-8
Triggered
triggered and enabled
Enable Triggered and
Enabled 8-12 Triggered and Enabled

8-2
Enabled
Enabled
Enabled
Enabled
Simulink
Enabled
Enabled Signals & Systems Enable
Simulink Enable
Enable Subsystem .
8-3
Enabled
Enabled
Outport
Output when disabled
held
reset
Initial output
Outpurt
Enabled
Enable
States when enabling
held
reset
8-4
Enabled
Enable
Enable Enable
Show output port
Enabled
Enabled (1
)
Enabled
Enabled
Enabled
Enabled
Enabled GoTo
Enabled GoTo
Enabled GoTo Simulink
clutch
8-5
4 1
0.25 Block A
0.5 Block B
0.125 Enabaled Block C
0.25 Enabaled Block D
Enable Signal E Pulse Generator
0.375 0 1 0.875 0 .
1
0
Signal E
- Start of execution
Block D
for a block
Block C
Block B
Block A
0
.125 .25 .375 .50 .625 .75 .875 1.0

Time (sec)
8-6
Enabled
Block A Block B Enabled Enable

Enable Block C D Enable
Enable 0.875 C
8-7
Triggered
Triggered
Triggered
1 3
Triggered
rising (
)
falling (
)
either rising falling
rising(R) falling(F)
0
F
Triggered
8-8
Triggered
Triggered
Triggered Signals & Systems Trigger
Simulink Trigger
Subsystem
Trigger
Trigger type

rising
falling
either
.
Simulink Trigger Subsystem

Subsystem
8-9
Enabled Triggered
Triggered
Trigger
Show output port
Output data type auto, int8, double

auto
(int8 double)
Function-Call
S-function Triggered
function-call
Writing S-Functions
Triggered
Triggered
Triggered
Logical Operator Gain
8-10
Triggered
-1 -1
8-11
Triggered and Enabled

3 2
triggered and enabled
Enabled
Triggered .
Trigger event
Is
the enable
input signal
>0?
No
Dont execute the subsystem
Yes
Execute the subsystem
Triggered and Enabled Enable Trigger
Simulink Enable
Enable
Simulink
1

Triggered and Enabled Signal & Systems Enable
Trigger
Simulink Enable Trigger
Enable Trigger Subsystem
8-12
Enabled Triggered and Enabled

8-4

8-4

Enable Trigger

Merge
Enabled Merge
8-13
AC DC
"pos" AC
"neg"
Merge
Mux
Mux Scope
8-14
. . . . . . . . . . . . 9-2
Simulink . . . . . . . . . . . . . . . . . 9-3

(
)

- -
3-18

- - (
)
3-23
- -
4-36
- -
- - /
4-30
- - (state event)
3-14
9-2
Simulink
Simulink
Simulink
simulink
Sources
Sinks
Discrete
Continuous
Math
Functions & Tables
Nonlinear
Signal & Systems
Blocksets and Toolboxes Extra
Demos MATLAB Simulink
Simulink (Windows ) MATLAB

simulink3
Blocksets and Toolboxes Demos
9-1: Sources
Band-Limited White Noise
Chirp Signal
9-3
9-1: Sources (Continued)
Clock
Constant
Digital Clock
Digital Pulse Generator
From File
From Workspace
Pulse Generator
Ramp
Random Number
Repeating Sequence
Signal Generator
Sine Wave
Step
Step
Uniform Random Number
9-2: Sinks
9-4
Block Name
Display
Scope
Stop Simulation
Simulink
9-2: Sinks (Continued)

Block Name
To File
To Workspace
XY Graph
MATLAB Figure
X-Y
9-3: Discrete
Discrete Filter
IIR FIR
Discrete State-Space
Discrete Transfer Fcn
Discrete Zero-Pole
First-Order Hold
Unit Delay
Zero-Order Hold
9-4: Continuous
Derivative
Integrator
Memory
9-5
9-4: Continuous (Continued)
State-Space
Transfer Fcn
Transport Delay
Variable Transport Delay
Zero-Pole
9-5: Math
9-6
Abs
Bitwise Logical Operator
Combinatorial Logic
Complex to Magnitude-Angle
Complex to Real-Imag
Derivative
Dot Product
Gain
Logical Operator
Magnitude-Angle to Complex
Math Function
Matrix Gain
Simulink
9-5: Math (Continued)
MinMax
Product
Relational Operator
Rounding Function
Sign
Slider Gain
Sum
Trigonometric Function
9-6: Functions & Tables
Direct Look-Up Table (n-D)

Fcn
Look-Up Table
Look-Up Table (2-D)
Look-Up Table (n-D)
MATLAB Fcn
MATLAB
S-Function
S-
9-7
9-7: Nonlinear
Backlash
(
)
Coulomb & Viscous Friction
Dead Zone
( )
Manual Switch
Multiport Switch
Quantizer
Rate Limiter
Relay
Saturation
Switch
9-8: Signals & Systems
9-8
Bus Selector
Configurable Subsystem
Data Store Memory
Data Store Read
Data Store Write
Simulink
9-8: Signals & Systems (Continued)
Demux
Enable
Enable
From
Goto
Goto
From
Goto Tag Visibility
Goto
Ground
Hit Crossing
IC
Inport
Matrix Concatenation
Merge
Model Info
Mux
Outport
Reshape
Probe
Selector
Signal Specification
9-9
9-8: Signals & Systems (Continued)
9-10
Subsystem
Terminator
Trigger
Trigger
Width
Abs
9Abs
Math
Abs
double double
Saturate on integer overflow (integer )

( )
8-bit integers -128 127

16-bit integers -32768 32767
32-bit integers -2147483648 2147483647
N/A
9-11
Abs
9-12
9Algebraic Constraint
Math
Algebraic Constraint f(z) z
1 (DAE)
Initial guess( )
z Initial guess( )
z2 + z1 = 1
z2 z1 = 1
Display z2 = 1, z1 = 0
Algebraic Constraint double
9-13
Initial guess( )
0
9-14
Backlash
9Backlash
Nonlinear
Backlash
1 0
( )
-1.0
-0.5
0.5
1.0
3
-
- ( )

- ( )
Initial output( )
2 Backlash
2
Deadband width( )
( )
Initial output( )
9-15
Backlash
(
)
-1.0
-0.5
0.5
1.0
-1.0
-0.5
0.5
1.0
( )
-1.0
-0.5
0.5
1.0
= - ( /2)
2 5
y
u 4 6 5
u < 4 u + 1
u > 6 u - 1
9-16
Backlash
Backlash
Backlash (
1 0 ) (0.5
) Blacklash
(1.0 )
0
A
C
Backlash double
9-17
Backlash
Deadband width( )
1
Initial output( )
0
9-18
9Band-Limited White Noise
Sources
Random Number Band-Limited White

Noise
0
(PSD)
Simulink
1 2
t c --------- ---------100 f max
fmax /
PSD
1/tc tc

Noise power( ( ))
PSD
Noise power( ) tc
9-19
Band-Limited White Noise double
Noise power( )
PSD 0.1
Sample time( )
0.1
Seed( )
23341
9-20
(Noise power) (Seed)
9Bitwise Logical Operator
Math

(AND, OR, XOR) (NOT), (SHIFT_LEFT, SHIFT_RIGHT)
Bitwise Logical Operator (AND, OR, XOR)
AND
OR
XOR
Bitwise Operator
9-21

5 4 5 4
1-D ( ) 1 1
Second
operand( 2 )
MATLAB
16 ( ,
'FFFF')
'FF00'
uint8 '00'
16
MATLAB ['00' 'FF'] 2
'FF00' ['FFFF';
'0000'] 2 ['FFFF'; '00']
MATLAB
16 10 16
({'F0' '0F'} ) 2 16
9-22
Bitwise Logical Operator NOT

1 0
1
Bitwise Logical Operator SHIFT_LEFT SHIFT_RIGHT
Second operand( 2 )
Bitwise Logical Operator uint8, uint16, uint32
Bitwise operator( )
Second operand( 2 )
MATLAB
9-23
9-24
Second operand
Bus Selector
9Bus Selector
Signals & Systems
Bus Selector Mux Bus Selector
Muxed output( )
Muxed output( )
Simulink Simulink Bus

Selector
Bus Selector
9-25
Bus Selector
Signals in the bus( )
Signals in the bus
>> Signals in the bus
Selected signals( )
Selected signals Up(
)Down( ) Remove( )
Selected signals Bus Selector

???
Muxed output
Bus Selector
9-26
Chirp Signal
9Chirp Signal
Sources
Chirp Signal
Initial frequency( )Target time( )

Frequency at target time( )
Interpret vector parameters as 1-D(

1-D )
(1-D )
Chirp Signal double
Initial frequency( )
0.1 Hz
9-27
Chirp Signal
Target time( )
Frequency at target time
100
Frequency at target time( )
1 Hz
Interpret vector parameters as 1-D( 1-D )
Initial frequencyTarget time
Frequency at target time
9-28
Clock
9Clock
Sources
Clock
Digital Clock
Clock double
Display time( )
Display time
Clock
Decimation( )
Decimation
=
1000 1 1 2
1
N/A
9-29
Clock
9-30
Combinatorial Logic
9Combinatorial Logic
Math
Combinatorial Logic (PLAs)
Memory
Truth table
= 2 ^ ( )
Simulink
1 Simulink 0
1 2
1 m u
= 1 + u(m)*20 + u(m1)*21 + ... + u(1)*2m1
2 AND
2 1 1
0 2 AND
Truth table [0; 0; 0; 1] Combinatorial Logic
" 1"
1
" 2" 2
9-31
Combinatorial Logic
[1 0] 3 (21*1 + 1)
0
3 2 (a b)
- (c) - (c)
(s) 2
Combinatorial Logic Truth table

c s 8 2
9-32
Combinatorial Logic
( )
Combinatorial Logic
Combinatorial Logic Simulink Boolean

logic ( 4-49 Boolean
)
boolean double
Boolean (0 1)
Boolean double
boolean boolean
double Boolean
Combinatorial Logic boolean
double Boolean
double boolean
Truth table( )
Truth table
9-33
9Complex to Magnitude-Angle
Math
Complex to Magnitude-Angle double

Output
/ double
Output( )
MagnitudeAndAngle
)Magnitude )Angle
)
9-34
9Complex to Real-Imag
Math
Output( )
/
( )
Output( )
RealAndImag(
)Real( )Imag( )
9-35
9Configurable Subsystem
Signals & Systems
Configurable
Subsystem
Configurable Subystem
Simulink Configurable Subystem
/ Configurable Subystem
/
/ Configurable
Subystem /
Terminator/Ground
/
9-36
AB
A a, b, c d
B a b
e
a, b, c 3 d e
2
Configurable Subystem a
Configurable Subsystem c A
Configurable Subsystem triggered and enabled

trigger enable I/O
I/O
configurable subsytem
1 configurable subsystem
2 Configurable Subsystem
Simulink Signals and Systems Configurable Subsystem
3 Configurable Subsystem
9-37
4 configurable subsystems
5
Configurable Subsystem Configurable Subsystem
Library name
List of block choices

configurable subsystem
Port information
Up
Down
9-38

Block choice
configurable subsystem
Block choice
Subsystem block
9-39
Constant
9Constant
Sources
Constant
Constant value Interpret
vector parameters as 1-D
Interpret vector parameters as 1-D
Constant value
1 ( )
2 (
)
Constant ( )
Constant value
Constant value

Constant value
9-40
Constant
9-41
Coulomb and Viscous Friction
9Coulomb and Viscous Friction
Nonlinear
Coulomb and Viscous Friction ( ) (

)
y = sign(u) * (Gain * abs(u) + Offset)
y u Gain Offset
1 1
Coulomb and Viscous Friction double
Coulomb friction value

[1 3 2 0]
Coefficient of viscous friction
1
9-42
Coulomb and Viscous Friction
9-43
Data Store Memory
9Data Store Memory
Signals & Systems
Data Store Memory

Data Store Read Data Store Write
Data Store Memory

Data Store Memory
Data Store Memory

Data Store Memory
Initial value
Data Store Write
9-44
Data Store Memory double
Data Store Memory
Data store name

A
Initial value
0
Initial value
1- ( )
N/A
9-45
Data Store Read
9Data Store Read
Signals & Systems
Data Store Read

Data Store Memory
( )Data Store Write
Data
Store Memory 9-44 Data Store
Memory
Data Store Read
Data Store Read double
Data store name
Sample time
-1
9-46
Data Store Write
9Data Store Write
Signals & Systems
Data Store Write
Data Store Write
Data Store Memory 9-44 Data Store

Memory
Data Store Memory
Data Store Write
Data Store Write

2 Data Store Write
Data Store Write double
Data store name
Sample time
-1
9-47
Data Store Write
9-48
9Data Type Conversion
Signals & Systems
Data Type Conversion Data type
Data type
auto
Saturate on integer overflow
Simulink Simulation Parameters Diagnostics

Data overflow (5-25
Diagnostics )
9-49
9-50
Yes
N/A
Dead Zone
9Dead Zone
Nonlinear
Dead Zone
Start of dead zone End of dead zone
( )

-0.5 0.5
Dead Zone
( ) -0.5 0.5
Dead Zone
9-51
Dead Zone
Start of dead zone

-0.5
End of dead zone
0.5
9-52
Demux
9Demux
Signals & Systems
Demux
(1- ) ( 4-32
oXM ) Number of outputs
Demux Bus selection mode

2
(1
) (1 ) 1 1 (1
1 2 )
Demux Number of outputs
Number of outputs
...
p=n
3
3
3
p>n
p<n
n/p
p
n mod p = 0
6 3
3
2
9-53
Demux
...
p<n
n mod p = m
(n/p)+1
m n/
p p-m
5 3
2 2
1
[p1 p2 ... pm]
p1, p2,
p1+p2+...+pm=n
5
[3,2]
1
3
... pm m
pi > 0
[p1 p2 ... pm]
p1+p2+...+pm=n
-1
some or all
pi = -1
[p1 p2 ... pm]

p1+p2+...+pm!=n
pi = > 0
9-54
pi
pi pi
Demux
-1
[-1, 3 -1] 2
3 1 2
-1
-1
7 [-1, 3 -1]
1 2 2 3
3 2
Number of outputs
9-55
Demux

2 2

5 [3,2]
1 3
2 2

Demux
{{[2 2], 3} {1}} 2 2 3
1
-1
Demux
{{-1}, {-1,-1}}
9-56
Demux
-1
Simulink Simulink Demux

Demux
Demux ( )
Number of outputs
Bus selection mode
9-57
Derivative
9Derivative
Continuous
Derivative
u
------t
u t
1 1
1
y ( k ) = ----- ( u ( k ) u ( k 1 ) )
t
z
1
Y( z)
1z
z1
---------- = ---------------- = -----------u( z)
t
t z
linmod Derivative
6-4
9-58
Derivative double
Derivative
N/A
9-59
Digital Clock
9Digital Clock
Sources
Digital Clock
( )Clock
Digital Clock double
Sample time
1
9-60
9Direct Look-Up Table (n-D)
Functions & Tables
Direct Look-Up Table (n-D) n
uint8
256
2 N
Table data
2
2
"2-D Matrix" 5
R C 2
9-61

(
)Direct Look-Up Table
4 4-D
"8-D T[k]"
1
"n-D Direct Table Lookup5"
6, 8, 12 7 9 2
10, 11 12 figure
Invalid input value: "Clip and Warn"

Output shape:
"Vector"
Table data:
int16(a)
a MATLAB 4
a = ones(20,4,5,7); L = prod(size(a));
a(1:L) = [1:L];
9-62
figure 4 3
3 4 2 20
(1 )MATLAB
a(:,1+1,1+3,1+2)
ans =
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
9-63

1077
1078
1079
1080
Direct Look-Up Table (n-D) double, single, int8, uint8 , int16, uint16, int32
, uint32
Table data
Number of table dimensions( )

Table data
(
Explicit Number of dimensions Use one (vector) input port instead
of N ports, )
Inputs select this object from table( )
n 2
Element # of ports = # of dimensions

Column # of ports = # of dimensions - 1
9-64
2-D Matrix # of ports = # of dimension -2

MATLAB 4
(1,2,3,4)
4
(:,2,3,4) 3 2
(:,:,3,4) 2
Make table an input( )

Direct Look-Up Table (n-D) Table Data
T
Table data ( )
4 N
breakpoint set Explicit number of dimensions
Table data
Table data Number of table dimensions
MATALB
MATALB Multidimensional Arrays
Action for out of range input(

None, Warning, Error.
Real-Time Workshop "Clip and Warn" "Clip
Index" Real-Time Workshop
clipping
"Generate Error" clipping
9-65
9-66
(
2 )
(
2 )
Discrete Filter
9Discrete Filter
Discrete
Discrete Filter (Infinite Impulse Response (IIR))

(Finite Impulse Response (FIR)) Numerator
Denominator z-1
9-82 Discrete
Transfer Fcn
IIR FIR
Discrete Filter
z-1( ) Discrete
Transfer Fcn z
n n-1
Simulink
9-243 Transfer Fcn
double
Numerator
[1]
9-67
Discrete Filter
Denominator
[1 2]
Sample time
9-68
Numerator Denominator
Denominator -1
9Discrete Pulse Generator
Sources
( ) Discrete Pulse Generator

Pulse Generator
(9-175 Pulse Generator )
Discrete Pulse Generator double
9-69
Amplitude
1
Period
2
Pulse width
1
Phase delay
0
Sample time
1
pulse generation
9-70
9-71
9Discrete State-Space
Discrete
x ( n + 1 ) = Ax ( n ) + Bu ( n )
y ( n ) = Cx ( n ) + Du ( n )
u x y
A n n n
B n m m
C r n r
D r m
n
1 1
B D C D
Simulink
9-72
Discrete State Space double
A, B, C, D
Initial conditions
0
Sample time
D 0
9-73
9Discrete-Time Integrator
Discrete
Integrator

Forward Euler( )
Backward Euler( )Trapezoidal( ) Simulink
k y(k) x(k+1) T (
delta T)
x(0)=IC (
)
Forward Euler ( ) Forward Rectangular( )
1/s T/(z-1)
y(k) = y(k1) + T * u(k1)

x(k+1) = x(k) + T*u(k)
9-74
0:
y(0) = x(0) = IC ( )
x(1) = y(0) + T*u(0)
1:
y(1) = x(1)
x(2) = x(1) + T*u(1)
k:
y(k) = x(k)
x(k+1) = x(k) + T*u(k) ( )
1
Backward Euler Backward Rectangular( )
1/s T*z/(z-1)
y(k) = y(k1) + T * u(k).

x(k) = y(k1),
0:
y(0) = x(0) = IC ( )
x(1) = y(0)
1:
y(1) = x(1) + T*u(1)

x(2) = y(1)
k:
y(k) = x(k) + T*u(k)

x(k+1) = y(k)
1
Trapezoidal 1/s T/2*(z+1)/(z-1)
T ( )
x(k) = y(k1) + T/2 * u(k1).
0:
y(0) = x(0) = IC ( )
x(1) = y(0) + T/2 * u(0)
1:
y(1) = x(1) + T/2 * u(1)

x(2) = y(1) + T/2 * u(1)
k:
y(k) = x(k) + T/2 * u(k)

x(k+1) = y(k) + T/2 * u(k)
9-75
x(k+1) x(k) != y(k)
T ( )
0:
y(0) = x(0) = IC ( )
x(1) = y(0)
1:
x(1) = x(1) + T/2 * (u(1) + u(0))

x(2) = y(1)
k:
y(k) = x(k) + T/2 * (u(k) + u(k-1))

x(k+1) = y(k)
Initial condition
source internal Initial condition
9-76
Initial condition source

external
bounce

clutch
Simulink
Show state port
Limit output
9-77
Lower saturation limit Lower

saturation limit
Lower saturation limit Upper saturation limit
Upper saturation limit Upper

saturation limit
Show saturation port
3
1
0
-1
Limit output 3
1 1
1
External reset
9-78
rising
falling
either
level
Show state port
Discrete-Time Integrator double
9-79
Integrator method
ForwardEuler
External reset
(rising, falling, either)

Initial condition (internal ) external
(external )
Initial condition
Initial condition source internal
Limit output
Upper saturation limit

inf
9-80
Lower saturation limit

-inf
Show state port
Sample time
1
1
1
1
9-81
9Discrete Transfer Fcn
Discrete
Discrete Transfer Fcn z
n1
nm
num 0 z + num 1 z
+ + num m z
num ( z )
H ( z ) = ------------------ = -------------------------------------------------------------------------------------------------n
n
1
den ( z )
den0 z + den 1 z
+ + denn
m+1 n+1 num den
z num
den

z Discrete Filter
z-1 ( )

9-255 Transfer Fcn
9-82
Discrete Transfer Function double
Numerator
[1]
Denominator
[1 0.5]
Sample time
1
Denominator -1
9-83
Discrete Zero-Pole
9Discrete Zero-Pole
Discrete
Discrete Zero-Pole z
- -
MATLAB
( z Z 1 ) ( z Z 2 ) ( z Z m )
Z( z)
H ( z ) = K ----------- = K ----------------------------------------------------------------P(z)
( z P 1 ) ( z P 2 ) ( z P n )
Z P K
(n m)
9-276 Zero-Pole
Discrete Zero-Pole double
Zeros
[1]
9-84
Discrete Zero-Pole
Poles
[0 0.5]
Gain
1
Sample time
Poles
9-85
Display
9Display
Sinks
Display
Format
short 5
long 15
short_e 5
long_e 16
bank ( $
)
Display Floating display
Display
Floating display Simulink

5-31
Decimation n
n
1
Sample time
-1
Display
9-86
Display
Displays only one element

of input vector but indicates
there are more
Displays both elements

of input vector
Display
Format
short
Decimation
1
Floating display
Display
9-87
Display
Sample time
9-88
Dot Product
9Dot Product
Math
Dot Product 2 y
MATLAB
y = sum(conj(u1) .* u2 )
u1 u2 2
double (
)
1
Product
Dot Product double
9-89
Dot Product
9-90
Enable
9Enable
Signals & Systems
Enable Enabled
Enabled
Enable
Simulink Enabled
Enabled
( ) States when enabling
Enabled
reset ( )
held
Show output port
Enable
Enable
Enabled 8


Enabled
9-91
Enable
Show output port
Simulink Enable Enable
9-92
Enable
Fcn
9Fcn
Functions & Tables
Fcn C
u u u(i) i
u(1) u

(+ * /)
(== != > < >= <=) TRUE( ) 1
0
(&& || !) TRUE( ) 1
0

abs, acos, asin, atan, atan2, ceil, cos, cosh, exp, fabs, floor, hypot, ln, log, log10,
pow, power, rem, sgn, sin, sinh, sqrt, tan, and tanh.
MATLAB
( A A(1,1))
C
1 ()
2 + ( )
3 pow ( )
4 !
5 */
6 +
7 > < <= >=
8 = !=
9-93
Fcn
9 &&
10 ||
MATLAB
(:)
Math Function
(
sin)
Fcn double
Expression
C
(
9-94
First-Order Hold
9First-Order Hold
Discrete
First-Order Hold 1
fohdemo Zero-Order Hold First-Order

Hold Sine Wave
First-Order Hold
First-Order Hold double
Sample time
1 1
9-95
First-Order Hold
9-96
From
9From
Signals & Systems
From Goto
Goto
From Goto
Goto
From Goto tag Goto
Goto
Goto From
From 1 Goto
Goto From
Block1 Block2
Block1 Goto
From Block2
Block1
Block2
Block1
Goto
From
Block2
Goto From
(
)
Goto
From
7
Goto From
9-111 Goto 9-114 Goto Tag
Visibility Goto
([])
({})

9-97
From
From
Goto tag
From Goto
9-98
Goro
From File
9From File
Sources
From File
t1
t2
t final
u1 1 u1 2 u1 final
un 1 un 2 un final
m
m-1
Simulink 2 2
time values: 0 1 2 2
data points: 2 3 4 5
2 4
Simulink
To File
9-99
From File
To File To Workspace
From File To File
To Workspace

Simulation
Parameters Workspace I/O
4
From File
From File
From File double
File name
untitled.mat
Simulink MATLAB (
MATLAB pwd
)Simulink
Sample time
9-100
From File
9-101
From Workspace
9From Workspace
Sources
From Workspace MATLAB

Data
MATLAB
( 5-19
)From Workspace Data
(2 )
structure-with-time
(1 )
From Workspace Interpolate data
Interpolate data
Form output after final data value by
9-102
Interpolate
Extrapolate
On
Extrapolate
Off
SettingToZero
On
SettingToZero
Off
HoldingFinalValue
On
From Workspace
Interpolate
HoldingFinalValue
Off
CyclicRepetition
On
CyclicRepetition
Off
Simulink
time: 0 1 2 2
signal: 2 3 4 5
2 5 5
From Workspace
To Workspace ( 9-240 To Workspace
) ( 9-240 To
Workspace )To Workspace
From Workspace
double
double
9-103
From Workspace
Data
T U
[T,U]
Sample time
Interpolate data
Form output after final data value by
9-104
From Workspace
9-105
Function-Call Generator
9Function-Call Generator
Signals & Systems
Function-Call Generator Sample time

function-call ( function-call
Stateflow ) function-call
function-call
Demux
Demux Demux
2 Demux
Function-Call double
Function-Call
Sample time
Number of iterations
9-106
9-107
Gain
9Gain
Math
Gain
Gain
Multiplication
Gain Gain
9-221 Slider Gain
Gain
single double
Gain boolean
Gain Gain
Gain

Gain
Simulink
Simulink
uint8 -1
Simulink
Gain Saturate on integer overflow
9-108
Gain
int8 127 127

-128 -128
Multiplication
K.*u ( )
K*u ( )
u*K ( )
Gain
1Gain double
Grain
K
Gain

Diagnostics Data overflow
( 5-25 Diagnostics )
9-109
Gain
9-110
Gain
Goto
9Goto
Signals & Systems
Goto From
From Goto
From
From From 1
Goto Goto
From
From Goto
9-97 From Goto
From Tag Goto
Tag visibility From
local From Goto

local ([])
scoped From Goto

Goto Tag Visibility
scoped ({})
global From Goto
scoped Goto
Simulink
scoped Goto
Goto Tag Visibility
Goto From
local Goto
From global scoped
9-111
Goto
global
scoped
(A) 2 scoped
Goto
Tag
Goto
Goto
9-112
Goto
Tag visibility
Goto local, scoped, global
local
9-113
Goto Tag Visibility
9Goto Tag Visibility
Signals & Systems
Goto Tag Visibility scoped Goto

Goto tag
Goto Tag Visibility
From
Goto
Goto Tag Visibility Tag visibility scoped

Goto local global
({})
Goto tag
Goto
9-114
N/A
N/A
Ground
9Ground
Signals & Systems
Ground
Simulink
" " Ground
Ground
Ground ( )
.
Constant Ground
(int8) Ground
9-115
Hit Crossing
9Hit Crossing
Signals & Systems
Hit Crossing Hit crossing direction

Hit crossing offset
double 1 Show output port
1 2
(
) 2 1
Show output port
Hit crossing direction either
"Almost Equal"
hardstop clutch Hit Crossing hardstop

Hit Crossing Friction Model
clutch Hit Crossing Lockup Detection
9-116
Hit Crossing boolean ( 4-49

Boolean )boolean
double
Hit Crossing
Hit crossing offset
Hit crossing direction
Show output port
9-117
IC
9IC
Signals & Systems
IC
IC "test signal"
t = 0 3 6
IC
3-18
IC double
Initial value
1
9-118
IC
9-119
Inport
9Inport
Signals & Systems
Inport
Simulink Inport
Inport 1
Inport
Inport
Inport
Inport
Inport
Inport
Inport Port dimensions

-1 ( ) Simulink
Sample time
(-1)
Inport Inport
Inport
Inport
Subsystem
Inport
Subsystem Inport Subsystem
Port number
Port number 1
9-120
Inport
Subsystem
Inport Port number
Inport Subsystem
Inport Format
Hide Name Edit Update
Diagram
Inport
Inport 2 1
sim
Simulation
Parameters ( 5-19
) sim ( 5-38 sim ) ut
linmod trim
Inport
Inport 5
Inport
Inport
Inport Signal type Data type
( )
Inport
Inport
Inport
Enable Trigger Inport
9-121
Inport
Outport
Enabled
In1
In2
Port number
Inport
Port dimensions
Inport -1
9-122
Inport
Sample time
Data type
Signal type
( )
3 Inport
Inport
Interpolate data
5-19
9-123
Integrator
9Integrator
Continuous
Integrator
Integrator


internal Initial condition

external
9-124
Integrator
bounce

clutch
Simulink
Show state port
Limit output
Lower saturation limit Lower

saturation limit
Upper saturation limit Upper

saturation limit
9-125
Integrator
3
1
0
-1
3
1 1
1
External reset
1
rising
falling
either
level

9-126
Integrator
Show state port
Integrator
Absolute tolerance
5-14
Integrator double
double boolean
9-127
Integrator
External reset
(rising, falling, either, level)

Initial condition (internal )
(external )
Initial condition
Initial condition source internal
Limit output

inf
-inf
9-128
Integrator
Show state port
Absolute tolerance
Limit output
1
1
1
9-129
Logical Operator
9Logical Operator
Math
Logical Operator AND

ORNANDNORXOR NOT
TRUE 1 FALSE
0

2 2
2 2

(
)
AND 2 2
AND
2 2
NOT
1 1 1
2
NOT 1
XOR logic elements

IEEE 2
9-130
Logical Operator boolean

(4-49 Boolean )boolean
double
double TRUE(1) FALSE(0)
Logical Operator
Operator
Number of input ports
9-131
Look-Up Table
9Look-Up Table
Functions & Tables
Look-Up Table
Vector of input values Vector of output values (

)
2 2
2 1 Look-Up Table (2-D)
9-135 Look-Up Table (2-D)
[2 1 1 0 0 0 1 1 2]
values [1 1 2 2 1 2 2 1 1]
the output value
u = -1, 0, +1 3
9-132
Look-Up Table
u
u -1 y
-2
u
u 1 y
2
u 2
u = 0 y = 1 1
0 u = 0 2
3
1
Look-Up Table
Apply Close
Look-Up Table double
Vector of input values
9-133
Look-Up Table
Vector of output values
9-134
Look-Up Table (2-D)
9Look-Up Table (2-D)
Functions & Tables
Look-Up Table (2-D)
Table
Row Column
Row Column
2
2 2
Row Column
Look-Up Table
Look-Up Table
( 9-132 Look-Up Table )
Row: [1 2]
Column: [3 4]
Table: [10 20; 30 40]
9-135
Look-Up Table (2-D)
1 2 4
( 1) 2 ( 4)
1 10 20
2 30 40
2 1.72 3.4
(28)
3
3.4 4
1 10 14 20
1.7 24 28 34
2 30 34 40
Look-Up Table (2-D) double
Row
9-136
Look-Up Table (2-D)
Column
Table
Row Column
1 1
9-137
Look-Up Table (n-D)

9Look-Up Table (n-D)
N N
Functions & Tables
Look-Up Table (n-D) F T

N
y = F ( x1, x2, x3, , xn )

Flat ( )

Natural ( )
1 2 3
Table data N
( ) 2
9-138
Look-Up Table (n-D)
Look-Up Table(n-D) PreLook-Up Index Search
Direct Look-Up Table, (n-D)

k k y = table(k).
n-D Interpolated Look-Up Table double single

n-D Interpolated Look-Up Table
Breakpoint
9-139
Look-Up Table (n-D)

Number of table dimensions
Table data
( "Explicit Number of dimensions"
"Use one (vector) input port instead of N ports" )
First input (row) breakpoint set
Second (column) input breakpoint set
Number of table dimensions

2, 3, 4 More
Third ... Nth input breakpoint set
3
Number of table
dimensions 3, 4 More
Fourth input breakpoint set
4
Number of table
dimensions 4 More
Fifth..Nth input breakpoint sets (cell array)
1 3, 4,
{[10:10:30],
[0:10:100]} 5 6 2
Number of table dimensions More
Explicit number of dimensions

5 Numbor of table dimensions More
Index search method

"Evenly Spaced Points", "Linear Search", "Binary Search" ( )
9-140
Look-Up Table (n-D)
10, 20, 30, ...,

"Evenly Spaced Points"
"Linear Search"
"Begin index searches using previous index results"
1 2
"Binary Search" "Evenly

Spaced Points"
2
Begin index searches using previous index results
Use one (vector) input port instead of N ports

1 N
N 1
Table data
N breakpoint set
4 Explicit number of dimensions
Interpolation method
None (flat), Linear, Cubic Spline.
Extrapolation method
None (clip), Linear, Cubic Spline.
Action for out of range input
None, Warning, Error
"Warning"
9-141
Look-Up Table (n-D)

"Error"
9-142
9Magnitude-Angle to Complex
Math
double
double
( )
Input
Angle (Magnitude)
9-143
9-144
2 1
Manual Switch
9Manual Switch
Nonlinear
Manual Switch 2
(
)
Manual Switch
Manual Switch
( )
N/A
9-145
Math Function
9Math Function
Math
Math Function
Function exp, log, 10u,

log10, square, sqrt, pow, reciprocal, hypot, rem, mod, transpose, hermitian
Simulink
Fcn
Math Function
Math Function double

Output signal type
Function
9-146
Math Function
Output signal type

Math Function
magnitude squared
hypot, rem, mod
Exp, log, 10 , log10, square,

sqrt, pow, reciprocal,
conjugate, transpose, hermitian
9-147
MATLAB Fcn
9MATLAB Fcn
Functions & Tables
MATLAB Fcn MATLAB
MATLAB
sin
atan2(u(1), u(2))
u(1)û(2)
MATLAB
Fcn (Fcn
Elementary Math ) M-
MEX- S- S-Function
9-148
MATLAB Fcn double

Output signal type double
MATLAB Fcn
MATLAB function
Output dimensions
-1
Output signal type

MATLAB fcn
Collapse 2-D results to 1-D

2 2 1
N/A
9-149
Matrix Gain
9Matrix Gain
Math
Matrix Gain
Gain
Gain
eye(3,3) Gain
Multiplication
Saturate on Integer Overflow

element-wise Gain
9-150
Matrix Gain
9-151
Memory
9Memory
Continuous
Memory 1
(
)
Sum
Memory
ode15s ode113
Memory
Memory (
)
0
Initial condition
Inherit sample time
9-152
Memory
Inherit sample time
Initial condition
9-153
Merge
9Merge
Signals & Systems
Merge
Merge Number of Inputs
Merge
Merge "
"
Merge
Selector 1 4
Merge Selector
Merge Allow unequal port widths Merge
Allow unequal port widths Merge
9-154
Merge
( )
max(w1+o1, w2+o2, ... wn+on)

w1, ... wn o1, ... on
Merge v3 v1 v2
v1 0v2 2
6 Merge v1 v3
2 v2 v3 4
Initial Output
Merge
Merge
Merge (
)
0
9-155
Merge
Number of inputs
Initial output
1
Allow unequal port widths
Input port offsets
9-156
MinMax
9MinMax
Math
MinMax
Function 1
MinMax double
Function
(min max)
9-157
MinMax
9-158
Model Info
9Model Info
Signals & Systems
ModelInfo
vdp
Model Info
Model Info /
Model Info Model Info
9-159
Model Info
Model Info
Editable text. Model Info

%<propname>
propname
1.1
Version %<ModelVersion>
Version 1.1
Model properties Configuration manager properties
Model properties.
Editable
text Created( )
9-160
Model Info
%<Created>% Editable text

4-114

RCS properties.
( 4-110
Configuration manager )
( RCS
Properties)Model Info
Model Info
9-161
Multiport Switch
9Multiport Switch
Nonlinear
Multiport Switch
( )
Multiport Switch
( ) 1
out-of-bounds
( )
Multiport Switch
( )
Out of bound
Out of bounds
9-162
Multiport Switch boolean
Multiport Switch
Number of inputs
9-163
Mux
9Mux
Signals & Systems
Mux 1
Mux
composite Mux
(1 )
1 1
Mux
( ., Demux, Subsystem, Go To )
1 composite
Mux Number of Inputs
Mux Number of Inputs

Mux
Simulink
signalN N

[2 3] 2 3
Simulink
-1
N N
[M N] M N -1

Simulink
position,velocity
9-164
Mux
Mux position velocity 2
Simulink Simulink Mux
Mux
Number of inputs
Display option
none
Mux
signals
bar
9-165
Outport
9Outport
Signals & Systems
Outport
Simulink Outport
Outport1
Outport
Outport
Outport
Outport
Outport
Outport
Outport
Outport
Outport Subsystem
Subsystem
Outport Port number Subsystem
Port number
1 Outport Subsystem
Outport Port number

( )
Outport Simulink
9-166
Outport
Outport Subsystem
Outport
Format Hide Name
Outport
Outport Enabled
reset held Output when

disabled Initial
output reset
Outport
Outport 2 1
Simulation
Parameters sim
1
(5-22 Saving Output to the Workspace ) sim
( 5-38 sim). Outport
[t,x,y] = sim(...);
y Outport
Outport
2 ( ) Outport
2 Outport
Outport 1 speed
Outport 2 dist
[t,x,speed,dist] = sim(...);
linmod trim
Outport 5
9-167
Outport
Outport MATLAB
Outport
outport
Simulink outport Initial output
Simulink
Simulink
Simulink
Port number
Outport
Initial output
9-168
Outport
9-169
Product
9Product
Math
Product Multiplication Number of inputs
Number of inputs * /
*/
Multiplication element-wise
Multiplication element-wise *
/
n
n
y i = u1 i u2 i un i
( Dot Product
1 1 1
Multiplication matrix *
/
Number of Inputs
*/* AB-1C A, B, C 1,2,3
9-170
Product
Number of inputs * Multiplication

element-wise 1 1
1 2
y = u i
Multiplication element-wise Simulink

Multiplication matrix
Number of inputs / Multiplication

element-wise 1
Multiplication element-wise
Simulink Multiplication
matrix
Number of inputs *
Simulink
Product
single double
9-171
Product
Multiplication
Number of inputs
* / 2
Product
Simulink Simulation
Parameters Diagnostics Data overflow
( 5-25 Diagnostics
)
9-172
Probe
9Probe
Signals & Systems
Probe Probe
Probe 1
(
)
Probe
double
Probe double
1 /
Probe width
( )
Probe sample time
Probe complex signal
9-173
Probe
Probe signal dimensions
9-174
Pulse Generator
9Pulse Generator
Sources
Pulse Generator
Amplitude, Period, Duty cycle, Start time
( )
Pulse Generator
Pulse Generator
( ) Amplitude
Period
1
Duty cycle
50
9-175
Pulse Generator
Amplitude
1
Start time
0
1 1
1 ( )
9-176
Quantizer
9Quantizer
Nonlinear
Quantizer
1
y = q * round(u/q)
y u q Quantization interval
Quantizer single double
Quantization interval
Quantizer n*q
n q Quantization interval 0.5
Treat as gain when linearizing
Simulink Quantizer
9-177
Quantizer
9-178
Ramp
9Ramp
Sources
Ramp
SlopeStart timeDuty
CycleInitial output
Ramp double
Slope
1
Start time
0
Initial output
0
1 1
1-D ( )
9-179
Ramp
9-180
Random Number
9Random Number
Sources
Random Number
0 1
Random Number
Initial seed
Random Number double
9-181
Random Number
Mean
0
Variance
1
Initial seed
0
Sample time
0

1 1
1-D ( )
9-182
Rate Limiter
9Rate Limiter
Nonlinear
Rate Limiter
u(i ) y(i 1)
rate = ---------------------------------t(i) t(i 1 )
u(i) t(i) y(i1) t(i1)
rate Rising slew rate Falling slew rate
rate Rising slew rate (R )
y ( i ) = t R + y ( i 1 )
rate Falling slew rate (F )
y ( i ) = t F + y ( i 1 )
rate R F
y(i) = u(i )
Rate Limiter double
Rising slew rate
9-183
Rate Limiter
Falling slew rate
9-184
9Real-Imag to Complex
Math
( )
1
( )
double
double
Input
9-185
Real (Imag) part
9-186
Relational Operator
9Relational Operator
Math
Relational Operator 2
==
2 TRUE
~=
2 TRUE
<
2 TRUE
<=
2 TRUE
>=
2 TRUE
>
2 TRUE
TRUE 1 FALSE 0
Relational Operator
== != 1
boolean ( 4-49
Boolean )boolean
double
9-187
Relational Operator
Operator
9-188
Relay
9Relay
Nonlinear
Relay 2
Switch off point
Switch on point
1 1
Switch off point Switch on point
Switch on point Switch off point
Relay double
Switch on point
eps
Switch off point
eps
Output when on
1
9-189
Relay
Output when off
0
9-190
Repeating Sequence
9Repeating Sequence
Sources
Repeating Sequence
Time valuesOutput values Times value

Output values
( )
1 Time values Output values
[0 2]
2 2
Repeating Sequence
1 Look-Up Table
Repeating Sequence double
Time values
[0 2]
9-191
Repeating Sequence
Output values
[0
2]
9-192
Reshape
9Reshape
Signals & Systems
Reshape Output dimensionality
N- 1xN Nx1
Output dimensionality
Output
Dimensionality
(2 ) (1 )
1
2 (
)
Mx1
M
1xN
N
Output dimensions
Output dimensions
1 2
[N] N [M N]
MxN Output
dimensions
9-193
Reshape
Reshape
Output dimensionality
Output dimensions
Output
dimensionality Customize
9-194
N/A
Rounding Function
9Rounding Function
Math
Rounding Function
Function 1
Function floor, ceil, round, fix
Rounding Function
double
Fcn Rounding
Function Fcn
Rounding Function double
Function
N/A
9-195
Saturation
9Saturation
Nonlinear
Saturation Lower limit

Upper limit
Saturation
Upper limit
Lower limit
9-196
Saturation
9-197
Scope
9Scope
Sinks
Scope
Scope ( 1 )
y-
Scope
Scope
Scope
Simulink Scope
Scope
Scope Scope (1 )
Scope
Scope
Scope Scope
Scope
Scope
x-y
x
y
Auto-Scale
9-198
Scope
Scope
scope
Scope
6 Scope

Properties....
Y-min
y
Y-max
y
Title
%<SignalLabel>
(%<SignalLabel>
9-199
Scope
Time Offset
vdp Scope
40 Scope
20 Time offset
0 x
9-200
Scope
Scope
Auto-scale
y
y
Auto-scale
Auto-scale
x y
Zoom
Scope
Scope y x-y
x-y x x-y
x-y x
9-201
Scope
x Zoom
9-202
Scope
Scope
Scope
y Zoom
x
Save axes settings x y
Save axes settings
Scope
Properties
Properties
9-203
Scope
Properties
General Data history
General
General
floating scope
Number of axes

Scope
x y
y
Time range
Time range auto x
auto
x
Tick labels
Tick labels
bottom axis
9-204
Scope
Floating scope
Scope Floating scope
Scope
Scope
Scope Scope
Properties General
Floating scope
Scope Scope
Shift
Scope Auto-scale data
Scope Signal Selector(9-217 Signal Selector )

Signal Selector
1
1
Scope
5-31

Sampling
Decimation
Sample time
9-205
Scope
Data History Scope
Apply OK

Limit rows to last
Scope
1000
2000 1000
Save data to workspace

Save data to workspace Scope
Variable name Format
Variable name
Variable name
Scope To Workspace
9-206
Scope
Scope
Scope To Workspace
Format
3
Matrix, Structure, Structure with time
Scope Matrix
Scope
Structure Structure
with time
Scope
Scope Scope
Print Scope Properties
Print icon
Scope
9-207
Selector
9Selector
Signals & Systems
Selector
Slector
Input
Type ( )
Selector
Elements
Source of element indices
(internal external) external
1
Selector [2 4 6
8 10] Elements [5 1 3]
external
Elements
Input port width

-1 0
9-208
Selector
-1
Selector
Rows Columns
Source of row indices Source of column indices (internal

external) external
external
2
( 1
1 ) Rows [2 1]
Columns [1 3] 2
2 1 3
1 3
Selector
9-209
Selector
Input Type
:
Source of element indices
internal Elements
external
Elements
Input port width
9-210
Selector
Input Type
:
Source of row indices
internal
Rows external
Rows
Source of column indices

internal
Columns external
Columns
9-211
S-Function
9S-Function
Functions & Tables
S-Function S-
S-function name S- S M- MEX-
S-
S-Function S-
MATLAB
A, B, C, D, [eye(2,2);zeros(2,2)]
S-Function S-
1 1
S-
S-
S-
2 2
S-
9-212
S-Function
S-Function
S-function name
S-function
S-function parameters
S-function
S-function
S-function
S-function
S-function
9-213
Sign
9Sign
Math
Sign
1
0
-1
double
Dialog Box
9-214
N/A
Signal Generator
9Signal Generator
Sources
Signal Generator 3 1
( )
/
Scope
Sine Wave
Square Wave
Sawtooth Wave
Amplitude 180 180
Clock MATLAB Fcn
9-215
Signal Generator
Signal Generator
Amplitude Frequency
Interpret vector parameters as 1-D (

)Amplitude Frequency
Interpret vector parameters as 1-D Amplitude
Frequency
2 1 (1 )
Signal Generator double
Wave form
Amplitude
1
Frequency
1
Units
/
9-216
Signal Generator

Amplitude Frequency
9-217
Sine Wave
9Sine Wave
Sources
Sine Wave
Sine Wave
y = Amplitude sin ( frequency time + phase )
Sample time
0 ( )
>0
-1
Sine Wave
Sample time
Zero-Order Hold
Sine Wave /
Sine Wave
sin ( t + t ) = sin ( t ) cos ( t ) + sin ( t ) cos ( t )

cos ( t + t ) = cos ( t ) cos ( t ) sin ( t ) sin ( t )
9-218
Sine Wave
sin ( t + t ) = cos ( t ) sin ( t ) sin ( t )

cos ( t + t )
sin ( t ) cos ( t ) cos ( t )
t
cos ( t ) sin ( t )
sin ( t ) cos ( t )
sin(t) sin(t+t)
1
Sine Wave
Sample time
Sine Wave

( 2
) 1 (1 )
Sine Wave double
9-219
Sine Wave
Amplitude
1
Frequency
/ 1 /
Phase
0
Sample time
0
Sine Wave
9-220
Slider Gain
9Slider Gain
Math
Slider Gain
1 1
Slider Gain Gain

( 9-108 Gain )
Low
0
High
2
( )
2
Close
1%
10%
Gain
9-221
Slider Gain
9-222
State-Space
9State-Space
Continuous
State-Space
x = Ax + Bu
y = Cx + Du
x u y
A n n n
B n m m
C r n r
D r m
n
1 1
B D C D
Simulink
A State-Space double
9-223
State-Space
A, B, C, D
Initial conditions
9-224
D 0
Step
9Step
Sources
Step 2
Step time
Initial value Step
time Final value
Step

Interpret vector parameters
as 1-D (
2 ) 1 (1 )
Step double
Step time
Initial value Final value
1
9-225
Step
Initial value
Step time
0
Final value
Step time
1

Step 1
9-226
Stop Simulation
9Stop Simulation
Sinks
Stop Simulation
Relational Operator
10
Stop Simulation double boolean
9-227
Subsystem
9Subsystem
Signals & Systems
Subsystem 1
Subsystem Signals & Systems

Subsystem
()
Edit
Create Subsystem Simulink Subsystem
Inport Outport
Subsystem
Inport
Outport
3 Subsystems
9-228
Subsystem enable trigger

9-120
Inport
9-166 Outport
Subsystem
Show port labels
Treat as atomic unit

Simulink 1
Simulink
Simulink
3-13 Atomic
9-229
Subsystem
Access
ReadWrite
ReadOnly
NoReadOrWrite
Name of error callback function

Simulink
2
Simulink
RTW Real-Time Workshop

Real-Time Workshop
9-230
Subsystem
9-231
Sum
9Sum
Math
Sum
2 2
2 2

2 2 2
2
( )
Simulink Sum Simulink
9-232
Sum
Sum
Icon shape
Icon shape Sum
Sum
List of signs
List of signs -
Simulink
-
Sum + - List of signs
Simulink
List of signs |
|
++|-- 2 + -

Sum
Simulink Simulation Parameters Diagnostics
9-233
Sum
Data overflow ( 5-25
Diagnostics )
9-234
Switch
9Switch
Nonlinear
Switch 3 2 1
(2 ) Threshold
3
( 0 1) 0.5
Switch ( 1 3)
Switch
Threshold bool double
Threshold
(2 )
9-235
Switch
9-236
Terminator
9Terminator
Signals & Systems
Terminator
Simulink
Terminator
Terminator
9-237
To File
9To File
Sinks
To File MAT-
1
t1
t2
t final
u1 1 u1 2 u1 final
un 1 un 2 un final
From File To File
From Workspace
To File
Decimation n
n 1
Sample time
-1
9-238
To File double
To File
Filename
MAT-
Variable name
Decimation
1
Sample time
9-239
To Workspace
9To Workspace
Sinks
To Workspace
Variable name
Save format
Array
To Workspace N-
N 1
1 ( )
2 2 ( ) 3
simout
simout(1,:) simout(2,:) 2
3
simout simout(:,:,1)
simout(:,:,2) 2
inf
Decimation n
n 1
Sample time
-1
9-240
To Workspace
Structure
3 blockName
blockName To Workspace
2
Structure with Time
Structure
From Workspace
From Workspace
" "
Structure with Time
0Maximum number of sample points i 100Decimation 1Sample

time 0.5 To Workspace 0, 0.5, 1.0,
1.5... 100 Decimation 1
Maximum number of sample points 100Sample time 0.5

Decimation 5 0, 2.5, 5.0, 7.5...
100 Decimation 5 5
Limit data points to last 3

3
100
99.0 99.5 100.0 (3 )
9-241
To Workspace
To Workspace MATLAB
Variable name

( 1 )
1000
Decimation
1
Sample time
Save format
9-242
Transfer Fcn
9Transfer Fcn
Continuous
Transfer Fcn (u) (y)
nn 1
nn 2
y(s)
num ( s )
num ( 1 )s
+ num ( 2 )s
+ + num ( nn )
H ( s ) = ---------- = ------------------ = -------------------------------------------------------------------------------------------------------------------nd 1
nd 2
u(s)
den ( s )
den ( 1 )s
+ den ( 2 )s
+ + den ( nd )
nn nd num den s
num
den
Transfer Fcn
tf2ss State-Space
tf2ss ABCD
help tf2ss Control System Toolbox Users Guide
Transfer Fcn
Transfer Fcn

s
Numerator [3,2,1]
Denominator ((den)) ( (den) [7,5,3,1])
9-243
Transfer Fcn
"(s)"
Numerator numDenominator den
Transfer Fcn double
Numerator
[1]
Denominator
[1 1]
9-244
Denominator -1
Transfer Fcn
9-245
Transport Delay
9Transport Delay
Continuous
Transport Delay
Time delay
Initial input
Time delay
Initial buffer size
Simulink
1
t = 5 0.5
t = 4.5
t=4
Transport Delay t - tdelay
Unit Delay
linmod Transport Delay

5 " "
9-246
Transport Delay double
Transport Delay
Time delay
Initial input
Time delay
Initial buffer size
Pade order (for linearization)

0
n
n
Initial buffer size
9-247
Trigger
9Trigger
Signals & Systems
Trigger Triggered
Triggered
( )
1 Trigger 1
Triggered 7
Trigger type
rising (
)
falling
(
)
either

function-call S-function
( 7 "Function-Call "
)
Show output port
1
-1
0
9-248
Trigger
Trigger
Trigger type
Show output port

Simulink Trigger
Output data type

(double int8) auto
Simulink
double int8
Simulink
9-249
9Trigonometric Function
Math
Function Function
sin, cos, tan, asin, acos, atan, atan2, sinh, cosh, tanh
Simulink
double
Fcn
Trigonometric Function double
Function
Output signal type

( )
9-250
9-251
9Uniform Random Number
Sources

Random Number

(
2 ) 1 (1 )
9-252
Uniform Random Number double
Minimum
-1
Maximum
1
Initial seed
0
Sample time
0
Step
9-253
Unit Delay
9Unit Delay
Discrete
Unit Delay 1
z-1
Zero-Order Hold
1 Discrete Transfer Fcn
(Unit Delay Transport Delay
)
Unit Delay
Initial condition
Unit Delay
0
Sample time
1
9-254
Initial condition
Unit Delay
9-255
9Variable Transport Delay
Continuous
2
2
Maximum delay
Maximum delay
Initial input
1 t = 5
0.5 t = 4.5
t = 4
t - tdelay
9-256
Variable Transport Delay double
Maximum delay
10
Initial input
0
Buffer size
1024
Pade order (for linearization)
0
n
n transport delay
(2 )
Buffer size
9-257
9-258
Width
9Width
Signals & Systems
Width
Width
Width double
9-259
XY Graph
9XY Graph
Sinks
XY Graph MATLAB Figure X-Y
MATLAB Figure X-Y
2 (x )
2 (y )
2
Simulink XY Graph
Figure
XY Graph
lorenzs
XY Graph double
x-min
x -1
9-260
XY Graph
x-max
x 1
y-min
y -1
y-max
y 1
Sample time
-1
9-261
Zero-Order Hold
9Zero-Order Hold
Discrete
Zero-Order Hold
1 1
Zero-Order Hold 1
Quantizer
A/D
A Zero-Order Hold
Sample time
1
9-262
States
Zero-Pole
9Zero-Pole
Continuous
Zero-Pole Laplace s
- -
MATLAB
Z( s)
( s Z ( 1 ) ) ( s Z ( 2 ) ) ( s Z ( m ) )
H ( s ) = K ----------- = K ---------------------------------------------------------------------------------P(x)
( s P ( 1 ) ) ( s P ( 2 ) ) ( s P ( n ) )
Z P K Z
P K
Z
Zero-Pole
Zero-Pole
Zeros [3,2,1]Poles (poles)( poles

[7,5,3,1] )Gain gain

"(s)" Zeros zerosPoles polesGain
gain
9-263
Zero-Pole
Zero-Pole double
Zeros
[1]
Poles
[0 -1]
Gain
[1]
9-264
Poles Zeros
Poles
10
. . . . . . . . . . . . . . . .
. . .
Simulink
add_block . . . . . . . . . . . . . . . .
add_line . . . . . . . . . . . . . . . . .
bdclose . . . . . . . . . . . . . . . . .
bdroot . . . . . . . . . . . . . . . . .
close_system . . . . . . . . . . . . . . .
delete_block . . . . . . . . . . . . . . .
delete_line . . . . . . . . . . . . . . . .
find_system . . . . . . . . . . . . . . .
gcb . . . . . . . . . . . . . . . . . . .
gcbh . . . . . . . . . . . . . . . . . .
gcs . . . . . . . . . . . . . . . . . . .
get_param . . . . . . . . . . . . . . . .
new_system . . . . . . . . . . . . . . .
open_system . . . . . . . . . . . . . . .
replace_block . . . . . . . . . . . . . .
save_system . . . . . . . . . . . . . . .
set_param . . . . . . . . . . . . . . . .
simulink . . . . . . . . . . . . . . . . .
.
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.10-2
10-3
10-3
10-4
10-5
10-6
10-7
10-8
10-10
10-11
10-12
10-17
10-18
10-19
10-20
10-22
10-23
10-24
10-26
10-27
10-29
10
10-2
Simulink
new_system
open_system
close_system, bdclose
save_system
find_system
add_block
delete_block
replace_block
add_line
delete_line
get_param
set_param
gcb
gcs
gcbh
Simulink
bdroot
Simulink
simulink
Simulink
Simulink
mdl
system
system/subsystem1/.../subsystem
system/subsystem1/.../subsystem/block
sprintf('\n')
cr
Signal Generator Amplitude
cr = sprintf(\n);
get_param([untitled/Signal,cr,Generator],Amplitude)
ans =
1
(/)
mymodel Signal/
Noise Location
get_param(mymodel/Signal//Noise,Location)
10-3
add_block
Simulink
add_block(src, dest)
add_block(src, dest, parameter1, value1, ...)
add_block(src, dest) src dest
built-in Simulink
( Simulink
)
add_block(src, dest_obj, parameter1, value1, ...)
Scope simulink Sinks

engine timing Scope1
add_block(simulink/Sinks/Scope, engine/timing/Scope1)
F14 controller
add_block(built-in/SubSystem, F14/controller)
Gain mymodel Volume

Gain 4
add_block(built-in/Gain, mymodel/Volume, Gain, 4)
delete_block, set_param
10add_block
10
10-4
add_line
10add_line
h = add_line(sys, oport, iport)

h = add_line(sys, points)
add_line
2
Simulink

add_line('sys', 'oport', 'iport')
'oport' 'iport' 'oport' 'iport'
'block/port'
'Gain/1' 'Sum/2' EnableTrigger

State 'subsystem_name/Enable''subsystem_name/Trigger' 'Integrator/
State'
add_line(system, points)
points x y
Sine Wave Mux

mymodel
add_line(mymodel,Sine Wave/1,Mux/1)
(20,55) (40,10)(60,60) mymodel
add_line(mymodel,[20 55; 40 10; 60 60])
delete_line
10-5
bdclose
10bdclose
10
Simulink
bdclose
bdclose(sys)
bdclose(all)
bdclose
bdclose(sys)
bdclose(all)
vdp
bdclose(vdp)
10-6
close_system, new_system, open_system, save_system
bdroot
10bdroot
bdroot
bdroot(obj)
bdroot
Simulink
bdroot(obj) obj
bdroot(gcb)
find_system, gcb
10-7
close_system
10close_system
close_system
close_system(sys)
close_system(sys, saveflag)
close_system(sys, newname)
close_system(blk)
close_system
close_system
gcs
Simulink
close_system(sys)
close_system(sys, saveflag)
saveflag 0
saveflag 1
close_system(sys, newname)
close_system(blk) 'blk'
CloseFcn
close_system
vdp
close_system(vdp)
engine
close_system(engine, 1)
10-8
close_system
mymdl12 testsys
close_system(mymdl12, testsys)
engine Combustion Unit

Delay
close_system(engine/Combustion/Unit Delay)
bdclose, gcs, new_system, open_system, save_system
10-9
delete_block
10delete_block
delete_block(blk)
delete_block(blk) blk
Simulink
vdp Out1
delete_block(vdp/Out1)
10-10
add_block
delete_line
10delete_line
delete_line(sys, oport, iport)
delete_line(sys, oport, iport) oport

iport oport iport
block/port
Gain/1 Sum/2
EnableTrigger State
subsystem_name/Enablesubsystem_name/TriggerIntegrator/State
delete_line(sys, [x y]) (x,y) 1
Sum Mux 2
mymodel
delete_line(mymodel,Sum/1,Mux/2)
add_line
10-11
find_system
10find_system
find_system(sys, c1, cv1, c2, cv2,...p1, v1, p2, v2,...)
find_system(sys, c1, cv1, c2, cv2,...p1, v1, p2, v2,...) sys

c1, c2
v1, v2
sys (
) ( )
sys
find_system
sys
find_system
sys find_system
( CaseSensitive
)
A

10-12
SearchDepth
(0 --
1 --
2 --
LookUnderMasks
none
find_system
{graphical}
functional
all
FollowLinks
on| {off}
on
off
FindAll
on| {off}
on
off
find_system
on sys
CaseSensitive
{on}| off
on
on
RegExp
on| {off}
on
off
constraint
find_system
find_system
10-13
find_system
open_bd = find_system(type, block_diagram)
clutch Unlocked
Goto
find_system(clutch/Unlocked,SearchDepth,1,BlockType,Goto)
Gain 1 vdp
Gain
gb = find_system(vdp, BlockType, Gain)
find_system(gb, Gain, 1)
find_system(vdp, BlockType, Gain, Gain, 1)
vdp
sys = get_param(vdp, Handle);

l = find_system(sys, FindAll, on, type, line);
a = find_system(sys, FindAll, on, type, annotation);
RegExp on find_system
(.)
find_system
find_subystem
10-14
find_system
a. aa, ab,
ac
0
ab* a, ab, abb
.*
1
ab+ ab, abb
â.* a
.*a$ a
" "
\\ \
[]
1
f[oa]r for far
(-)
[a-zA-Z1-9]
circumflex (^)
f[î]r far for
fir
\w
( [a-z_A-Z0-9]
)^\w mu
&mu
\d
([0-9] )\d+
\D
([^0-9] )
10-15
find_system
\s
([ \t\r\n\f] )
\S
([^ \t\r\n\f] )
\<WORD\>
WORD WORD
\<to\> to today
Simulink regexp
find_system on
Simulink clutch
inport outport
find_system(clutch, regexp, on, blocktype, port)
10-16
get_param, set_param
gcb
10gcb
gcb
gcb(sys)
gcb
Simulink
gcb(sys)

S-Function
MATLAB S-Function
MaskInitialization
gcb
ans =
clutch/Locked/Inertia
Gain
get_param(gcb,Gain)
ans =
1/(Iv+Ie)
gcbh, gcs
10-17
gcbh
10gcbh
gcbh
gcbh
gcbh
ans =
281.0001
10-18
gcb
gcs
10gcs
gcs
gcs
S-Function
S-Function
MaskInitialization
bdroot
gcs
ans =
clutch/Locked
gcb, bdroot
10-19
get_param
10get_param
get_param(obj, parameter)
get_param( { objects }, parameter)
get_param(handle, parameter)
get_param('obj', ObjectParameters)
get_param('obj', 'DialogParameters')
get_param(obj, parameter) obj
get_param( { objects }, parameter)
get_param(handle, parameter) handle
get_param(obj, ObjectParameters) obj
Name Name
Name,Type,Attributes
3 3
"Gain"
get_param(obj, DialogParameters)
clutch Requisite Friction

Inertia Gain
get_param(clutch/Requisite Friction/Inertia,Gain)
ans =
1/(Iv+Ie)
10-20
get_param
73
mx+b ( )
blks = find_system(gcs, Type, block);

listblks = get_param(blks, BlockType)
listblks =
SubSystem
Inport
Constant
Gain
Sum
Outport
get_param(gcb, Name)
Name
p = get_param(gcb, ObjectParameters);
a = p.Name.Attributes
ans =
read-write always-save
Sine Wave
p = get_param(untitled/Sine Wave, DialogParameters)
p=
Amplitude
Frequency
Phase
SampleTime
find_system, set_param
10-21
new_system
10new_system
new_system(sys)
new_system(sys) sys
new_system
Simulink
'mysys'
new_system(mysys)
vdp 'mysys'
new_system(vdp/mysys)
10-22
close_system, open_system, save_system
open_system
10open_system
open_system(sys)
open_system(blk)
open_system(blk, force)
Simulink
open_system(sys)
open_system(blk) blk
OpenFcn
open_system(blk, force) blk
Look Under Mask
controller
open_system(controller)
controller Gain
open_system(controller/Gain)
close_system, new_system, save_system
10-23
replace_block
10replace_block
replace_block(sys, blk1, blk2, noprompt)

replace_block(sys, Parameter, value, blk, ...)
replace_block(sys, blk1, blk2) blk1

sys blk2 blk2 Simulink
blk
noprompt
Simulink
noprompt
Simulink
replace_block(sys, Parameter, value, ..., blk)

sys blk
f14 Gain Integrator

RepNames
Simulink
RepNames = replace_block(f14,Gain,Integrator)
clutch Unlocked Gain bv

Integrator Simulink
replace_block(clutch/Unlocked,Gain,bv,Integrator)
f14 Gain Integrator
replace_block(f14,Gain,Integrator,noprompt)
10-24
replace_block
find_system, set_param
10-25
save_system
10save_system
save_system
save_system(sys)
save_system(sys, newname)
save_system
Simulink
save_system(sys)
save_system(sys, newname)
save_system
vdp
save_system(vdp)
vdp myvdp
save_system(vdp, myvdp)
10-26
close_system, new_system, open_system
set_param
10set_param
set_param(obj, parameter1, value1, parameter2, value2, ...)
set_param(obj, parameter1, value1, parameter2, value2, ...) obj
Simulink
Edit Update Diagram

2 Position
UserData
vdp Solver StopTime
set_param(vdp, Solver, ode15s, StopTime, 3000)
vdp Mu Gain 1000( )
set_param(vdp/Mu, Gain, 1000)
vdp Fcn
set_param(vdp/Fcn, Position, [50 100 110 120])
mymodel Zero-Pole Zeros

Poles
set_param(mymodel/Zero-Pole,Zeros,[2 4],Poles,[1 2 3])
Gain
k Gain
10-27
set_param
set_param(mymodel/Subsystem, k, 10)
mymodel Compute
OpenFcn my_open_fcn
Compute 4
71
set_param(mymodel/Compute, OpenFcn, my_open_fcn)
10-28
get_param, find_system
simulink
10simulink
simulink
Microsoft Windows simulink Simulink

( )UNIX Simulink
Simulink
10-29
simulink
10-30
11
Simulink
. . . . . . . . . . . . . . . . . . . . . .11-3
. . . . . . . . . . . . . . . . . . .11-4
. . . . . . .11-6
. . . . . . . . . . . . . . . . . . . . .11-7
. . . . . . . . . . . . . . . . . . .11-8
. . . . . . . . . . . . . . . . . . 11-11
. . . . . . . . . . . . 11-16
. . . . . . . . . . . . . . . . . 11-20
. . . . . . . . . . . . . . . 11-24
11 Simulink
Simulink Simulink
Simulink
11-2
Tools
Debugger
sldebug
sim
(sim 5-38 sim )
sim(vdp,[0,10],simset(debug,on))
sldebug 'vdp
Simulink vdp
GUI
114
11-3
11 Simulink
Start/Continue
Start/Continue button
First block to
be executed.
MATLAB
11-4
GUI
( 116
)
GUI
MATLAB
11-5
11 Simulink
MATLAB
1124
MATLAB (Return )
Simulink
s:b s
b
0:1
0 1 slist
(11-43
slist )
MATLAB
sldebug MATLAB
tout yout
(sldebug ...) plot(tout, yout)
sldebug
s step
sldebug s
(sldebug...) eval(s)
11-6
Help
F1
Help
Help button
MATLAB F1
help
11-7
11 Simulink
Simulink

(1111 )

GUI
Next BlockNext Time Step
Start/ContinueStop
...
step
next
continue
run
GUI
Run/Continue
Run/Continue continue
11-8
( 1111 )
run
MATLAB
step
( 1120
)
vdp
(U) (Y)
(GUI
) MATLAB ( )
(sldebug @0:0 vdp/Integrator1): step

U1 = [0]
11-9
11 Simulink
Y1 = [2]
(sldebug @0:1 vdp/Out1):
GUI
MATLAB vdp
MATLAB
(sldebug @0:8 vdp/Sum): step
U1 = [2]
U2 = [0]
Y1 = [-2]
[Tm=0.0001004754572603832 ] **Start** of system vdp outputs
Break on conditions Minor time steps

minor
next
vdp next MATLAB
[Tm=0.0001004754572603832 ] **Start** of system vdp outputs
11-10
Simulink
continue
2
continue
Breakpoint
(GUI )
...
break <gcb | s:b>
bafter <gcb | s:b>
11-11
11 Simulink
...
tbreak [t]
nanbreak
(NaN)
(Inf)
xbreak
zcbreak
break gcb
( )
break s:b
s:b ( 116
)
11-12
slist
(1121 )
GUI Watch points
bafter
break
Watch points (GUI

)
GUI Watch points
Remove watch point
clear
clear gcb
11-13
11 Simulink
Stop at time
(GUI ) tbreak
vdp
tbreak 9
continue
continue 9.0785
[Tm=9.07847133212036
] **Start** of system vdp outputs
NaN values nanbreak
Simulink
Step size limited by state xbreak
Zero crossings zcbreak
Simulink (rising
falling) zeroxing
sldebug zeroxing
[Tm=0
] **Start** of system zeroxing outputs
(sldebug @0:0 zeroxing/Sine Wave): zcbreak
11-14
Break at zero crossing events is enabled.
(sldebug @0:0 zeroxing/Sine Wave): continue
rising
[Tm=0.34350110879329
] Breaking at block 0:2
[Tm=0.34350110879329
Saturation
] Rising zero crossing on 3rd zcsignal in block 0:2 zeroxing/
11-15
11 Simulink
Simulink
I/O
I/O
Watch Block I/O Display Block I/O
I/O ...
probe
disp
trace
I/O
I/O GUI
probe
11-16
probe
probe probe
probe
probe gcb
I/O
probe s:b
s b
I/O
(GUI ) MATLAB
probe I/O I/O

step
probe I/O
next next I/O

next I/O
probe
I/O
disp
disp gcb
undisp
block 0:0
undisp gcb undisp 0:0
I/O GUI
disp
I/O disp
I/O step
I/
O I/O
disp
11-17
11 Simulink
I/O
trace GUI
Watch points watch
trace
untrace
I/O
I/O
atrace
( 318 )
atrace 0
atrace 1
atrace 2
atrace 3
atrace 4
states MATLAB
Simulink
(bounce) 1 2
11-18
sldebug bounce
[Tm=0
] **Start** of system bounce outputs
(sldebug @0:0 bounce/Position): states
Continuous state vector (value,index,name):
10
0 (0:0 bounce/Position)
15
1 (0:5 bounce/Velocity)
(sldebug @0:0 bounce/Position): next
[Tm=0.01
] **Start** of system bounce outputs
(sldebug @0:0 bounce/Position): states
Continuous state vector (value,index,name):
10.1495095
0 (0:0 bounce/Position)
14.9019
1 (0:5 bounce/Velocity)
ishow
[Tm=9.996264188473381
] Step of 0.01 was taken by integrator
[Ts=9.676264188473388
] Integration limited by 1st state of block 0:0 bounce/Position
11-19
11 Simulink
Simulink
Simulink
" "
GUI Execution Order
slist
MATLAB
---- Sorted list for vdp [12 blocks, 9 nonvirtual blocks, directFeed=0]
0:0 vdp/Integrator1 (Integrator)
0:1 vdp/Out1 (Outport)
0:4 vdp/Fcn (Fcn)
0:5 vdp/Product (Product)
0:6 vdp/Mu (Gain)
0:7 vdp/Scope (Scope)
0:8 vdp/Sum (Sum)
bshow s:b s:b

bshow ( )
systems
Simulink clutch (clutch)
sldebug clutch
[Tm=0
] **Start** of system clutch outputs
(sldebug @0:0 clutch/Clutch Pedal): systems
11-20
0 clutch
1 clutch/Locked
2 clutch/Unlocked
systems
Simulink
Simulink
( )
systems
slist
Van der Pol (vdp)
sldebug vdp
[Tm=0
(sldebug @0:0 vdp/Integrator1): slist
---- Sorted list for vdp [12 blocks, 9 nonvirtual blocks, directFeed=0]
0:4 vdp/Fcn (Fcn)
0:5 vdp/Product (Product)
0:6 vdp/Mu (Gain)
0:7 vdp/Scope (Scope)
0:8 vdp/Sum (Sum)
slist
11-21
11 Simulink
zclist
zclist clutch
(sldebug @0:0 clutch/Clutch Pedal): zclist

2:3 clutch/Unlocked/Sign (Signum)
0:4 clutch/Lockup Detection/Velocities Match (HitCross)
0:10 clutch/Lockup Detection/Required Friction
for Lockup/Abs (Abs)
0:11 clutch/Lockup Detection/Required Friction for
Lockup/ Relational Operator (RelationalOperator)
0:18 clutch/Break Apart Detection/Abs (Abs)
0:20 clutch/Break Apart Detection/Relational Operator
(RelationalOperator)
0:24 clutch/Unlocked (SubSystem)
0:27 clutch/Locked (SubSystem)
ashow
ashow s#n,
s ( 1120
) n
ashow
gcb ashow s:b
s:b
ashow clear
GUI
Status
status
vdp
sim(vdp,[0,10],simset(debug,on))
[Tm=0
(sldebug @0:0 vdp/Integrator1): status
Current simulation time: 0 (MajorTimeStep)
Last command: ""
Stop in minor times steps is disabled.
11-22
Break at zero crossing events is disabled.

Break when step size is limiting by a state is disabled.
Break on non-finite (NaN,Inf) values is disabled.
Display of integration information is disabled.
Algebraic loop tracing level is at 0.
11-23
11 Simulink
Repeat
Return
11-24
ashow
as
atrace
at
bafter
ba
break
bshow
bs
clear
cl
continue
disp
I/O
help
? or h
ishow
minor
nanbreak
na
next
probe
1 I/O
quit
run
slist
sli
states
state
status
stat
step
stop
sto
systems
sys
tbreak
tb
trace
tr
I/O
undisp
und
untrace
unt
xbreak
11-25
11 Simulink
11-26
zcbreak
zcb
zclist
zcl
ashow
11ashow
ashow <gcb | s:b | s#n | clear>
s:b
s b
gcb
s#n
s n
clear
ashow gcb ashow s:b

ashow s#n s n
ashow clear
atrace, slist
11-27
atrace
11atrace
atrace level
level
atrace
11-28
(0 = 4 = )
atrace 0
atrace 1
atrace 2
atrace 3
atrace 4
systems, states
bafter
11bafter
bafter gcb
bafter s:b
s:b
s b
gcb
bafter
break, xbreak, tbreak, nanbreak, zcbreak, slist
11-29
break
11break
break gcb
break s:b
s:b
s b
gcb
break
bafter, tbreak, xbreak, nanbreak, zcbreak, slist
11-30
bshow
11bshow
bshow s:b
s:b
slist
s b
11-31
clear
11clear
clear gcb
clear s:b
s:b
s b
gcb
clear
bafter, slist
11-32
continue
11continue
continue
continue
run, stop, quit
11-33
disp
11disp
disp gcb
disp s:b
disp
s:b
s b
gcb
I/O
disp 1
MATLAB
disp
undisp
undisp, slist, probe, trace
11-34
help
11help
help
help
11-35
ishow
11ishow
ishow
ishow
atrace
11-36
minor
11minor
minor
minor
step
step
step
step
11-37
nanbreak
11nanbreak
nanbreak
nanbreak (NaN Inf)
nanbreak
break, bafter, xbreak, tbreak, zcbreak
11-38
next
11next
next
next
next
step
11-39
probe
11probe
probe [<s:b | gcb>] [level io | (all)]
s:b
s b
gcb
level io
I/O
level all
probe probe /
probe I/O
probe probe gcb
I/O probe s:b
s:b I/O
disp, trace
11-40
quit
11quit
quit
quit
stop
11-41
run
11run
run
run
run
continue, stop, quit
11-42
slist
11slist
slist
slist
systems
11-43
states
11states
states
states
ishow
11-44
systems
11systems
systems
systems MATLAB
slist
11-45
status
11status
status
status
11-46
step
11step
step
step
step
next
11-47
stop
11stop
stop
stop
continue, run, quit
11-48
tbreak
11tbreak
tbreak t
tbreak
tbreak
tbreak
tbreak
/
break, bafter, xbreak, nanbreak, zcbreak
11-49
trace
11trace
trace gcb
trace s:b
s:b
s b
gcb
I/O
trace 1
I/O
disp, probe, untrace, slist
11-50
undisp
11undisp
undisp gcb
undisp s:b
s:b
s b
gcb
undisp
disp, slist
11-51
untrace
11untrace
untrace gcb
untrace s:b
s:b
s b
gcb
untrace
trace, slist
11-52
xbreak
11xbreak
xbreak
xbreak
xbreak
xbreak
break, bafter, zcbreak, tbreak, nanbreak
11-53
zcbreak
11zcbreak
zcbreak
zcbreak
zcbreak
break, bafter, xbreak, tbreak, nanbreak, zclist
11-54
zclist
11zclist
zclist
zclist
MATLAB
zcbreak
11-55
zclist
11-56
12
Performance Tools
. . . . . . . . . . . .12-2
. . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . .
Simulink Accelerator . . . . . . . . . . .
. . . . . . . . . . . .
Accelerator . . . . . . . . . . . .
. . . . . . . . . . .
Simulink Accelerator Simulink Debugger . . . .
Simulink Accelerator . .
. . . . . . . . . . . . . . . . . . . .
Simulink Accelerator Build . . .
Simulink Accelerator S-
Simulink Accelerator
.
.
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.12-3
12-3
12-4
12-5
12-6
12-7
12-8
12-9
12-10
12-10
12-11
Model Differencing Tool . . . . . . . . . . . . . . . . . . 12-13
. . . . . . . . . . . . . . . . . . . . . 12-15
. . . . . . . . . . . . . . . . . 12-15
. . . . . . . . . . .
. . .
. . .
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.
12-17
12-17
12-19
12-20
Model Coverage Tool( ) .

Model Coverage Tool
Model Coverage Tool . . . . . . . .
. . . . . . . .
. . . . . . . . . . .
. . .
Model Coverage . . . . . . . . .
.
.
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12-23
12-23
12-23
12-24
12-26
12-29
12-31
12 Performance Tools

Model Differencing Tool

Model Coverage Tool
Performance Tools
12-2
Simulink Accelerator Simulink MathWorks
Simulink Accelerator Simulink C
MathWorks Real-Time Workshop
C Simulink
Accelerator Real-Time Workshop Real-Time
Workshop Windows PC C
MathWorks lcc
Simulink Accelerator Simulink Normal ( Accelerator

) C
Accelerator Simulink
C MATLAB MEX
Simulink
Simulink Accelerator Normal Simulink
Simulink
Simulink
Simulink 2 6
12-3
Simulink Accelerator Simulation
Accelerator F14
12-1: Simulink Accelerator
Accelerator
Simulation Start
Accelerator C
Accelerator
modelname_accel_rtw ( f14_accel_rtw)
MEX-

12-4
mex
MATLAB mex -setup
C
Accelerator Real-Time
Workshop
Real-Time Workshop
MEX-
MATLAB MATLAB Simulink
MEX-
Simulink
Accelerator C MEX- (
)
Accelerator

Sum
S- TLC
Gain
12-5
Accelerator
Accelerator
Accelerator
Simulink Accelerator Simulink
Accelerator
Simulation Parameters Simulation Parameters Diagnostics Advanced

Accelerator
- Diagnostics Consistency checking Bounds checking

- Advanced Signal storage reuse
Stateflow Accelerator Stateflow Stateflow
Stateflow
Stateflow
S- Accelerator
Target Language Compiler
S-
Real-Time Workshop TLC
Simulink
(API) S-Function C
S- Target Language Compiler

Reference Guide Math Works Web
www.mathworks.com MATLAB CD
Simulink blocksets S- Accelerator

Simulink
Blockset
TLC M- C-MEX
S-Function
Workspace I/OTo WorkspaceTo File
Scope Accelerator
12-6
Accelerator Normal
(
) Accelerator
Simulink Accelerator MathWorks

Fixed Point Blockset DSP Blockset 2 Accelerator
SimulinkFixed Point Blockset DSP Blockset

Accelerator
Simulink DSP Blockset
12-1:
Simulink
DSP Blockset
Display
Biquadratic Filter
From File
Convolution
From Workspace
Direct-Form II Transpose Filter
Inport ( )
Dyadic Analysis Filter Bank/

Dyadic Synthesis Filter Bank
MATLAB Fcn
FIR Decimation/FIR Interpolation/

FIR Rate Conversion
Outport (
)
From Wave Device/From Wave File
Scope
Integer Delay/Variable Integer Delay
To File
Matrix Multiply/Matrix To Workspace
To Workspace
Triggered Signal To Workspace/

Triggered Signal From Workspace
12-7
12-1: (Continued)
Simulink
DSP Blockset
Transport Delay
Time-Varying Direct-Form II Transpose Filter
To Wave File/To Wave Device
XY Graph
Wavelet Analysis/Wavelet Synthesis

Zero Pad
Accelerator Target Language Compiler

S- SS_OPTION_USE_TLC_WITH_ACCELERATOR
S-Function (M, Fortran, C)
12-11 Simulink Accelerator S-
Simulink Accelerator Simulink Debugger

Accelerator
Accelerator Simulink
Simulation Accelerator MATLAB
sldebug modelname

tbreak 10000
continue
emode (execution )
Accelerator Normal execution
Accelerator
Simulink 11 Simulink
12-8
set_param, sim, accelbuild 3 MATLAB
M-
MATLAB
set_param(gcs,simulationmode,mode)
set_param(modelname,simulationmode,mode)
gcs ("get current system") (

)
modelname
simulationmode normal accelerator
sim(gcs); % MATLAB
set_param(gcs,simulationcommand,start); % MATLAB
gcs modelname
Simulink Accelerator MEX-

accelbuild
Simulink Accelerator MEX-
accelbuild f14
accelbuild Accelerator MEX-

C
Accelerator
12-9
MEX-
accelbuild MEX-
accelbuild f14 OPT_OPTS=-g
Simulink Accelerator Normal Simulink

tic,...,toc sim F14
(Normal
tic,[t,x,y]=sim(f14,1000);toc
elapsed_time =
14.1080
Accelerator
elapsed_time =
6.5880
233 MHz Pentium Windows PC
Accelerator MEX-
Normal
Simulink Accelerator Build

Accelerator MEX-
Real-Time Workshop
3
AccelMakeCommand
AccelSystemTargetFile
AccelTemplateMakeFile
12-10
3 Make
makefiles
Real-Time
Workshop Make
makefile Real-Time Workshop
Users Guide MathWorks Web
www.mathworks.com MATLAB CD
set_param(gcs, parameter, string)
set_param(modelname, 'parameter', 'string)
gcs ("get current system")

parameter 3 1 string
Simulink Accelerator S-
Target Language Compiler S-
Accelerator S- TLC
1 I/O
S-Function S- TLC
I/O
Accelerator
S- TLC
TLC S- MEX-
S-
S- mdlInitializeSizes
SS_OPTION_USE_TLC_WITH_ACCELERATOR S MEX- TLC
12-11
Accelerator
static void mdlInitializeSizes(SimStruct *S)

{
/* Code deleted */
ssSetOptions(S, SS_OPTION_USE_TLC_WITH_ACCELERATOR);
}
12-12

Model Differencing Tool 2 Simulink
2 1
Simulink Tool Model differences Model
Differencing Tool Select Second Model
12-13
Select Second Model

Model Differences Tool 2
2
2
2

( )
12-14
Options
Show items with differences only 2
Include only non-graphical differences
View HTML Report 2

HTML
12-15
12-16
Simulink
Simulink
Sim()
ModelInitialize().
ModelExecute()
for t = tStart to tEnd
Output()
Update()
Integrate()
Compute states from derivs by repeatedly calling:
MinorOutput()
MinorDeriv()
Locate any zero crossings by repeatedly calling:
MinorOutput()
MinorZeroCrossings()
EndIntegrate
Set time t = tNew.
EndModelExecute
ModelTerminate
EndSim
12-17
Simulink
0 1 Simulink
12-18
sim
ModelInitialize
ModelExecute
output
updateintegrate
Output
Update
Integrate
MinorOutput
MinorDeriv
MinorZeroCrossings
ModelTerminate
Nonvirtual Subsystem
output,
update, integrate
( 3-13 Atomic
Simulink Tools
Profiler
Simulink MATLAB help browser
12-19
Simulink MATLAB
12-20
Total Recorded Time
Number of Block Methods
( Output())
Number of Internal Methods
( ModelExecute)
Number of Nonvirtual
Subsystem Methods
Clock Precision
Name
Time
Calls
Time/Call
Self Time
Location
MATLAB help browser
12-21
( )
( )
12-22
Model Coverage Tool( )

Model Coverage Tool
model coverage( )
Model Coverage Tool
Model Coverage Tool Simulink Performance Tools
Model Coverage Tool

Model Coverage Tool
Switch
Multiport Switch
Triggered subsystem (Trigger )
Enabled subsystem (Enable )
Absolute Value
Saturation
Stateflow
Model Coverage Tool

Model Coverage Tool
1 1 ( 12-24
12-23
2
3 Simulink
4
Simulink Model Coverage Tool

MATLAB
simcovdemo
Test Coverage Tool 2

MATLAB cvtest cvsim ( 12-33 cvsim
12-33 cvtest )
Coverage Tool Simulink
Tools Coverage Settings Simulink Coverage
Settings ( 12-29
) Enable Coverage Reporting
OK Simulation
Start Simulink
Simulink covdata
HTML
12-24
Simulink
Stateflow Model Converage Tool
12-25
Model Converage Tool
Summary
Tests
12-26
Test throttle,
cvtest
Model Systems
Details ( )
Details
Details
12-27
Simulink
MATLAB
backward( ) forward( )
forward
back
Stateflow
12-28
Coverage Settings
Enable converage Reporting( )

Simulinkh
Coverage Instrumentation Path( )

Simulink
Simulink
12-29
Browse
Simulink System Selector
OK
Save to workspace( )
Simulink
Increment variable name with each simulation(

)
Generate HTML report(HTML )

HTML
MATLAB
Additional data to include in report( )
12-30
Model Coverage
cvhtml
cvdata HTML
cvhtml(file,data)
cvdata data HTML

file
cvhtml(file,data1,data2,...)
cvhtml(file,data,data2,...,detail)
0 3 detail
2
cvload
[TESTS, DATA] = CVLOAD(FILENAME)
FILENAME.CVT
cvtest TESTS
DATA cvdata
DATA TESTS
Simulink
12-31
cvreport
cvreport(file,data)
cvdata
cvreport(file,data1,data2,...)
cvreport(file,data1,data2,...,detail)
0 3 detail
2
cvsave
cvsave(filename,model)
filename.cvt model
cvsave(filename, test1, test2, ...)

filename.cvt
cvsave(filename, data1, data2, ...)
filename.cvt
12-32
cvsim
( 12-24
)
data = cvsim(test)
cvtest
test cvdata
[data,t,x,y] = cvsim(test)
t x y
[data,t,x,y] = cvsim( test, timespan, options)
sim
[data1, data2, ...] = cvsim( test1, test2, ... )

cvdata
[data1,t,x,y] = cvsim(root, label, setupcmd)
cvtest
cvtest
test = cvtest(root, label, setupcmd)
root
label setupcmd
cvsim MATLAB
2 2 cvtest
12-33
12-34
. . . . . . . . . . . . . . . . . . . . . . . . . A-2
. . . . . . . . . . . . . . . . . . . . . A-3
. . . . . . . . . . . . . . . . . . A-7
. . . . . . . . . . . . . . . . . A-10
. . . . . . . . . . . . . . . . . . . . A-26
set_param
10-27
set_param
A-2
B.
471
58
( )
( )
A-1:
AbsTol
{1e6}
AlgebraicLoopMsg
none | {warning} | error
ArrayBoundsChecking
'none' | 'warning' | 'error'
BooleanDataType
Boolean
on | {off}
BufferReuse
I/O
{on} | off
CloseFcn
ConfigurationManager
ConsistencyChecking
on | {off}
Created
Creator
Decimation
{1}
Description
ExternalInput
[t, u]
A-3
A-1: (Continued)
A-4
FinalStateName
{xFinal}
FixedStep
{auto}
InitialState
{xInitial}
InitialStep
{auto}
InvariantConstants
on | {off}
LimitDataPoints
on | {off}
LoadExternalInput
on | {off}
LoadInitialState
on | {off}
MaxDataPoints
{1000}
MaxOrder
ode15s
1 | 2 | 3 | 4 | {5}
MaxStep
{auto}
MinStepSizeMsg
{warning} | error
ModelVersionFormat
ModifiedBy
ModifiedDateFormat
Name
ObjectParameters
OutputOption
|
{ } |
OutputSaveName
{yout}
OutputTimes
OutputOption
{[]}
PaperOrientation
portrait | {landscape}
PaperPosition
[left, bottom, width, height]
A-1: (Continued)
PaperPositionMode
auto | {manual}
PaperSize
PaperUnits PaperType
[width height] (read only)
PaperType
{usletter} | uslegal | a0 | a1 | a2 | a3 | a4 | a5
| b0 | b1 | b2 | b3 | b4 | b5 | arch-A | arch-B |
arch-C | arch-D | arch-E | A | B | C | D | E |
tabloid
PaperUnits
normalized | {inches} | centimeters | points
PostLoadFcn
PreLoadFcn
Refine
{1}
RelTol
{1e3}
SampleTimeColors
Sample Time Colors
on | {off}
SaveFcn
SaveFinalState
on | {off}
SaveFormat
MATLAB
| |
SaveOutput
{on} | off
SaveState
on | {off}
SaveTime
{on} | off
ShowLineWidths
Show Line Widths
on | {off}
SimParamPage
(
)
{Solver} | I/O |
Solver
{ode45} | ode23 | ode113 | ode15s | ode23s

| ode5 | ode4 | ode3 | ode2 | ode1 |
|
StartFcn
A-5
A-1: (Continued)
StartTime
{0.0}
StateSaveName
{xout}
StopFcn
StopTime
{10.0}
TimeSaveName
{tout}
UnconnectedInputMsg
UnconnectedLineMsg
UnconnectedOutputMsg
Version
Simulink
( )
(release)
WideVectorLines
Wide Vector Lines
on | {off}
ZeroCross
( 314
)
{on} | off
mymodel
set_param(mymodel,StartTime,5,StopTime,100)
ode15s
set_param(mymodel,Solver,ode15s,MaxOrder,3)
SaveFcn
set_param(mymodel,SaveFcn,my_save_cb)
A-6
471
Simulink
A-2:
AttributesFormat
String
BackgroundColor
black | {white} | red | green | blue | cyan | magenta | yellow |

gray | lightBlue | orange | darkGreen
BlockDescription
BlockType
CloseFcn
MATLAB
CompiledPortWidths
CopyFcn
MATLAB
DeleteFcn
MATLAB
Description
DialogParameters
DropShadow
{off} | on
FontAngle
( ) {normal} | italic | oblique
FontName
{Helvetica}
FontSize
{10}
FontWeight
( ) light | {normal} | demi | bold
ForegroundColor
{black} | white | red | green | blue | cyan | magenta | yellow |

gray | lightBlue | orange | darkGreen
A-7
A-2: (Continued)
A-8
InitFcn
MATLAB
InputPorts
[h1,v1; h2,v2; ...]
LinkStatus
none |resolved | unresolved | implicit
LoadFcn
MATLAB
ModelCloseFcn
MATLAB
Name
NameChangeFcn
MATLAB
NamePlacement
{normal} | alternate
ObjectParameters
OpenFcn
MATLAB
Orientation
{right} | left | down | up
OutputPorts
[h1,v1; h2,v2; ...]
Parent
string
ParentCloseFcn
MATLAB
Position
[left top right bottom]
PostSaveFcn
MATLAB
PreSaveFcn
MATLAB
Selected
on | {off}
ShowName
{on} | off
A-2: (Continued)
StartFcn
MATLAB
StopFcn
MATLAB
Tag
Type
Simulink(
)
block
UndoDeleteFcn
MATLAB
UserData
MATLAB
(mdl
)
[]
mymodel Gain
( )
set_param(mymodel/Gain,Orientation,left)
OpenFcn mymodel Gain
set_param(mymodel/Gain,OpenFcn,my_open_cb)
mymodel Gain Position

75 25
set_param(mymodel/Gain,Position,[50 250 125 275])
A-9
Simulink
set_param
BlockType
BlockType
MaskType
A-26

( )( )
( )
A-3: Sources
(Block Type)/
Band-Limited White Noise (Continuous White Noise) ( )

Chirp Signal (chirp) (masked)
VectorParams1D
Interpret vector parameters as

1-D
off {on}
Clock (Clock) (no block-specific parameters)

Constant (Constant)
Value
Constant value
{1}
VectorParams1D

1-D
off {on}
Digital Clock (DigitalClock)
A-10
A-3: Sources (Continued)

(Block Type)/
Sample time
(sample period) {1}

[period offset]

1-D
off {on}
Filename
{untitled.mat}
Matrix table
{[T,U]}

1-D
off {on}

1-D
off {on}
Seed
Initial seed
{0}
VectorParams1D

1-D
off {on}
SampleTime
Digital Pulse Generator

VectorParams1D
From File (FromFile)

FileName
From Workspace (FromWorkspace)
VariableName
Pulse Generator (Pulse Generator) (masked)
VectorParams1D
Ramp (Ramp) (masked)

VectorParams1D
Random Number (RandomNumber)
Repeating Sequence (Repeating table) (masked)

Signal Generator (SignalGenerator)
WaveForm
Wave form
{sine} | square | sawtooth | random
Amplitude
Amplitude
{1}
Frequency
Frequency
{1}
Units
Units
{Hertz} | rad/sec
A-11
A-3: Sources (Continued)

(Block Type)/

1-D
off {on}
Amplitude
Amplitude
{1}
Frequency
Frequency
{1}
Phase
Phase
{0}
SampleTime
Sample time
( ) {1}
[period offset]
VectorParams1D

1-D
off {on}
Time
Step time
{1}
Before
Initial value
{0}
After
Final value
{1}
VectorParams1D

1-D
off {on}
VectorParams1D
Sine Wave (Sin)
Step (Step)
Uniform Random Number (Uniform RandomNumber)
A-12
Minimum
Minimum
{1}
Maximum
Maximum
{1}
Seed
Initial Seed
{0}
SampleTime
Sample Time
{0}
VectorParams1D

1-D
off {on}
A-4: Sinks
(Block Type)/
Format
Format
{short} | long | short_e | long_e | bank
Decimation
Decimation
{1}
Floating
Floating display
{off} on
SampleTime
Sample time
( ) {1}
[period offset]
Location
Position of Scope window on

screen
{[left top right bottom]}
Open
(If Scope open when the

model is opened. Cannot set
from dialog box)
{off} | on
NumInputPorts
Number of Axes
> 0
TickLabels
Hide tick labels
{on} | off
ZoomMode
(Zoom button initially

pressed)
{on} | xonly | yonly
AxesTitles
Title (on right click axes)
{auto}
Grid
(for future use)
{on} | off
TimeRange
Time range
{auto}
YMin
Y min
{5}
YMax
Y max
{5}
SaveToWorkspace
Save data to workspace
{off} | on
SaveName
Variable name
{ScopeData}
DataFormat
Format
{ | }
Display (Display)
Scope (Scope)
A-13
A-4: Sinks (Continued)

(Block Type)/
LimitMaxRows
Limit rows to last
{on} | off
MaxRows
(no label)
{5000}
Decimation
(Value if Decimation
selected)
{1}
SampleInput
(Toggles with Decimation)
{off} | on
SampleTime
(SampleInput value)
( ) {0}
[period offset]
Stop Simulation (StopSimulation) (no block-specific parameters)

To File (ToFile)
Filename
Filename
{untitled.mat}
MatrixName
Variable name
{ans}
Decimation
Decimation
{1}
SampleTime
Sample time
( ) {1}
[period offset]
VariableName
Variable name
{simout}
Buffer
Maximum number of rows
{inf}
Decimation
Decimation
{1}
SampleTime
Sample time
( ) {1}
[period offset]
To Workspace (ToWorkspace)
XY Graph (XY scope.) (masked)
A-14
A-5: Discrete
(Block Type)/
Numerator
Numerator
{[1]}
Denominator
Denominator
{[1 2]}
SampleTime
Sample time
( ) {1}
[period offset]
{1}
{1}
{1}
{1}
X0
Initial conditions
{0}
SampleTime
Sample time
( ) {1}
[period offset]
Discrete Filter (DiscreteFilter)
Discrete State-Space (DiscreteStateSpace)
Discrete-Time Integrator (DiscreteIntegrator)

IntegratorMethod
Integrator method
{ForwardEuler} | BackwardEuler | Trapezoidal
ExternalReset
External reset
{none} | rising | falling | either
InitialConditionSource
{internal} | external
InitialCondition
Initial condition
{0}
LimitOutput
Limit output
{off} | on
UpperSaturationLimit
{inf}
LowerSaturationLimit
{inf}
ShowSaturationPort
{off} | on
ShowStatePort
Show state port
{off} | on
A-15
A-5: Discrete (Continued)

(Block Type)/
Sample time
( ) {1}
[period offset]
Numerator
Numerator
{[1]}
Denominator
Denominator
{[1 0.5]}
SampleTime
Sample time
( ) {1}
[period offset]
Zeros
Zeros
{[1]}
Poles
Poles
[0 0.5]
Gain
Gain
{1}
SampleTime
Sample time
( ) {1}
[period offset]
SampleTime
Discrete Transfer Fcn (DiscreteTransferFcn)
Discrete Zero-Pole (DiscreteZeroPole)
First-Order Hold (First Order Hold) (masked)

Unit Delay (UnitDelay)
X0
Initial condition
{0}
SampleTime
Sample time
( ) {1}
[period offset]
Sample time
( ) {1}
[period offset]
Zero-Order Hold (ZeroOrderHold)

SampleTime
A-16
A-6: Continuous
(Block Type)/
Derivative (Derivative) (no block-specific parameters)

Integrator (Integrator)
ExternalReset
External reset
{none} | rising | falling | either
InitialConditionSource
{internal} | external
InitialCondition
Initial condition
{0}
LimitOutput
Limit output
{off} | on
UpperSaturationLimit
{inf}
LowerSaturationLimit
{inf}
ShowSaturationPort
{off} | on
ShowStatePort
Show state port
{off} | on
AbsoluteTolerance
Absolute tolerance
{auto}
X0
Initial condition
{0}
InheritSampleTime
Inherit sample time
{off} | on
{1}
{1}
{1}
{1}
X0
Initial conditions
{0}
Numerator
{[1]}
Memory (Memory)
State-Space (StateSpace)
Transfer Fcn (TransferFcn)

Numerator
A-17
A-6: Continuous (Continued)

(Block Type)/
Denominator
{[1 1]}
DelayTime
Time delay
{1}
InitialInput
Initial input
{0}
BufferSize
Initial buffer size
{1024}
Denominator
Transport Delay (TransportDelay)
Variable Transport Delay (VariableTransportDelay)

MaximumDelay
Maximum delay
{10}
InitialInput
Initial input
{0}
MaximumPoints
Buffer size
{1024}
Zeros
Zeros
{[1]}
Poles
Poles
{[0 1]}
Gain
Gain
{[1]}
Zero-Pole (ZeroPole)
A-7: Math
(Block Type)/
Abs (Abs) (no block-specific parameters)

Algebraic Constraint (Algebraic Constraint) (masked)
Combinatorial Logic (CombinatorialLogic)
TruthTable
Truth table
{[0 0;0 1;0 1;1 0;

0 1;1 0;1 0;1 1]}
A-18
A-7: Math (Continued)

(Block Type)/
Gain
{1}
Operator
Operator
{AND} | OR | NAND | NOR | XOR | NOT
Inputs
{2}
Function
{exp} | log | log10 | square | sqrt | pow | reciprocal |

hypot | rem | mod
Function
Function
{min} | max
Inputs
{1}
Number of inputs
{2}
Operator
== | != | < | {<=} | >= | >
Operator
== | != | < | {<=} | >= | >
Function
{floor} | ceil | round | fix
Dot Product (Dot Product) (masked)
Gain (Gain)
Gain
Logical Operator (Logic)
Math Function (Math)
Operator
Matrix Gain (Matrix Gain) (masked)

MinMax (MinMax)
Product (Product)
Inputs
Relational Operator (RelationalOperator)
Operator
Relational Operator (RelationalOperator)
Operator
Rounding Function (Rounding)
Operator
Sign (Signum) (no block-specific parameters)
A-19
A-7: Math (Continued)

(Block Type)/
List of signs
{++}
Function
{sin} | cos | tan | asin | acos | atan | atan2 | sinh |

cosh | tanh
Slider Gain (SliderGain) (masked)

Sum (Sum)
Inputs
Trigonometric Function (Trigonometry)
Operator
A-8: Functions and Tables

(Block Type)/
Expression
{sin(u(1)*exp(2.3*(u(2))))}
InputValues
Vector of input values
{[5:5]}
OutputValues
Vector of output values
{tanh([5:5])}
Fcn (Fcn)
Expr
Look-up Table (Lookup)
Look-Up Table (2-D) (Lookup Table (2-D)) (masked)

RowIndex
Row
ColumnIndex
Column
OutputValues
Table
2-D
MATLABFcn
MATLAB function
MATLAB {sin}
OutputWidth
Output width
{1}
MATLAB Fcn (MATLABFcn)
S-Function (S-Function)
A-20
A-8: Functions and Tables (Continued)

(Block Type)/
FunctionName
S-function name
{system}
Parameters
A-9: Nonlinear
(Block Type)/
BacklashWidth
Deadband width
{1}
InitialOutput
Initial output
{0}
Backlash (Backlash)
Coulomb & Viscous Friction (Coulombic and Viscous Friction) (masked)

Dead Zone (DeadZone)
LowerValue
Start of dead zone
{0.5}
UpperValue
End of dead zone
{0.5}
Number of inputs
{3}
Quantization interval
{0.5}
RisingSlewLimit
Rising slew rate
{1.}
FallingSlewLimit
Falling slew rate
{1.}
OnSwitchValue
Switch on point
{eps}
OffSwitchValue
Switch off point
{eps}
Manual Switch (Manual Switch) (masked)

Multiport Switch (MultiPortSwitch)
Inputs
Quantizer (Quantizer)
QuantizationInterval
Rate Limiter (RateLimiter)
Relay (Relay)
A-21
A-9: Nonlinear (Continued)

(Block Type)/
OnOutputValue
Output when on
{1}
OffOutputValue
Output when off
{0}
UpperLimit
Upper limit
{0.5}
LowerLimit
Lower limit
{0.5}
FunctionName
S-function name
{system}
Parameters
Saturation (Saturate)
S-Function (S-Function)
Sign (Signum) (no block-specific parameters)

Switch (Switch)
Threshold
Threshold
{0}
A-10: Signals & Systems

(Block Type)/
Bus Selector (BusSelector)
InputSignals
Configurable Subsystem (mask)

Choice
Block choice
LibraryName
Library name
Data store name
{A}
Data Store Memory (DataStoreMemory)

DataStoreName
A-22
A-10: Signals & Systems (Continued)

(Block Type)/
Initial value
{0}
DataStoreName
Data store name
{A}
SampleTime
Sample time
( ) {1}
[period offset]
DataStoreName
Data store name
{A}
SampleTime
Sample time
( ) {1}
[period offset]
Number of outputs
{3}
StatesWhenEnabling
{held} | reset
ShowOutputPort
Show output port
{off} | on
Goto tag
{A}
GotoTag
Tag
{A}
TagVisibility
Tag visibility
{local} | scoped | global
Goto tag
{A}
InitialValue
Data Store Read (DataStoreRead)
Data Store Write (DataStoreWrite)

Demux (Demux)
Outputs
Enable (EnablePort)
From (From)
GotoTag
Goto (Goto)
Goto Tag Visibility (GotoTagVisibility)

GotoTag
Ground (Ground) (no block-specific parameters)

Hit Crossing (HitCross)
A-23

(Block Type)/
HitCrossingOffset
Hit crossing offset
{0}
HitCrossingDirection
Hit crossing direction
rising | falling | {either}
ShowOutputPort
Show output port
{on} | off
Initial value
{1}
Port
Port number
{1}
PortWidth
Port width
{1}
SampleTime
Sample time
( ) {1}
[period offset]
Number of inputs
{3}
Port
Port number
{1}
OutputWhenDisabled
{held} | reset
InitialOutput
Initial output
{0}
ProbeWidth
Probe width
{on} | off
ProbeSampleTime
Probe sample time
{on} | off
ProbeCompexSignal
Probe complex signal
{on} | off
IC (InitialCondition)
Value
In (Inport)
Merge
Model Info (CMBlock) (mask)
Mux (Mux)
Inputs
Out (Outport)
Probe (Probe)
Subsystem (SubSystem)
A-24

(Block Type)/
ShowPortLabels
Show/Hide Port Labels

Format menu item
{on} | off
Terminator (Terminator) (no block-specific parameters)

Trigger (TriggerPort)
TriggerType
Trigger type
{rising} | falling | either | function-call
ShowOutputPort
Show output port
{off} | on
Width (Width) (no block-specific parameters)
A-25
Mask Editor
A-11:
Mask
onoff
{on} | off
MaskCallbackString
Mask parameter callbacks
MaskCallbacks
Mask parameter callbacks
MaskDescription
Block description
MaskDisplay
Drawing commands
MaskEditorHandle
Mask editor figure handle (for internal use)
handle
MaskEnableString
Mask parameter enable status
MaskEnables
Mask parameter enable status
, on off
MaskHelp
Block help
MaskIconFrame
Icon frame ( on, off)
{on} | off
MaskIconOpaque
Icon transparency ( on
off)
{on} | off
MaskIconRotate
Icon rotation ( on off)
on | {off}
MaskIconUnits
Drawing coordinates
Pixel | {Autoscale} | Normalized
MaskInitialization
Initialization commands
MATLAB
MaskPrompts
Prompt ( )
MaskPromptString
Prompt ( )
Indicates that the block can modify itself.
on | {off}
MaskNames
MaskPropertyNameString
MaskSelfModifiable
A-26
A-11:
MaskStyles
Control type ( )
{Edit} | Checkbox | Popup
MaskStyleString
Control type ( )
{Edit} | Checkbox | Popup
MaskTunableValues
Tunable parameter attributes
MaskTunableValue
Tunable parameter attributes
MaskType
Mask type
MaskValues
Block parameter values ( )
MaskValueString
Block parameter values ( )
MaskVariables
Variable ( )
MaskVisibilities
Specifies visibility of parameters
String
Mask Editor
Prompt
Variable
Control type

Assignment
Prompt
(|)
MaskPromptString
"Slope:|Intercept:"
Variable
MaskVariables
A-27
Assignment
@ Evaluate & Literal
"a=@1;b=&2;"
a MATLAB
2 b
Control type
MaskStyleString
Popup strings popup
"edit,checkbox,popup(red|blue|green)"

MaskValueString
MaskPromptString "Slope:|Intercept:"
MaskValueString "2|5"
A-28
. . . . . . . . . . . . . . . . . . . . B-2
Model . . . . .
BlockDefaults . .
AnnotationDefaults
System . . . . .
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B-3
B-3
B-3
B-3
ASCII
Model {
<Model Parameter Name> <Model Parameter Value>
...
BlockDefaults {
<Block Parameter Name> <Block Parameter Value>
...
}
AnnotationDefaults {
<Annotation Parameter Name> <Annotation Parameter Value>
...
}
System {
<System Parameter Name> <System Parameter Value>
...
Block {
<Block Parameter Name> <Block Parameter Value>
...
}
Line {
<Line Parameter Name> <Line Parameter Value>
...
Branch {
<Branch Parameter Name> <Branch Parameter Value>
...
}
}
Annotation {
<Annotation Parameter Name> <Annotation Parameter Value>
...
}
}
}
B-2
Model
BlockDefaults
AnnotationDefaults
System (
) System
Model
Model
Simulink
BlockDefaults
BlockDefaults
Block
AnnotationDefaults
AnnotationDefaults BlockDefaults
set_param
System
System
System
B-3
Block, Line, Annotation

Line Branch
B-4

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Dynamic System Simulation for MATLAB

Simulation Parameters . . . . . . . . . . . . . . . . . . . . . . 5-8

Mask Editor: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8

Discrete Pulse Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-69

Simulink Known Software and

The MathWorks Simulink

The MathWorks Web www.mathworks.com "products"

-Analysis and Synthesis

CDMA Reference Blockset

Control System Toolbox

Dials & Gauges Blockset

Frequency Domain System

Motorola DSP Developers

Motorola Suite56TM DSP

Nonlinear Control Design

Power System Blockset

Real-Time Windows Target

Real-Time Workshop Ada

Robust Control Toolbox

Signal Processing Toolbox

Simulink Performance Tools

Simulink Report Generator

MATLAB, Simulink, Stateflow

Developers Kit for

Texas Instruments (TI) C6701

3 Thermo Plots Scope

Scope Indoor vs. Outdoor Temp Heat Cost ($) 2

Indoor vs. Outdoor Temp Scope

Fahrenheit to Celsius conversion (F2C)

Heat Cost ($) Thermo Plots Scope

Daily Temp Variation Sine Wave

1 MATLAB simulink3 Simulink

2 Demos MATLAB Demo Window

Sources (Sine Wave )

Sources Sine Wave

Sources Sine Wave

Sine Wave (>)

Sine Wave Mux

Stop time parameter

Simulation Start Scope

Simulink MATLAB File Exit MATLAB

The MathWorks web site MATLAB Based Books

Simulink Integrator Integrator

Constant Simulink Continuous

either rising falling

Algebraic Constraint (Algebraic Constraint )

Sample time [Ts,offset]

DTF1 Discrete Transfer Fcn Sample time [1 0.1]

0.1 DTF1 t = 0.1

(Real-Time Workshop )Simulink

Gain Ts Discrete Filter

Continuous ( Integrator, Derivative, Transfer Fcn )

Simulink Signal Generator Discrete-Time

Simulink Format Sample Time Colors

Discrete-Time Integrator Integrator

Format Sample Time Colors

UNIX Simulink Simulink

Simulink View Toolbar

Simulink View Toolbar

Edit Undo 101

View Zoom Out ( v

Select View Fit System to View(