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**Introduction to MATLAB for Engineers
**

Third Edition

William J. Palm III

Chapter 11

MuPAD

Copyright © 2010. The McGraw-Hill Companies, Inc.

**What can you do with MuPAD?
**

■ Create symbolic expressions and manipulate them

algebraically.

■ Obtain symbolic and numeric solutions to algebraic and

transcendental

equations.

■ Perform symbolic linear algebra operations, including

obtaining expressions for determinants, matrix inverses,

eigenvectors, and eigenvalues.

■ Perform symbolic differentiation and integration.

■ Evaluate limits and series symbolically.

■ Obtain symbolic solutions to ordinary differential

equations.

■ Obtain and apply Laplace transforms.

■ Solve ordinary differential equations in terms of special

functions or series.

11-2

**To start MuPAD, first start MATLAB, then type
**

mupadwelcome.

You will then see the Welcome Screen shown

on the next slide.

If you just type mupad instead, you will

immediately be presented with a blank

notebook .

11-3

The MuPAD welcome screen. Figure 11.1-1 on page 46 11-4 .

you will see what is on the next slide. Or you can retrieve a previously created notebook by clicking on its name under Open Recent File. 11-5 .If you then click on Getting Started. Or you can click on Notebook Interface to bring up the Notebook Interface Help screen shown on slide 11-7.

Figure 11. 11-6 .1-2 on page 467.The Getting Started screen.

1-3 on page 468. Figure 11. 11-7 .The Notebook Interface Help screen.

11-8 . input. and to create a plot. and output regions. to define a function. with the code required to simplify an expression.The Notebook Interface shown on the next slide shows text.

11-9 .An example of the Notebook Interface.

Figure 11.The Standard toolbar.1-5 on page 469. 11-10 .

Figure 11.The Command bar. 11-11 .2-2 on page 474.

Entering Commands (page 470). [ cos(PI) [ -1 11-12 .

The General Math Menu Expand Simplify Factor Combine Normalize Rewrite Evaluate Solve 11-13 . Page 475.The General Math Menu.

Table 11. Derivatives Limits Sums Integrals Rewrite Expressions Products Solve Equations Simplify Evaluate with x = a Numerical Evaluation and Rounding Equality Tests Assignment Math Operators Factorials Function Definition Trig Functions Exponentials and Logs Piecewise Definitions Reserved Symbols Greek Letters Physical Units Matrices and Vectors 2D Plot 3D Plot 11-14 . Page 475.2–1 Items on the Command bar.

General Logical Radical Relational 11-15 Exponential Logarithm Sine Cosine .The Simplify Menu. Page 476.

Page 477.The Combine Menu. General Arc Tangent Exponential Logarithm 11-16 Power Sine/Cosine Sine/Cosine Hyp Square Root .

Differential Exponential Factorial Gamma 11-17 Heaviside Logarithm Sign Sine/Cosine . Page 478.The Rewrite Menu.

Exact Numeric Linear System 11-18 Polynomial Diophantine Equation Recurrences ODE . Page 481.The Solve Menu.

x) Bessel J.8–1 Special function calls in MuPAD.x) Laguerre. L(n. Hn(x) hermite (n. x) laguerreL(n. Name and Symbol Function Call Airy.x) Bessel Y. x) chebyshev1 (n. Page 512. Yn(x) besselY (n. Jn(x) besselJ(n. In(x) besselI(n. x) Gamma. T(n.Table 11. Kn(x) besselK(n.x) Legendre.x) 11-19 . Bi(x) airy Bi(x) Chebyshev of first kind. a. Ai(x) airy Ai(x) Airy.x) Bessel K. Pn(x) legendre(n. (x) gamma(x) Hermite.x) Bessel I.a.

Table 11.8–2 Evaluation of special functions in MuPAD Result Code Symbolic finite series orthpoly:: Symbolic infinite series series Numeric result float 11-20 .

The following slides are figures from the examples and the homework problems. 11-21 .

Intersection points of two circles.3-1 on page 484.3-1 for Example 11. 11-22 .Figure 11.

Figure 11. 11-23 . A robot arm having two joints and two links.3-2 on page 486.3-2 for Example 11.

A baseball trajectory to clear the Green Monster.5-1 for Example 11.Figure 11. 11-24 .5-1 on pages 495-497.

Figure 11. Two mechanical systems. one with and one without an input derivative. 11-25 .7-1 on page 510.

7-2 on page 511. 11-26 .Figure 11.

11-27 .Figure P12 for Problem 12 on pages 516-517.

Figure P13 for Problem 13 on pages 517-518. 11-28 .

Figure P13 for Problem 13 on page 519. 11-29 .

11-30 .Figure P28 for Problem 28 on page 520.

Figure P29 for Problem 29 on pages 520-521. 11-31 .

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