Gio trnh MATLAB trong iu khin t ng

Tp lnh c bn ca matlab

MATLAB trong ieu khien t ong

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TAP LENH C BAN CUA MATLAB

I.
1. Lenh ANS a) Cong dung: (Purpose) La bien cha ket qua mac nh. b) Giai thch: (Description) Khi thc hien mot lenh nao o ma cha co bien cha ket qua, th MATLAB lay bien Ans lam bien cha ket qua o. c) V du: (Examples) 2-1 ans = 1 2. Lenh CLOCK a) Cong dung: (Purpose) Thong bao ngay gi hien tai. b) Cu phap:(Syntax) c = clock c) Giai thch: (Description) e thong bao de oc ta dung ham fix. d) V du: (Examples) c = clock c= 1.0e+003* 2.0010 0.0040 0.0200 0.0030 0.0420 0.0501 c = fix(clock) c = 2001 4 20 3 43 3 3. Lenh COMPUTER a) Cong dung: (Purpose) Cho biet he ieu hanh cua may vi tnh ang s dung Matlab. b) Cu phap: (Syntax)

LENH C BAN

Chu y: Cac lenh eu viet bang ch thng, nhng v tac gia muon viet hoa e ngi xem tien theo doi.

MATLAB trong ieu khien t ong computer [c,m] = computer c) Giai thch: (Description) c: cha thong bao he ieu hanh cua may. m: so phan t cua ma tran ln nhat ma may co the lam viec c vi Matlab. d) V du: (Examples) [c,m]=computer c= PCWIN m= 2.1475e+009 4. Lenh DATE a) Cong dung: (Purpose) Thong bao ngay thang nam hien tai b) Cu phap: (Syntax) s = date c) V du: s=date s= 20-Apr-2001 5. Lenh CD a) Cong dung: Chuyen oi th muc lam viec. b) Cu phap: cd cd diretory cd .. c) Giai thch: cd: cho biet th nuc hien hanh. diretory: ng dan en th muc muon lam viec. cd .. chuyen en th muc cap cao hn mot bac.

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MATLAB trong ieu khien t ong 6. Lenh CLC a) Cong dung: Xoa ca so lenh. b) Cu phap: clc c) V du: clc, for i: 25, home, A = rand(5), end. 7. Lenh CLEAR a) Cong dung: Xoa cac e muc trong bo nh. b) Cu phap: clear clear name clear name1 name2 name3 clear functions clear variables clear mex clear global clear all c) Giai thch: clear: xoa tat ca cac bien khoi vung lam viec. clear name: xoa cac bien hay ham c ch ra trong name. clear functions: xoa tat ca cac ham trong bo nh. clear variables: xoa tat ca cac bien ra khoi bo nh. clear mex: xoa tat ca cac tap tin .mex ra khoi bo nh. clear: xoa tat ca cac bien chung.

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clear all: xoa tat ca cac bien, ham, va cac tap tin .mex khoi bo nh. Lenh nay lam cho bo nh trong hoan toan. 8. Lenh DELETE a) Cong dung: Xoa tap tin va oi tng o hoa. b) Cu phap:

MATLAB trong ieu khien t ong delete filename delete (n) c) Giai thch: file name: ten tap tin can xoa.

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n: bien cha oi tng o hoa can xoa. Neu oi tng la mot ca so th ca so se ong lai va b xoa. 9. Lenh DEMO a) Cong dung: Chay chng trnh mac nh cua Matlab. b) Cu phap: demo c) Giai thch: demo: la chng trnh co san trong trong Matlab, chng trnh nay minh hoa mot so chc nang cua Matlab. 10. Lenh DIARY a) Cong dung: Lu vung thanh file tren a. b) Cu phap: diary filename c) Giai thch: filename: ten cua tap tin. 11. Lenh DIR a) Cong dung: Liet ke cac tap tin va th muc. b) Cu phap: dir dir name c) Giai thch: dir: liet ke cac tap tin va th muc co trong th muc hien hanh. dir name: ng dan en th muc can liet ke. 12. lenh DISP a) Cong dung:

MATLAB trong ieu khien t ong Trnh bay noi dung cua bien (x) ra man hnh b) Cu phap: disp (x) c) giai thch:

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x: la ten cua ma tran hay la ten cua bien cha chuoi ky t, neu trnh bay trc tiep chuoi ky t th chuoi ky t c at trong dau d) V du: num=('Matlab') num = Matlab disp(num) Matlab num=[2 0 0 1] num = 2 2 num = PHAM QUOC TRUONG 13. Lenh ECHO a) Cong dung: Hien th hay khong hien th dong lenh ang thi hanh trong file *.m. b) Cu phap: echo on echo off c) Giai thch: on: hien th dong lenh. off: khong hien th dong lenh. 14. Lenh FORMAT a) Cong dung: nh dang kieu hien th cua cac con so. 0 0 0 0 1 1 disp(num) num='PHAM QUOC TRUONG'

MATLAB trong ieu khien t ong Cu phap Format short Format long Format rat Giai thch Hien th 4 con so 3.1416 sau dau cham Hien th 14 con so 3.14159265358979 sau dau cham Hien th dang phan 355/133 so cua phan nguyen nho nhat Hien th so dng + hay am V du

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Format + 15. Lenh HELP a) Cong dung:

hng dan cach s dung cac lenh trong Matlab. b) Cu phap: help help topic c) Giai thch: help: hien th van tat cac muc hng dan. topic: ten lenh can c hng dan. 16. Lenh HOME a) Cong dung: em con tro ve au vung lam viec. b) Cu phap: home 17. Lenh LENGTH a) Cong dung: Tnh chieu dai cua vect. b) Cu phap: l = length (x) c) Giai thch: l: bien cha chieu dai vect. d) V du:

MATLAB trong ieu khien t ong tnh chieu dai cua vect x. x = [0 1 2 3 4 5 6 7 8 9] l = length (x) l = 10 x=[01 09 77,20 04 2001 ] x= 1 l=length(x) l= 6 18. Lenh LOAD a) Cong dung: Nap file t a vao vung lam viec. b) Cu phap: load load filename load filename load finame.extension c) Giai thch: load: nap file matlap.mat load filename: nap file filename.mat load filename.extension: nap file filename.extension 9 77 20 4 2001

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Tap tin nay phai la tap tin dang ma tran co ngha la so cot cua hang di phai bang so cot cua hang tren. Ket qua ta c mot ma tran co so cot va hang chnh la so cot va hang cua tap tin van ban tren. 19. Lenh LOOKFOR a) Cong dung: Hien th tat ca cac lenh co lien quan en topic. b) Cu phap: lookfor topic c) Giai thch: topic: ten lenh can c hng dan.

MATLAB trong ieu khien t ong 20. Lenh PACK a) Cong dung: Sap xep lai bo nh trong vung lam viec. b) Cu phap: pack pack filename c) Giai thch:

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Neu nh khi s dung Matlap may tnh xuat hien thong bao Out of memory th lenh pack co the tm thay mot so vung nh con trong ma khong can phai xoa bt cac bien. Lenh pack giai phong khong gian bo nh can thiet bang cach nen thong tin trong vung nh xuong cc tieu. V Matlab quan ly bo nh bang phng phap xep chong nen cac oan chng trnh Matlab co the lam cho vung nh b phan manh. Do o se co nhieu vung nh con trong nhng khong u e cha cac bien ln mi. Lenh pack se thc hien: + lu tat ca cac bien len a trong mot tap tin tam thi la pack.tmp. + xoa tat ca cac bien va ham co trong bo nh. + lay lai cac bien t tap tin pack.tmp. + xoa tap tin tam thi pack.tmp. ket qua la trong vung nh cac bien c gop lai hoac nen lai toi a nen khong b lang ph bo nh. Pack.finame cho phep chon ten tap tin tam thi e cha cac bien. Neu khong ch ra ten tap tin tam thi th Matlab t lay ten tap tin o la pack.tmp. Neu a dung lenh pack ma may van con bao thieu bo nh th bat buoc phai xoa bt cac bien trong vung nh i. 21. Lenh PATH a) Cong dung: Tao ng dan, liet ke tat ca cac ng dan ang co. b) Cu phap: path p = path path (p) c) Giai thch: path: liet ke tat ca cac dng dan ang co.

MATLAB trong ieu khien t ong p: bien cha ng dan. path (p): at ng dan mi. d) V du: at ng dan en th muc c:\lvtn\matlab p = d:\DA\matlab; path (p); 22. Lenh QUIT a) Cong dung: Thoat khoi Matlab. b) Cu phap: quit 23. Lenh SIZE a) Cong dung: Cho biet so dong va so cot cua mot ma tran. b) Cu phap: d = size (x) [m,n] = size (x) m = size (x,1) n = size (x,2) c) Giai thch: x: ten ma tran.

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d: ten vect co 2 phan t, phan t th nhat la so dong, phan t con lai la so cot. m,n: bien m cha so dong, bien n cha so cot d) V du: ta co ma tran a x= 1 5 x= 1 2 3 4 5 6 7 8 Cac ban chu y ve cach nhap 1 ma tran: 2 6 3 6 4 8

x=[1 2 3 4,5 6 7 8]

MATLAB trong ieu khien t ong x=[1 2 3 4;5 6 7 8] x= 1 5 d= 2 m= 2 n=size(x,2) n= 4 [m,n]=size(x) m= 2 n= 4 24. Lenh TYPE a) Cong dung: Hien th noi dung cua tap tin. b) Cu phap: type filename c) Giai thch: filename: ten file can hien th noi dung. Lenh nay trnh bay tap tin c ch ra. 25. Lenh WHAT a) Cong dung: Liet ke cac tap tin *.m, *.mat, *.mex. b) Cu phap: what 4 m=size(x,1) 2 6 3 7 4 8

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d=size(x)

MATLAB trong ieu khien t ong what dirname c) Giai thch: what: liet ke ten cac tap tin .m, .mat, .mex co trong th muc hien hanh. dirname: ten th muc can liet ke. 26. Lenh WHICH a) Cong dung: Xac nh chc nang cua funname la ham cua Matlab hay tap tin. b) Cu phap: which funname c) Giai thch: funname: la ten lenh trong Matlab hay ten tap tin d) V du: which inv inv is a build-in function which f c:\matlab\bin\f.m 27. Lenh WHO, WHOS a) Cong dung: Thong tin ve bien ang co trong bo nh. b) Cu phap: who whos who global whos global c) Giai thch: who: liet ke tat ca cac ten bien ang ton tai trong bo nh.

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whos: liet ke ten bien, kch thc, so phan t va xet cac phan ao co khac 0 khong. who global va whos: liet ke cac bien trong vung lam viec chung.

II. CAC TOAN T VA KY T AC BIET

1. Cac toan t so hoc (Arithmetic Operators):

MATLAB trong ieu khien t ong Toan t + * .* \ .\ / ./ ^

.

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Cong ma tran hoac ai lng vo hng (cac ma tran phai co cung kch thc). Tr ma tran hoac ai lng vo hng (cac ma tran phai co cung kch thc). Nhan ma tran hoac ai lng vo hng (ma tran 1 phai co so cot bang so hang cua ma tran 2). Nhan tng phan t cua 2 ma tran hoac 2 ai lng vo hng (cac ma tran phai co cung kch thc). Thc hien chia ngc ma tran hoac cac ai lng vo hng (A\B tng ng vi inv (A)*B). Thc hien chia ngc tng phan t cua 2 ma tran hoac 2 ai lng vo hng (cac ma tran phai co cung kch thc). Thc hien chia thuan 2 ma tran hoac ai lng vo hng (A/B tng ng vi A*inv(B)). Thc hien chia thuan tng phan t cua ma tran nay cho ma tran kia (cac ma tran phai co cung kch thc). Luy tha ma tran hoac cac ai lng vo hng. Luy tha tng phan t ma tran hoac ai lng vo hng (cac ma tran phai co cung kch thc).

* v du: Phep tnh ma tran 1 x x x+y 2 3 123 5 6 7 3 x+2 4 5 x*y phep toan sai x. * y x2 xy y y Phep tnh mang 4 5 6 4 5 6 -3 -3 -3 -3 -3 -3 4 10

MATLAB trong ieu khien t ong 18 x* y 4 x * y 32 5 6 x. * y phep toan sai 2 x.* 2 4 6 4 x\y 16/7 1/2 2\x 1 3/2 0 x/y 0 0 x/2 0 1/6 0 1/3 0 1/2 1/2 1 3/2 x^y phep toan sai x.^ y x./ 2 x./ y 2./ x x.\ y 5/2 2 2 1 2/3 1/4 2/5 1/2 1/2 1 3/2 1/2 32 729 1 x^2 phep toan sai x.^ 2 4 9 2 2^x phep toan sai 2.^ x 4 8 8 10 12 12 15 18 2 x*2 4 6 x.* y phep toan sai

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MATLAB trong ieu khien t ong 2.. Toan t quan he (Relational Operators): Toan t < > >= <= == -= So sanh nho hn. So sanh ln hn. So sanh ln hn hoac bang. So sanh nho hn hoac bang. So sanh bang nhau ca phan thc va phan ao. So sanh bang nhau phan ao. Cong dung

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a) Giai thch: Cac toan t quan he thc hien so sanh tng thanh phan cua 2 ma tran. Chung tao ra mot ma tran co cung kch thc vi 2 ma tran so sanh vi cac phan t la 1 neu phep so sanh la ung va la 0 neu phep so sanh la sai. Phep so sanh co che o u tien sau phep toan so hoc nhng tren phep toan logic. b) V du: thc hien phep so sanh sau: x=5 x= 5 x>=[1 2 3;4 5 6;7 8 9] %so sanh trc tiep x (x la 5) vi ma tran ans = 1 1 0 x=5 x= 5 A=[1 2 3;4 5 6;7 8 9] % ta at ma tran A A= 1 2 3 1 1 0 1 0 0 % ro rang cac pha t 1,2,3,4,5 eu <= 5 % au tien ta nhap x=5

MATLAB trong ieu khien t ong 4 7 ans = 1 1 0 x=A x= 1 4 7 ans = 1 1 1 x=5 x= 5 x==A % so sanh x = A ans = 0 0 0 x<A ans = 0 0 1 0 0 1 0 1 1 0 1 0 0 0 0 % ch duy nhat phan t 5=x (v x=5) 1 1 1 1 1 1 % cho lai x=5 2 5 8 3 6 9 % so sanh x va A % tat ca cac phan t eu ung 1 1 0 1 0 0 % dong lenh nay tc la cho x= ma tran A 5 8 6 9

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x>=A

x==A

3. Toan t logig (Logical Operators):

MATLAB trong ieu khien t ong Toan t & | ~ a) Giai thch: Cong dung Thc hien phep toan logic AND. Thc hien phep toan logic OR. Thc hien phep toan logic NOT.

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Ket qua cua phep toan la 1 neu phep logic la ung va la 0 neu phep logic la sai. Phep logic co che o u tien thap nhat so vi phep toan so hoc va phep toan so sanh. b) V du: Khi thc hien phep toan 3>4 & 1+ th may tnh se thc hien 1+2 c 3, sau o ti 3>4 c 0 roi thc hien 0 & 3 va cuoi cung ta c ket qua la 0. 4. Ky t ac biet (Special Characters): Ky hieu [] () = . , ; % ! 5. dau : a) Cong dung: Tao vector hoac ma tran phu va lap i lap lai cac gia tr. b) Giai thch: Khai bao j:k Cong dung Tao ra chuoi j, j+1, j+2,., k-1, k Cong dung Khai bao vector hoac ma tran. Thc hien phep toan u tien, khai bao cac bien va cac ch so cua vector. Thc hien phep gan. Chuyen v ma tran tm lng lien hiep cua so phc. iem cham thap phan. Phan biet cac phan t cua ma tran va cac oi so trong dong lenh. Ngan cach gia cac hang khi khai bao ma tran. Thong bao dong chu thch. M ca so MS DOS.

MATLAB trong ieu khien t ong j:i:k A(: , j) A(i , :) A(: , :) A(j , k) A(: , j , k) A(:) c) V du: khi khai bao D = 1 : 10 ta c ket qua: D = 1 2 3 4 5 6 7 8 9 10 con khi khai bao D = 0 : 2 :10 th ta c ket qua: D = 0 2 4 6 8 10 Tao ra chuoi j, j+i, j+2I,.,k-i, k Ch cot th j cua ma tran A Ch hang th i cua ma tran Ch toan bo ma tran A Ch phan t A(j), A(j+1)A(k) Ch cac phan t A(:, j), A(:, j+1)A(:, k) Ch tat ca cac thanh phan cua ma tran A

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III. CAC HAM LOGIC (LOGICAL FUNCTION)

1. Lenh ALL a) Cong dung: Kiem tra vector hay ma tran co gia tr 0 hay khong.

MATLAB trong ieu khien t ong b) Cu phap: y = all(x) c) Giai thch: y: bien cha ket qua x: ten vedtor hay ma tran y = 1 khi tat ca cac phan t khac 0 y = 0 khi co 1 phan t bang 0 d) V du: a=[1 2 3] a= 1 y= 1 a=[1 0 3] a= 1 y= 0 a=[1 2 3;4 0 6;7 8 9] a= 1 4 7 y= 1 a= 1 2 0 0 1 a=[1 2 0;0 3 5;2 6 8] 2 0 8 3 6 9 0 3 y=all(a) 2 3 y=all(a)

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y=all(a)

MATLAB trong ieu khien t ong 0 2 y= 0 1 0 2. Lenh ANY a) Cong dung: Kiem tra vector hay ma tran co gia tr khac 0 hay khong. b) Cu phap: y = any(x) c) Giai thch: y: bien cha ket qua. x: ten vector, hay ma tran. y = 1 khi co 1 phan t khac 0. y = 0 khi co 1 phan t bang 0. d) V du: a=[1 2 3]; y=any(a) y= 1 b=[1 0 3 0]; y=any(b) y= 1 c=[1 2 0 4;0 2 0 4;1 2 3 4;3 4 5 6] c= 1 0 1 3 2 2 2 4 0 0 3 5 4 4 4 6 3 6 5 8

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y=all(a)

y=any(c)

MATLAB trong ieu khien t ong y= 1 d= 0 0 y= 0 1 1 0 3. Lenh EXIST a) Cong dung: Kiem tra bien hay file co ton tai hay khong. b) Cu phap: e = exist(item) c) Giai thch: item: la ten file hay ten bien. e: bien cha gia tr tra ve. e 0 1 2 3 4 5 d) V du: e = exist(dir) e=5 4. Lenh FIND a) Cong dung: Tm phan t trong vector hay ma tran theo yeu cau. Y ngha item khong ton tai trong vung lam viec item la bien ang ton tai trong vung lam viec item ang ton tai tren a (ch kiem tra trong th muc hien hanh) item la MEX-file item la file c dch t phan mem Simulink item la ham cua Matlab 0 1 0 3 0 0 1 1 1 d=[0 0 0 0;0 1 3 0]

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y=any(d)

MATLAB trong ieu khien t ong b) Cu phap: k = find(x) [i,j] = find(x) [i,j,s] = find(x) c) Giai thch: k: ch v tr cua phan t can tm trong vector. i,j: ch so hang va so cot tng ng cua phan t can tm. s: cha gia tr cua phan t can tm.

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x: ten vector, ma tran hay la yeu cau e ra. Neu khong neu ra yeu cau th mac nhien la tm cac phan t khac 0. d) V du: x=[1 8 0 2 3 0] x= 1 k= 1 k= 3 a= 5 8 i= 1 2 2 j= 1 1 0 0 0 3 6 a=[5 0 0;8 0 3] 2 4 5 k=[3 6] 8 0 2 3 0 k=find(x)

[i,j,k]=find(a)

MATLAB trong ieu khien t ong 3 k= 5 8 3

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IV. NHOM LENH LAP TRNH TRONG MATLAB

1. Lenh EVAL a) Cong dung: Chuyen oi chuoi ky t thanh bieu thc. b) Cu phap:

MATLAB trong ieu khien t ong kq = eval(string) c) Giai thch: kq: bien cha ket qua. Neu string la cac ky so th chuyen thanh nhng con so. Neu string la cau lenh th chuyen thanh cac lenh thi hanh c. d) V du: a='199999999'; eval(a)+1 ans = 200000000 2. Lenh FOR a) Cong dung:

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Dung e thc hien 1 cong viec can lap i lap lai theo mot quy luat, vi so bc lap xac nh trc. b) Cu phap: for bien ieu khien = gia tr au : gia tr cuoi, thc hien cong viec; end c) Giai thch: Cong viec chnh la cac lenh can thi hanh, co the co nhieu lenh, ket thuc lenh phai co dau; d) V du: In ra man hnh 5 dong PHAM QUOC TRUONG chao cac ban. for i = 1:5, disp(PHAM QUOC TRUONG chao cac ban); end PHAM QUOC TRUONG chao cac ban PHAM QUOC TRUONG chao cac ban PHAM QUOC TRUONG chao cac ban PHAM QUOC TRUONG chao cac ban PHAM QUOC TRUONG chao cac ban 3. Lenh FUNCTION a) Cong dung:

MATLAB trong ieu khien t ong Tao them ham mi. b) Cu phap: function s = n(x) c) Giai thch: s: ten bien cha gia tr tra ve sau khi thi hanh ham. n: ten gi nh. d) V du: ( phan lap trong M.file) 4. Lenh INPUT a) Cong dung: Dung e nhap vao 1 gia tr. b) Cu phap: ten bien = input (promt) ten bien = input (promt, s) c) Giai thch: ten bien, la ni lu gia tr ngap vao. promt: chuoi ky t muon nhap vao. s: cho biet gia tr nhap vao la nhieu ky t. d) V du1: x = input(nhap gia tr cua bien x: ) nhap gia tr cua bien x: 5 x=5 e) V du2: tra_li = input(ban co muon tiep tuc khong ? ,s) ban co muon tiep tuc khong ? khong tra_li = khong 5. Lenh IF ELSEIF ELSE a) Cong dung: Thc hien lenh khi thoa ieu kien. b) Cu phap: if bieu thc luan ly 1 thc hien cong viec 1;

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MATLAB trong ieu khien t ong elseif bieu thc luan ly 2 thc hien cong viec 2; else thc hien cong viec 3; end c) Giai thch:

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Khi bieu thc luan ky 1 ung th thc hien cong viec 1 tng t cho bieu thc luan ly 2. Neu ca hai bieu thc sai th thc hien cong viec sau lenh else. Bieu thc luan ly la cac phep so sanh ==, <, >, <=, >= cong viec chnh la cac lenh can thi hanh, co the co nhieu lenh, ket thuc lenh phai co dau ; d) V du: Viet chng trnh nhap vao 2 so va so sanh hai so o. a = input(Nhap a: ); b = input(Nhap b: ); if a > b disp(a ln hn b); elseif a ==b disp(a bang b); else disp(a nho hn b); end nhap a: 4 nhap b: 5 a nho hn b 6. Lenh MENU a) Cong dung: Tao menu e chon chc nang. b) Cu phap: ten bien = menu (Ten menu,chc nang1,chc nang2, . , chc nang n) c) Giai thch: ten menu: la tieu e cua menu. ten bien: la ni cat gia tr nhan c sau khi chon chc nang cua menu.

MATLAB trong ieu khien t ong

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Chc nang 1, 2, .,n:khi chon chc nang nao th ten bien co gia tr la so th t cua chc nang o. d) V du: k = menu(Choose a color, Red, Blue, Green) ---- Choose a color ---1) Red 2) Blue 3) Green 7. Lenh PAUSE a) Cong dung: Dng chng trnh theo y muon. b) Cu phap: pause on pause off pause (n) c) Giai thch: pause on: dng chng trnh, va ch nhan 1 phm bat ky (tr cac phm ieu khien) chng trnh thc hien tiep. pause off: tat chc nang pause. pause (n): dng chng trnh tai n giay. d) V du: for n = 1 : 3; disp(Press any key to continue) pause end Press any key to continue Press any key to continue Press any key to continue 8. Lenh WHILE a) Cong dung: Dung e thc hien 1 cong viec can lap i lap lai theo mot quy luat, vi so bc lap khong xac nh, phu thuoc vao bieu thc luan ly.

MATLAB trong ieu khien t ong b) Cu phap: while bieu thc luan ly thc hien cong viec; end c) Giai thch: Bieu thc luan ly la cac phep so sanh = =, <, >, <=, >=

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Cong viec chnh la cac lenh can thi hanh, co the co nhieu lenh, ket thuc lenh phai co dau ; Khi thc hien xong cong viec th quay len kiem tra lai bieu thc luan ly, neu van con ung th tiep tuc thc hien, neu sai th ket thuc. d) V du: tnh tong A = 1+1/2+1/3++1/n n = input(nhap vao so n ); a = 0; i = 1 while i <= n a = a + 1/i i = i + 1; end disp(ket qua); disp(a); nhap vao so n 3 ket qua 1.8333 B1(BT4a): Viet chng trnh nhap vao mot so n(n>=0) vi cac trng hp sau: a) Neu n<0 th in thong bao ban nhap sai b) Neu n>0 va le th tnh tong s1=1+3+5+...+n,n la so le. c) Neu n>0 va chan th s2=2+4+6+...+n,n chan. d) Neu n=0 dng chng trnh lai.
% BT4a: Viet chuong trinh nhap vao mot so n(n>=0) % voi cac truong hop sau: % a) Neu n<0 thi in thong bao ban nhap sai % b) Neu n>0 va le thi tinh tong s1=1+3+5+...+n,n la so le. % c) Neu n>0 va chan thi s2=2+4+6+...+n,n chan. % d) Neu n=0 dung chuong trinh lai. n=input('nhap n= '); %nhap so n du=rem(n,2); %kiem tra n la le hay chan %neu n le du=1, n chan du=0 if n<0

MATLAB trong ieu khien t ong

fprintf('Ban nhap sai') %xuat ra thong bao end if (n>0) & (du==1) %neu n>0 va le i=1; %gan i=1; s1=1; %gan tong s1=1 while i<n %thuc hien vong lap i=i+2; %tang i len 2 sau moi lan lap s1=s1+i; %tinh tong s1 voi gia tri i moi end s1 %in ra ket qua sau khi ket thuc vong lap end if (n>0) & (du==0) i=0; s2=0; while i<n i=i+2; s2=s2+i; end s2 end if n==0 %neu n=0 break %lenh ket thuc end

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Khi chay chng trnh:

nhap n= 5 s1 = 9 BT4a nhap n= 4 s2 = 6 BT4a nhap n= -6 Ban nhap sai BT4a nhap n= 0

V. TAP LENH X LY CHUOI

1. Lenh ABS a) Cong dung: Tao vector n co gia tr cua moi phan t la so th t tng ng vi ky t trong bang ma ASCII. Lay tr tuyet oi cua mot so am. b) Cu phap: n = ABS(s)

MATLAB trong ieu khien t ong x = ABS(a) c) Giai thch: n: ten vector. s: chuoi ky t, hoac la ten bien cha chuoi ky t. a: so am, hoac la ten bien cha so am. x: tr tuyet oi cua a. d) V du: n=abs('PHAM QUOC TRUONG') n= Columns 1 through 12 80 85 m= 77 U= 97 T= 1 2. Lenh BLANKS a) Cong dung: Tao khoang trang gia hai hay nhieu chuoi ky t theo mong muon. b) Cu phap: [S1 BLANKS(b1) S2 BLANKS(b2) BLANKS(bn) Sn] c) Giai thch: S1, S2, Sn: cac chuoi ky t. b1, b2: so khoang trang. d) V du: 98 99 T=abs(-1) 65 84 76 65 66 U=abs('abc') 72 79 65 78 77 71 32 81 85 79 67 32 84 82 Columns 13 through 16 m=abs('MATLAB')

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MATLAB trong ieu khien t ong

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In 4 chuoi Khao sat,ng dung, MATLAB, trong ieu khien t ong ra man hnh vi khoang cach lan lt gia 4 chuoi la: 2,4,3 S=['Khao sat'blanks(2) 'ung dung'blanks(4) 'MATLAB'blanks(3) 'trong dieu khien tu dong'] S= Khao sat ung dung 3. Lenh DEC2HEX a) Cong dung: oi con so cua he 10 sang he 16. b) Cu phap: s = dec2hex(n) c) Giai thch: s: bien cha chuoi ky so cua he 16 n: con so nguyen he 10. d) V du: s = dec2hex(10) s = A 4. Lenh HEX2DEC a) Cong dung: oi chuoi ky so cua he 16 sang con so cua he 10. b) Cu phap: n = hex2dec(s) c) Giai thch: n: con so cua he 10. s: chuoi ky so he 16. d) V du: n = hex2dec(A) n = 10 5. Lenh INT2STR a) Cong dung: Chuyen so nguyen sang dang chuoi. Chuyen cac ky t trong mot chuoi sang so th t tng ng trong bang ma ASCII. b) Cu phap: MATLAB trong dieu khien tu dong

MATLAB trong ieu khien t ong kq = INT c) Giai thch: kq: bien STR(n)cha ket qua. n: ten bien can chuyen. Neu n la so nguyen th kq la chuoi ky so. Neu n la chuoi ky t th kq la so tng ng trong bang ma ASCII d) V du: n='MATLAB' n= MATLAB t=int2str(n) t= 77 65 84 76 65 66 n=2001 n= 2001 t=int2str(n) t= 2001 6. Lenh ISSTR a) Cong dung: Kiem tra noi dung bien co phai la chuoi ky t khong. b) Cu phap: kq = isstr(n) c) Giai thch: kq: bien cha ket qua. n: ten bien can kiem tra. kq = 1 neu n la chuoi ky t. 0 neu n khong la chuoi ky t. d) V du: n='MATLAB';

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MATLAB trong ieu khien t ong kq=isstr(n) kq = 1 m=[1 2 3 4]; kq=isstr(m) kq = 0 7. Lenh LOWER a) Cong dung: Cho ra chuoi ky t viet thng. b) Cu phap: b = lower(s) c) Giai thch: b: bien cha ket qua. s: ten bien cha chuoi ky t hay chuoi ky t. d) V du: a='DO AN cua pHAm quOC TRuOnG'; b=lower(a) b= do an cua pham quoc truong 8. Lenh NUM2STR a) Cong dung: Chuyen so thc sang dang chuoi.

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Chuyen cac ky t trong mot chuoi sang so th t tng ng trong bang ma ASCII. b) Cu phap: kq = num2tr(n) c) Giai thch: kq: bien cha ket qua. n: ten bien can chuyen. Neu n la so thc th kq la so tng ng trong bang ma ASCII. d) V du:

MATLAB trong ieu khien t ong n=3.1416; kq=num2str(n) kq = 3.1416 9. Lenh SETSTR a) Cong dung: Cho ra ky t tng ng vi so th t trong bang ma ASCII. b) Cu phap: x = Set Str(n) c) Giai thch: x: bien cha ky t tng ng (thuoc bang ma ASCII). n: so nguyen (0 n 255). d) V du: Tm ky t co so th t la 65 trong bang ma ASCII. kt=setstr(65) kt = A 10. Lenh STR2MAT a) Cong dung: Tao ma tran co cac phan t dang chuoi. b) Cu phap: s = str2mat(s1, s2, ) c) Giai thch: s: ten ma tran ket qua. s1, s2: chuoi ky t. d) V du: s = str2mat(mat, lab) s= mat lab 11. Lenh STR2NUM

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MATLAB trong ieu khien t ong a) Cong dung: Chuyen chuoi (dang so) sang so thc. b) Cu phap: n = str2num(s) c) Giai thch: s: chuoi dang so. n: so thc. d) V du: n = str2num(456456) n = 456456 12. Lenh STRCMP a) Cong dung: So sanh 2 chuoi ky t. b) Cu phap: l = strcmp(s1, s2) c) Giai thch: l: bien cha ket qua. s1, s2: chuoi can so sanh. d) V du: a = MatLab WoRkS b = MatLab WoRkS strcmp(a,b) ans = 1 13. Lenh UPPER a) Cong dung: Cho ra chuoi viet hoa. b) Cu phap: b = upper c) Giai thch: b: bien cha ket qua. s: ten bien cha chuoi ky t.

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MATLAB trong ieu khien t ong d) V du: a = MaTlab WORks b = upper(a) b = MATLAB b = upper(MaTlab WORks) b= MATLAB WORKS

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MATLAB trong ieu khien t ong

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MATLAB trong ieu khien t ong

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VI. CAC HAM GIAO TIEP

1. Lenh FCLOSE a) Cong dung: ong file ang m sau khi truy xuat xong. b) Cu phap: fclose(fid) c) Giai thch: fid: ten bien tro en file ang m. 2. Lenh FOPEN a) Cong dung: M file hoac truy xuat d lieu cua file ang m. b) Cu phap: fid = fopen(fn) fid = fopen(fn, p) c) Giai thch: fid: ten bien tro en file ang m. fn: ten file (co the at ng dan). Tham so p co cac nh dang sau: r: ch oc. r+: oc va ghi. w: xoa tat ca noi dung cua file hoac tao 1 file mi va m file o e ghi. w+: xoa tat ca noi dung cua file hoac tao 1 file mi va m file o e ghi va oc. 3. Lenh FPRINTF a) Cong dung: Ghi oan d lieu thanh file. b) Cu phap: fprintf(fid, f) c) Giai thch: fid: ten bien tro en file can ghi. f: cac tham so e nh dang. d) V du:

MATLAB trong ieu khien t ong Tao file exp.txt co noi dung: x = 0:2:10; y = [x, x/2]; fid = fopen(exp.txt, w); fprintf(fid, %d, [2, inf]); Gan file exp.txt va bien a e xem noi dung: fid = fopen(exp.txt) a = fscanf(fid, %d, [2,inf]); disp(a); fclose(fid); Ket qua 0 0 4. Lenh FREAD a) Cong dung: oc d lieu dang nh phan t file. b) Cu phap: [a, c] =fscanf(fid) [a, c] = fscanf(fid,s) c) Giai thch: a: ten bien cha d liec c oc vao. c: so phan t c oc vao. fid: ten bien tro en file can oc. s: kch thc d lieu oc vao. s c nh dang bi cac thong so: n: ch oc n phan t vao cot vector a. inf: oc en het file. [m,n]: ch oc vao m cot va n hang, n co the bang inf con m th khong. d) V du1: file vd.txt co noi dung: ABC 2 1 4 2 6 3 8 4 10 5

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MATLAB trong ieu khien t ong 1 2 3 fid = fopen(vd.txt); [a,c] = fread(fid); disp(a); disp(c); a= 65 32 66 32 67 13 10 49 32 50 32 51 c= 12 e) V du2 fid = fopen(vd1.txt); [a,c] = fread(fid, 4); disp(a); disp(c); a= 65 32 66 32 c=

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MATLAB trong ieu khien t ong 4 f) V du 3: file vd3.txt co noi dung ABCDE FGHIJ KLMNO fid = fopen(vd3.txt); [a,c] = fread(fid, [7, inf]); disp(a); disp(c); a= 65 70 75 66 71 76 67 72 76 68 73 78 69 74 79 13 13 13 10 10 10 c= 21 a= 65 66 67 68 69 13 10 70 71 72 73 74 13 10 75 76 77 78 79 13 10 5. Lenh FWRITE a) Cong dung: Ghi oan d lieu dang nh phan thanh file. b) Cu phap: fwrite (fid,a) c) Giai thch: fid: ten bien tro en file can ghi.

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MATLAB trong ieu khien t ong a: ten bien cha d lieu. d) V du: Ghi oan d lieu cua bien a thanh file a.txt a = [65 66 67] fid = fopen(a.txt, w); fwrite(fid, %); fwite(fid,a); Gan file a.txt vao bien b e xem noi dung fid = fopen(a.txt); b = fscanf(fid, %); disp(b); fclose(fid); Ket qua b = ABC 6. Lenh SPRINTF a) Cong dung: Hien th thong tin len man hnh. b) Cu phap: s = sprintf(ts,ds) c) Giai thch: s: bien cha chuoi so hien th tren man hnh. ts: cac tham so nh dang. ds: danh sach cac oi so. Tham so nh dang thuoc 1 trong 2 kieu sau:

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(1) Chuoi ky t: chuoi nay se c hien th len man hnh giong het nh c viet trong cau lenh. (2) Chuoi cac tham so nh dang: cac chuoi nay se khong c hien th len man hnh, nhng tac dung ieu khien viec chuyen oi va cach hien th cac oi so c a ra trong danh sach cac oi so. V du cac tham so nh dang: 1) %d: oi so la so nguyen c viet di dang thap phan. s = sprintf(ay la so: %d,-24)

MATLAB trong ieu khien t ong s = ay la so: -2 2) %u: oi so la so nguyen c viet di dang thap phan khong dau. s = sprintf(ay la so: %u,24) s = ay la so: 24 3) %o: oi so la so nguyen c viet di dang c so 8 khong dau. s = sprintf(ay la so: %o,9) s = ay la so: 11 4) %x: oi so la so nguyen c viet di dang c so 16. s = sprintf(ay la so: %x,255) s = ay la so:ff 5) %f: oi so la so nguyen c viet di dang cp so 10. s = sprintf(ay la so: %f,2550 s = ay la so: 255.000000

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e nh dang phan thap phan th them vao con so cha so thap phan can lay. s = sprintf(ay la so: %.3f, 2.5568) s = ay la so: 2.557 6) %c: oi so la 1 ky t rieng ac biet. s = sprintf(ay la ch: %c,M) s = ay la ch: M 7)%s: oi so la chuoi ky t. s = sprintf(ay la chuoi: %s, Matlab) s = ay la chuoi: Matlab 8. Lenh SSCANF a) Cong dung: oc chuoi ky t va nh dang lai chuoi ky t o. b) Cu phap: [a,count] = sscanf(s, format, size) c) Giai thch: a: ten bien cha chuoi ky t sau khi c nh dang. count: em so phan t c oc vao. size: kch thc se c oc vao.

MATLAB trong ieu khien t ong format: phan nh dang giong nh lenh sprintf. d) V du: s = 3.12 1.2 0.23 2.56; [a, count] = sscanf(s, %f,3) a= 3.1200 1.2000 0.2300 count = 3

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VII. CAC HAM TOAN HOC C BAN

1. Mot so ham lng giac:

MATLAB trong ieu khien t ong a) Cu phap: kq = hlg(x) b) Giai thch: kq: ten bien cha ket qua. x: n v radian. hlg: ten ham lng giac. Ten ham lng giac Sin Cos Tan Asin Atan Sinh Cosh Tanh 2. Lenh ANGLE a) Cong dung: Tnh goc pha cua so phc. b) Cu phap: p = angle(z) c) Giai thch: p: ten bien cha ket qua, n v radians z: so phc d) V du: z = i-3j z = 0 2.0000i p = angle(z) p = -1.5708 3. Lenh CEIL a) Cong dung: Lam tron so ve pha so nguyen ln hn. Giai thch Tnh gia tr sine Tnh gia tr cosine Tnh gia tr tangent Nghch ao cua sine Nghch ao cua tangent Tnh gia tr hyperbolic sine Tnh gia tr hyperbolic cosine Tnh ga tr hyperbolic tangent

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MATLAB trong ieu khien t ong b) Cu phap: y = ceil(x) c) Giai thch: y: so sau khi c lam tron. x: so can c lam tron. d) V du: x = -1.9000 -0.2000 3.4000 5.6000 7.0000 y = ceil(x) y = -1 4. Lenh CONJ a) Cong dung: Tnh lng lien hiep cua so phc. b) Cu phap: y = conj(z) c) Giai thch: y: ten bien cha lng lien hiep z: so phc d) V du: z = -3i + 2j z = 0 1.0000i y = conj(z) y = 0 + 1.0000i 5. Lenh EXP a) Cong dung: Tnh gia tr ex. b) Cu phap: y = exp(x) c) V du: y = exp(x) y = 20.0855 6. Lenh FIX 0 4 6 7

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MATLAB trong ieu khien t ong a) Cong dung: Lam tron so ve pha zero. b) Cu phap: y = fix(x) c) Giai thch: y: so sau khi c lam tron. x: so can c lam tron. d) V du: x = -1.9000 -0.2000 3.4000 5.6000 7.0000 y = fix(x) y = -1 7. Lenh FLOOR a) Cong dung: Lam tron so ve pha so nguyen nho hn. b) Cu phap: y = floor(x) c) Giai thch: y: so sau khi c lam tron . x: so can c lam tron d) V du: x = -1.9000 -0.2000 3.4000 5.6000 7.0000 y = floor(x) y = -2 8. Lenh IMAG a) Cong dung: Lay phan ao cua so phc. b) Cu phap: y = imag(z) c) V du: y = imag(2 + 3j) y=3 -1 3 5 7 0 3 5 7

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MATLAB trong ieu khien t ong 9. Lenh LOG a) Cong dung: Tm logarithm c so e. b) Cu phap: y = log(x) d) V du: y = log(2.718) y = 0.9999 10. Lenh LOG2 a) Cong dung: Tm logarithm c so 2. b) Cu phap: y = log2(x) d) V du: y = log2(2) y=1 11. Lenh LOG10 a) Cong dung: Tm logarithm c so 10. b) Cu phap: y = log10(x) d) V du: y = log10(10) y=1 12. Lenh REAL a) Cong dung: Lay phan thc cua so phc. b) Cu phap: y = real(z) d) V du: y = real(1 + 3j)

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MATLAB trong ieu khien t ong y=2 13. Lenh REM a) Cong dung: Cho phan d cua phep chia. b) Cu phap: r = rem(a,b) c) Giai thch: r: bien cha ket qua a, b: so chia va so b chia d) V du: r = rem(16, 3) r=1 14. Lenh ROUND a) Cong dung: Lam tron so sao cho gan so nguyen nhat. b) Cu phap: y = round(x) c) V du: x = -1.9000 -0.2000 3.4000 5.6000 7.0000 y = round(x) y= -2 0 X ceil(x) floor(x) fix(x) round(x) 15. Lenh SIGN a) Cong dung: Xet dau so thc. b) Cu phap: 3 6 7 -0.2000 0 -1 0 0 3.4000 4 3 3 3 5.6000 6 5 5 6 Bang so sanh cua cac phep lam tron so -1.9000 -1 -2 -1 -2

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7.0000 7 7 7 7

MATLAB trong ieu khien t ong y = sign(x) c) Giai thch: x: so thc can xet dau. y: ket qua tra ve. y 0 1 -1 d) V du: x= 2 0 -3 0.5 0 -1 1 y = sugn(x) y= 1 16. Lenh SQRT a) Cong dung: Tnh can bac hai. b) Cu phap: y = sqrt(x) c) V du: x=4 y = sqrt(x) y=2 x so 0 so dng so am

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VIII. TAP LENH THAO TAC TREN MA TRAN

1. Cong, tr, nhan, chia tng phan t cua ma tran vi hang so a) Cu phap: Ma tran ket qua = ma tran [+] [-] [.] [/] hang so. b) V du: a=

MATLAB trong ieu khien t ong 1 4 7 2 5 8 3 6 9

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Cong ma tran a vi 2 ket qua la ma tran b b=a+2 b= 3 6 9 4 7 5 8

10 11

tng t cho cac phep tnh tr, nhan va chia. 2. Lenh DET a) Cong dung: Dung e tnh nh thc cua ma tran. b) V du: Tnh nh thc cua ma tran a a= 1 5 det(a) ans = -8 3. Lenh DIAG a) Cong dung: Tao ma tran mi va x ly ng cheo theo quy c. b) Cu phap: v = diag(x) v = diag(x,k) c) Giai thch: x: la vector co n phan t. v: la ma tran c tao ra t x theo quy tac: so hang bang so cot va cac phan t cua x nam tren ng cheo cua v. k: tham so nh dang cho v, so hang va cot cua v = n + abs(k). Neu k = 0 ng cheo cua v chnh la cac phan t cua x 4 6

MATLAB trong ieu khien t ong Neu k > 0 cac phan t cua x nam pha tren ng cheo v Neu k < 0 cac phan t cua x nam pha di ng cheo v d) V du: x= 2 v= 2 0 0 0 v = diag(x,2) v= 0 0 0 0 0 0 0 v = diag(x,0) v= 2 0 0 0 0 v= 0 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 9 0 0 0 0 0 5 0 0 0 0 0 4 0 0 0 0 0 0 0 2 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 9 0 0 0 0 0 0 0 5 0 0 0 0 0 0 0 4 0 0 0 1 0 0 0 0 9 0 0 0 0 0 0 0 0 4 1 9 5 4 v = diag(x)

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v = diag(x,-2)

MATLAB trong ieu khien t ong 0 0 0 0 4. Lenh EYE a) Cong dung: Tao ma tran n v. b) Cu phap: y = eye(n) y = eye(n,m) c) Giai thch: n: tao ma tran co n hang, n cot. m, n: tao ma tran co m hang, n cot. d) V du: y = eye(3) y= 1 0 0 y = eye(3,5) y= 1 0 0 a) Cong dung: Chuyen cac phan t cua cac ma tran theo th t cot ngc lai. b) Cu phap: b = fliplr(a) c) Giai thch: b: ten ma tran c chuyen oi. 0 1 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 1 1 0 0 0 0 9 0 0 0 0 5 0 0 0 0 4 0 0 0 0 0 0 0 0

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5. Lenh FLIPLR

MATLAB trong ieu khien t ong a: ten ma tran can chuyen oi. d) V du: a= 0 5 4 9 1 6 3 8 2 7 2 7 3 8 1 6 4 9 0 5

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b = fliplr(a)

6. Lenh FLIPUD a) Cong dung: Chuyen cac phan t cua ma tran theo th t hang ngc lai. b) Cu phap: b = flipud(a) c) Giai thch: b: ten ma tran c chuyen oi. a: ten ma tran can chuyen oi. d) V du: a= 1 2 3 b= 3 2 1 7. Lenh INV a) Cong dung: Tm ma tran nghch ao. b) Cu phap: Ma tran nghch ao = inv (ma tran) 6 5 4 4 5 6

b = flipud(a)

MATLAB trong ieu khien t ong c) V du: Tm ma tran nghch ao cua a. a= 1 2 4 b= 5 2 -2 1 1 -2 -1 0 -2 8. Lenh tao ma tran a) Cong dung: Dung e tao 1 ma tran gom co n hang va m cot. b) Cu phap: Ten ma tran = [a11 a12a1m ; a21 a22 a2m ;;] c) Giai thch: 2 5 10 0 -1 -1

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b = inv(a)

a11, a12, a1m la cac gia tr tai hang 1 cot 1 en cac gia tr tai hang 1 cot m, co n dau (;) la co n hang. d) V du: Tao ma tran gom 3 hang va 3 cot vi gia tr la 1 4 1 2 5 0 3 6 0 2 5 0 3 6 0

a = [1 2 3; 4 5 6; 1 0 0] a= 1 4 1 a) Cong dung: Lenh nay dung e tao 1 vector n gom co n phan t. b) Cu phap 1:

9. Lenh tao vector n

MATLAB trong ieu khien t ong Ten vector = [pt1 pt2 pt3 ptn] c) Giai thch: pt1 pt2 ptn: la cac so thc. d) V du: Tao vector a gom co 4 phan t, vi cac gia tr la:1, 3, 7, 4 a = [1 a= 1 e) Cu phap 2: Ten vector = gt:csc:gtkt f) Giai thch: gt: la gia tr bat au cua vector. csc: cap so cong. gtkt: gia tr ket thuc. g) V du: Tao vector a co gia tr bat au 0.2, gia tr ket thuc pi/2 (= 1.5708), cap so cong 0,3. a = 0.2;0.3;pi/2 a= 0.2000 0.5000 0.8000 1.1000 1.4000 10. Lenh LINSPACE a) Cong dung: Tao vector co gia tr ngau nhien gii han trong khoang nh trc. b) Cu phap: y = linspace(x1, x2) y = linspace(x1, x2, n) c) Giai thch: y: ten cua vector. x1, x2: gii han gia tr ln nhat va nho nhat cua vector y. n: so phan t cua vector y. Neu khong co gia tr n th mac nh n = 100. 3 7 4 3 7 4]

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MATLAB trong ieu khien t ong d) V du: y = linspace(1, 10, 7) y = 1.0000 2.5000 4.0000 5.5000 7.0000 8.5000 10.0000 11. Ma tran chuyen v a) Cong dung: Ma tran chuyen v = ma tran ang co. b) Cu phap: Tao 1 ma tran chuyen v t 1 ma tran ang co. c) V du: a= 1 4 7 b = a b= 4 5 6 7 8 9 2 5 8 3 6 9

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ma tran chuyen v b

12. Lenh MAGIC a) Cong dung: Tao 1 ma tran vuong co tong cua cac phan t trong 1 hang, 1 cot hoac tren ng cheo bang nhau. b) Cu phap: Ten ma tran = magic(n) c) Giai thch: n: kch thc ma tran. Gia tr cua moi phan t trong ma tran la mot day so nguyen lien tuc t 1 en 2n. Tong cac hang, cot va cac ng cheo eu bang nhau. d) V du: tmt = magic(3) tmt =

MATLAB trong ieu khien t ong 8 3 4 a) Cong dung: Ma tran ket qua = ma tran 1* ma tran 2. b) V du: Ta co 2 ma tran a va b nh tren va c la ma tran ket qua c = a*b c= 14 32 50 32 77 122 50 122 194 14. Lenh ONES a) Cong dung: Tao ma tran ma gia tr cua cac phan t la 1. b) Cu phap: y = ones(n) y = ones(m,n) c) Giai thch: y = ten ma tran. n: tao ma tran co n hang m, n: tao ma tran co m hang, n cot. d) V du: y = ones(3) y= 1 1 1 y= 1 1 1 1 1 1 1 5 9 6 7 2

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13. Nhan ma tran

y = ones(3,5)

MATLAB trong ieu khien t ong 1 1 1 a) Cong dung: Tao ma tran theo quy luan tam giac Pascal. b) Cu phap: pascal (n) c) Giai thch: n: la so hang (cot) d) V du: pascal(4) ans = 1 1 1 1 16. Lenh RAND a) Cong dung: Tao ma tran ma ket ma gia tr cua cac phan t la ngau nhien. b) Cu phap: y = rand(n) y = rand(m,n) c) Giai thch: y: ten ma tran. n: tao ma tran co n hang, n cot. m, n: tao ma tran co m hang, n cot. Gia tr cua cac phan t nam trong khoang [0 1] d) V du: y = rand(3) y= 0.9340 0.0920 0.7012 1 2 3 4 1 3 6 10 1 4 10 20 1 1 1 1 1 1 1 1 1 1 1 1

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15. Lenh PASCAL

MATLAB trong ieu khien t ong 0.8462 0.6539 0.7622 0.5269 0.4160 0.7622 y = rand(3,5) y= 0.2625 0.3282 0.9910 0.9826 0.6515 0.0475 0.6326 0.3653 0.7227 0.0727 0.7361 0.7564 0.2470 0.7534 0.6316 17. Lenh RESHAPE a) Cong dung: nh dang lai kch thc ma tran. b) Cu phap: b = reshape(a,m,n) c) Giai thch: b: ma tran c nh dang lai. a: ma tran can c nh dang. m, n: so hang va so cot cua b. Ma tran a phai co so phan t la: m*n. d) V du: a= 1 2 3 b= 1 3 5 7 9 11 2 4 6 8 10 12 18. Lenh ROT90 a) Cong dung: Xoay ma tran 900. b) Cu phap: b = rot90(a) 4 5 6 7 8 9 10 11 12

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b = reshape(a,2,6)

MATLAB trong ieu khien t ong c) Giai thch: b: ma tran a c xoay 900 a: ma tran can xoay. d) V du: a= 1 4 7 b= 3 2 6 5 9 8 2 5 8 3 6 9

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b = rot90(a)

1 4 7 19. Lenh TRACE a) Cong dung: Tnh tong cac phan t cua ng cheo ma tran. b) Cu phap: d = trace(a) c) Giai thch: d: bien cha ket qua. a: ten ma tran. d) V du: a= 2 4 6 8 7 9 3 1 2

d = trace(a) d = 11 20. Lenh TRIL a) Cong dung: Lay phan na di ma tran theo hnh. b) Cu phap:

MATLAB trong ieu khien t ong I = tril(x) I = tril(x,k) c) Giai thch: I: ten ma tran ket qua. k: tham so. Neu k = o lay t ng cheo tr xuong. Neu k = n lay t ng cheo tr len n n v. Neu k = -n lay t ng cheo tr xuong n n v. d) V du: a= 5 9 13 6 10 14 7 11 15 8 12 16 i = tril(a) i= 1 2 3 4 i= 1 2 3 4 i= 1 2 3 5 6 7 0 10 0 0 0 6 7 8 0 0 11 0 0 0 0 6 7 8 0 0 11 12 0 0 15 16

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i = tril(a,0)

12 16

i = tril(a,1)

11 15

MATLAB trong ieu khien t ong 4 i= 0 2 3 4 0 0 7 8 0 0 0 12 0 0 0 0 8 12 16 i = tril(a,-1)

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21. Lenh TRIU a) Cong dung: Lay phan na tren ma tran theo hnh tam giac. b) Cu phap: I = triu(x) I = triu(x,k) c) Giai thch: I: ten ma tran ket qua. k: tham so Neu k = 0 lay t ng cheo tr len. Neu k = n lay t ng cheo tr xuong n n v. Neu k = -n lay t ng cheo tr len n n v. d) V du: a= 1 2 3 4 I= 1 0 0 0 5 6 0 0 9 10 11 0 13 14 15 16 5 6 7 8 9 10 11 12 13 14 15 16

I = triu(a)

MATLAB trong ieu khien t ong I = triu(a,0) I= 1 0 0 0 I= 1 2 0 0 I= 0 0 0 0 5 6 7 0 5 0 0 0 9 10 11 12 9 10 0 0 13 14 15 16 13 14 15 0 5 6 0 0 9 10 11 0 13 14 15 16

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I = triu(a,-1)

I = triu(a,1)

22. Lenh ZEROS a) Cong dung: Tao ma tran ma gia tr cua cac phan t b) Cu phap: y = zeros(n) y = zeros(m,n) c) Giai thch: y: ten ma tran. n: tao ma tran co n hang va n cot. m, n: tao ma tran co m hang, n cot. d) V du: y = zeros(3) y= 0 0 0

MATLAB trong ieu khien t ong 0 0 y= 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

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y = zeros(3,7)

MATLAB trong ieu khien t ong

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MATLAB trong ieu khien t ong

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IX. CAC PHEP TNH AI SO

1. Lenh CONV a) Cong dung: Nhan hai a thc. b) Cu phap: c = conv(a,b) c) Giai thch: a,b: a thc c: tch so cua a,b Cach khai bao: sap xep bien theo th t giam dan cua luy tha. d) V du: Nhan hai a thc (3x2+4x+5).(2x3-3x2+2) a = [0 3 4 5] a=0 3 4 5 b = [2 -3 0 2] b =2 -3 0 2 c = conv(a,b) c = 0 6 -1 -2 -9 8 10 2. Lenh CUMPROD a) Cong dung: Nhan don cac phan t. b) Cu phap: cp = cumprod (a) c) Giai thch: cp: bien cha ket qua a: ten cua ma tran hay vector. d) V du: b= 1 cp = 1 a= 9 9 3 4 cp =cumprod(b) 27 108

MATLAB trong ieu khien t ong 1 9 4 cp = 1 3 1 2 3 9 3. Lenh CUMSUM a) Cong dung: Cong don cac phan t. b) Cu phap: cs = cumprod(a) c) Giai thch: cs: bien cha ket qua. a: la ten cua ma tran hay vector. d) V du: b=1 cs =1 a= 1 9 4 cs = 1 3 5 7 8 10 4 14 6 4. Lenh DECONV a) Cong dung: Chia hai a thc. 3 1 2 5 2 1 10 1 2 5 cs = cumsum(b) 11 12 14 19 5 2 1 5 3 10 10

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cp = cumprod(a)

36 6

cs = cumsum(a)

MATLAB trong ieu khien t ong b) Cu phap: [q,r] =deconv(a,b) c) Giai thch: a,b: a thc. q: thng so cua a, b. r: so d. Cach khai bao: sap xep bien theo th t giam dan cua luy tha. d) V du: Chia 2 a thc (2x2+3x+6)/(2x+3) a = [2 3 6] b = [2 3] [q,r] = deconv (a,b) q=1 r= 0 5. Lenh EXPM a) Cong dung: Tnh ex b) Cu phap: kq = expm(x) c) Giai thch: kq: biencha ket qua. d) V du: kq = expm(3) kq = 20.0855 6. Lenh FMIN a) Cong dung: Tm gia tr nho nhat cua ham so. b) Cu phap: x = fmin(fuction,x1,x2) c) Giai thch: x: bien cha ket qua. 0 0 6

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MATLAB trong ieu khien t ong fuction: ten ham so. x1, x2: khoang khao sat. d) V du: Tm gia tr nho nhat cua ham so: x3-2x-5 trong khoang [0 x =fmin(x.^3-2*x-5,0,2); x = 0.8165 y = f(x) y = -6.0887 7. Lenh FPLOT a) Cong dung: Ve o th cua ham so. b) Cu phap: fplot(fun,[xmin,xmax] c) Giai thch: fun: ten ham so. xmin, xmax: xac nh khoang can ve. d) V du: fplot(x.^3-2*x-5,[0,2]); grid; 8. Lenh FZERO a) Cong dung: Tm iem 0 cua ham so. b) Cu phap: fzero(fun,x0) c) Giai thch: 2]

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iem 0 cua ham so la iem (0,x), ay cung chnh la nghiem cua ham so. Neu ham so co nhieu nghiem th se tm c nghiem gan gia tr x0. fun: ten ham so. c) V du: Tm gia tr 0 cua ham so: x2-5x+3. Trc tien ta khai bao ham so f trong tap tin f.m: (xem them lenh function) function y = f(x);

MATLAB trong ieu khien t ong y = x.^2-5*x+3; Sau o, tao tap tin gt0.m: x = 0:10; % Gia tr x0 = 0 z = fzero(f,0); sprinf(z = %3f,z) z = 0.382 % Gia tr x0 = 2 z = fzero(f,2); sprintf(z = %.3f,z) z = 2.618 % Ve o th ham so minh hoa: z = fzero(f,0); fplot(f,[0,5]; grid; hold on; plot(z,0,o); hold off 9. Lenh MAX a) Cong dung: Tm gia tr ln nhat. b) Cu phap: m = max(x) [m,i] = max(x) v = max(x,y) c) Giai thch: x,y,v:ten vector. m: gia tr ln nhat. i: v tr cua m. Neu x la ma tran tm ra gia tr ln nhat cua moi cot. d) V du:

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MATLAB trong ieu khien t ong x=3 5 2 1 4 m= max(x) m=5 [m,i] = max(x) m =5 i =2 y= 1 6 8 6 2 9 1 8 8 3 6 1 8 2 9 9 -5 8 3 1 4 v =max(x,y) v=3 b= 3 1 2 6 7 8

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m = max(b) m=3 m= 3 i=1 a= 0 7 4 v= 3 7 4 6 7 8 6 9 8 3 1 6 [m,i] = max(b)

v = max(a,b)

10. Lenh MEAN a) Cong dung: Tm gia tr trung bnh. b) Cu phap:

MATLAB trong ieu khien t ong Mo hnh = mean(a) c) Giai thch: m: bien cha ket qua. a: ten vector hay ma tran can tnh gia tr trung bnh. Neu a la ma tran th tnh gia tr trung bnh cua moi cot. d) V du: b=1 10 1 2 5 m = mean(b) m = 3.8000 a= 1 9 4 3 1 2 5 2 1 2.0000 2.6667

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m = mean(a) m = 4.6667 11. Lenh MIN a) Cong dung: Tm gia tr nho nhat b) Cu phap: m = min(x) [m,i] = min(x) v = min(x,y) c) Giai thch: x,y,v: ten vector. m: la gia tr ln nhat. i: la v tr cua m. Neu x la ma tran tm ra gia tr nho nhat trong moi cot. d) V du: x=3 5 2 1 4 m = min(x) m=1

MATLAB trong ieu khien t ong i =4 y =1 6 8 5 2 9 1 6 1 6 1 8 3 1 -5 2 3 -5 3 v = min(x,y) v=1 b= 3 1 2 6 7 8

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m = min(b) m=1 i=2 a= 0 7 4 v= 0 1 2 12. Lenh PROD a) Cong dung: Nhan cac phan t. b) Cu phap: p = prod(x) c) Giai thch: p: bien cha ket qua. x: ten ma tran hay day so. Neu la ma tran nhan tng phan t cua moi cot. d) V du: a=2 3 4 5 3 1 6 2 1 1 3 1 6

v = min(a,b)

MATLAB trong ieu khien t ong p = prod(a) p = 20 b= 2 5 7 2 6 5 3 4 4 60 48

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p =prot(b) p =70 a) Cong dung: Tm nghiem cua a thc. b) Cu phap: r = roots(p) c) Giai thch: r: bien cha ket qua. p: ten bieu thc. d) V du: Tm nghiem cua phng trnh: x2-1 =0 p = [1 disp(r) -1.0000 1.0000 14. Lenh SORT a) Cong dung: Sap xep mang hay ma tran theo th t tang dan. b) Cu phap: kq = sort(x) [kq,i] = sort(x) c) Giai thch: kq: bien cha ket qua. 0 -1] r = roots(p); 13. Lenh ROOTS

MATLAB trong ieu khien t ong i: so th t cua phan t trc khi sap xep. Neu x la ma tran th sap xep theo th t tang dan cua tng cot. d) V du: a=2 8 5 2 5 3 6 -3 5 6 4 6 8 2 9 8 9 6 9 kq = sort(a) kq = -3 kq = -3 2 i= 5 b= 3 2 1 4 -3 6 -4 5 2 1 [kq,i] = sort(a)

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kq =sort(b) kq = 1 2 3 kq = 1 2 3 i= 3 2 1 15. Lenh SUM a) Cong dung: Tnh tong cua cac phan t. b) Cu phap: 2 1 3 1 3 2 -3 -4 1 6 2 5 -3 -4 4 6 2 5

[kq,i] = sort(b)

MATLAB trong ieu khien t ong s = sum(x) c) Giai thch: s: la bien cha ket qua. x: la ten ma tran. Neu x la ma tran th s la tong cua cac cot. d) V du: a= 2 8 5 6 -3 9 s = sum(a) s = 27 b= 3 2 1 4 6 -4 2 7 3 -3 5

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s = sum(b) s=6

X. TAP LENH O HOA

1. Lenh AXES

MATLAB trong ieu khien t ong a) Cong dung: at cac truc toa o tai v tr nh trc. b) Cu phap: axes(propertyname, propertyvalue ) c) Giai thch: Tng ng vi mot propertyname i kem vi 1 propertyvalue. 1. position,[left, bottom, width, height]: nh v tr va kch thc cua truc. left: khoang cach t mep trai ca so en truc ng. bottom: khoang cach t mep di ca so en truc ngang. width: chieu dai cua truc ngang. height: chieu cao truc ng. Ghi chu: Luon lay iem [0,0] lam goc toa o.

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Truc ngang va truc ng co gia tr trong khoang [0 1] va chia theo ty le thch hp */ V du: axes(position,[.1 .1 .8 .6]) 2. xlim, [min,max]: nh gia tr nho nhat va ln nhat tren truc x. */ V du: axes(xlim, [2 */ V du: axes(ylim, [2 5]) nh gia tr tren ca hai truc axes(xlim, [min,max], ylim,[min,max]) 2. Lenh AXIS a) Cong dung: Chia lai truc toa o. b) Cu phap: axis([xmin xmax ymin ymax]) axis([xmin xmax ymin ymax zmin zmax]) axis on axis off 5]) 3. ylim, [min,max]: nh gia tr nho nhat va ln nhat tren truc y.

MATLAB trong ieu khien t ong c) Giai thch: xmin, ymin, zmin: la gia tr nho nhat cua cac truc x, y, z. xmax, ymax, zmax: la gia tr ln nhat cua cac truc x, y, z. on: cho hien th truc toa o. off: khong cho hien th truc toa o. 3. Lenh BAR a) Cong dung: Ve o th dang cot. b) Cu phap: bar(x,y) c) Giai thch: Ve gia tr x theo gia tr y. d) V du: x = -pi:0.2:pi; bar(x,sin(x)); grid on title(Do thi ham sin(x) dang thanh) xlabel(truc x (rad)) ylabel(y = sin(x))

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MATLAB trong ieu khien t ong

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4. Lenh CLA a) Cong dung: Xoa tat ca cac oi tng nh: ng o th, ten o thnhng khong xoa truc toa o. b) Cu phap: cla 5. Lenh CLF a) Cong dung: Xoa hnh anh (o th) hien tai. b) Cu phap: clf 6. Lenh CLOSE a) Cong dung: ong hnh anh (o th) hien tai. b) Cu phap: close 7. Lenh COLORMAP a) Cong dung: Tao mau sac cho o th trong khong gian 3 chieu. b) Cu phap:

MATLAB trong ieu khien t ong colormap(map) colormap(default) c) Giai thch:

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Colormap la s tron lan cua 3 mau c ban: red, green, blue. Tuy theo ty le cua 3 mau c ban ma cho ra cac mau sac khac nhau. default: mau co c la mau mac nh. map: bien cha cac thong so sau: Map Bone Cool Flag Gray Hot Pink 8. Lenh FIGURE a) Cong dung: Tao mi hnh anh (o th). b) Cu phap: figure 9. Lenh GCA a) Cong dung: Tao cac ac tnh cho truc. b) Cu phap: h = gca c) Giai thch: h: la bien gan cho lenh cga. Cac ac tnh cua truc gom co: Cu phap Set(gca,XScale,log, Giai thch nh n v tren truc toa o: truc x co gray + blue cyan + magenta red + white + blue + black Gray black + red + yellow + white Pink mau co c

MATLAB trong ieu khien t ong Yscale,linear) Set(gca,Xgrid,on,Ygrid', nomal) Set(gca,XDir',reverse, YDir,normal) Set(gca,XColor',red, Ycolor,yellow) n v la log va truc y co n v tuyen tnh. Tao li cho o th: truc x co tao li va truc y khong tao li. oi truc toa o: oi truc x ve pha oi dien, truc y gi nguyen. at mau cho li o th: at li truc x mau o, li truc y mau vang. Gom co cac mau: yellow, magenta, cyan, red, green, blue, white, black. 10. Lenh GRID a) Cong dung: Tao li toa o. b) Cu phap: grid on grid off c) Giai thch: on: hien th li toa o. off: khong hien th li toa o. 11. Lenh PLOT a) Cong dung: Ve o th tuyen tnh trong khong gian 2 chieu. b) Cu phap: plot(x,y) plot(x,y,linetype) c) Giai thch: x,y: ve gia tr x theo gia tr y. linetype: kieu phan t tao nen net ve bao gom 3 thanh phan: - Thanh phan th nhat la cac ky t ch mau sac: Ky t y Mau Vang

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MATLAB trong ieu khien t ong m c r g b w k Ky t : -. -d) V du: o ti L o Luc Lam Trang en Loai net ve ng lien net ng cham cham ng gach cham ng net t oan

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- Thanh phan th hai la cac ky t ch net ve cua o th:

- Thanh phan th ba la cac ky t ch loai iem anh dau gom:., o, x, +, * Ve o th ham y = sin(x) vi o th mau lam, ng lien net va anh dau cac iem c chon bang dau *, truc x thay oi t 0 ti 2, moi bc thay oi la /8 x = 0:pi/8:2*pi; y = sin(x); plot(x,y, b-* ) ylabel(y = sin(x)) xlabel(Truc x) title(Do thi ham y = sin(x)) grid on

MATLAB trong ieu khien t ong

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12. Lenh SUBPLOT a) Cong dung: Tao cac truc trong mot phan cua ca so o hoa. b) Cu phap: subplot(m,n,p) subplot(mnp) c) Giai thch: subplot(m,n,p) hoac subplot(mnp)thanh ca so o hoa thanh mn vung e ve nhieu o th tren cung mot ca so. m: so hang c chia. n: so cot c chia p: so th t vung chon e ve o th. Neu khai bao p > mn th se xuat hien mot thong bao loi. d) V du: Chia ca so o hoa thanh 23 vung va hien th truc cua ca 6 vung. subplot(231) subplot(232)

MATLAB trong ieu khien t ong subplot(233) subplot(234) subplot(235) subplot(236)

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13. Lenh SEMILOGX, SEMILOGY a) Cong dung: Ve o th theo logarith. b) Cu phap: semylogx(x,y) semylogx(x,y,linetype) semylogy(x,y) semylogy(x,y,linetype) c) Giai thch: semylogx va semylogy giong nh lenh plot nhng ch khac mot ieu la lenh nay ve o th theo truc logarith. Do o, ta co the s dung tat ca cac loai linetype cua lenh plot. d) V du: Ve o th ham y = x2 3x + 2 theo truc logarith cua x. x = 0:100;

MATLAB trong ieu khien t ong y = x.^2-3*x+2; semylogx(x,y,b) grid on

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14. Lenh POLAR a) Cong dung: Ve o th trong he truc toa o cc. b) Cu phap: polar(theta,rno) c) Giai thch: Ve gia tr x theo gia tr y. d) V du: t = -pi:0.01:pi; polar(t, sin(t))

MATLAB trong ieu khien t ong

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15. Lenh SET a) Cong dung: Thiet lap cac ac tnh chat cho oi tng nao o. b) Cu phap: set(h, propertyname, propertyvalue,) c) Giai thch: h: bien cha oi tng. PropertyName va PropertyValue c cho trong bang sau: Cu phap Set(h,Marker,+) Set(h,LineWidth,1) Set(h,MarkerSize,9) Set(h,color,cyan) PropertyName Marker LineWidth MarkerSize Color PropertyValue -, --, :, -. , o, , +, * 1, 2, 3, 1, 2, 3, yellow,magenta, red,green,blue, cyan,white,black Giai thch Chon kieu phan t o day net ve Kch thc cac iem tao nen h Chon mau cho oi tng h

MATLAB trong ieu khien t ong d) V du: a = [1 2 3 4 5 4 3 4 5 6]; h = plot(a) set(h,color,black)

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16. Lenh STAIRS a) Cong dung: Ve o th dang bac thang. b) Cu phap: stairs(x,y) c) Giai thch: Ve gia tr x theo gia tr y. d) V du: x = -pi:0.2:pi; stairs(x,sin(x)) xlabeL(Truc x) ylabel(y = stairs(x,sin(x)) grid on

MATLAB trong ieu khien t ong

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17. Lenh TITLE a) Cong dung: at tieu e cho o th. b) Cu phap: title(text) c) Giai thch: text: ten tieu e. 18. Lenh XLABEL, YLABEL, ZLABEL a) Cong dung: at ten cho truc X, Y, Z. b) Cu phap: xlabel(nx) ylabel(ny) zlabel(nz) c) Giai thch: nx, ny, nz: ten truc x, y, z 19. Lenh WHITEBG a) Cong dung:

MATLAB trong ieu khien t ong Thay oi mau nen cua ca so o hoa. b) Cu phap: whitebg whitebg(color) c) Giai thch: whitebg chuyen oi qua lai mau nen ca so o hoa gia trang va en. whitebg(color) chuyen mau nen ca so o hoa thanh mau cua bien color.

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color co the la cac mau: yellow (vang), magenta (o ti), cyan (l), red (o), green (luc), blue (lam), white (trang), black (en). BT3c: c viet trong BT3c.m. Bai tap nay tong hp t cac sach The Student Edition of MATLAB, The MATLAB 5. Handboox, ng dung MATLAB trong ieu khien t ong
%BT3c: VE QUA DIA CAU [x,y]=meshgrid(-3:0.1:3); z=peaks(x,y); meshc(x,y,z) pause k=5; n=2^k-1; [x,y,z]=sphere(n); c=hadamard(2^k); surf(x,y,z,c); colormap([1 1 0;0 1 1]) pause t=0:pi/10:2*pi; [x,y,z]=cylinder(2+cos(t)); surf(x,y,z) pause [x,y,z]=cylinder(1:10); surfnorm(x,y,z) pause [x,y,z]=meshgrid(-2:.2:2,-2:.2:2,-2:.2:2); v=x.*exp(-x.^2-y.^2-z.^2); slice(v,[5 15 21],21,[1 10],21) pause [X,Y]=meshgrid(-3:.5:3); Z=peaks(X,Y); [XI,YI]=meshgrid(-3:.25:3); ZI=interp2(X,Y,Z,XI,YI); mesh(X,Y,Z), hold, mesh(XI,YI,ZI+15) hold off axis([-3 3 -3 3 -5 20]) pause syms x y

MATLAB trong ieu khien t ong

ezsurf(real(atan(x+i*y))) [x,y]=meshdom(-12:.6:12,-12:.6:12); r=sqrt(x.^2+y.^2); z=bessel(0,r); m=[-45 60]; mesh(z,m)

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Khi chay chng trnh ta la lt co ket qua:

MATLAB trong ieu khien t ong

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MATLAB trong ieu khien t ong

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MATLAB trong ieu khien t ong

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MATLAB trong ieu khien t ong

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Cung la ham bessel nhng ta khao sat rieng 1 bai:

%hm bessel [x,y]=meshdom(-12:.6:12,-12:.6:12); r=sqrt(x.^2+y.^2); z=bessel(0,r); m=[-45 60]; mesh(z,m)

MATLAB trong ieu khien t ong

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