Introduction to

Simulink
 Presentation Outline

 What is Simulink?
 Basic operations with Simulink
 Examples
 Exercise
 What is Simulink?
 Simulink is an interactive tool for modeling, simulating and
analyzing dynamic systems.
 Simulink integrates seamlessly with MATLAB, providing
immediate access to an extensive range of analysis and
design tools.
 Simulating a dynamic system is a two-step process with
Simulink:
 create a model of the system to be simulated using Simulink’s
model editor (BLOCK DIAGRAM)
 use Simulink to simulate the behavior of the system for a
specified time span
 Launch Simulink
First launch MATLAB.
To open Simulink, type simulink at the MATLAB
command window or click on the Simulink icon on the
MATLAB toolbar.
 Simulink Block Libraries
Simulink provides a library
browser that allows you to
select blocks from libraries of
standard blocks:
 Continuous - blocks that
describe linear functions
 Discrete - blocks that
describe discrete-time
components
 Functions & Tables -
general functions and table
look-up operations
 Math - blocks that describe
general mathematics
functions
 Simulink Block Libraries
 Nonlinear - blocks that describe nonlinear functions
 Signal & systems - blocks that allow multiplexing,
de-multiplexing, implement external input/output,
pass data to other parts of the model, create
subsystems and perform other functions
 Sinks - blocks that display or write block output
 Sources - blocks that generate signals
 Blocksets and toolboxes - the extras block library
of specialized blocks
 Creating a New Model

 Click the new-model

icon in the upper left
corner to start a new
Simulink file
 Select the Simulink
icon to obtain
elements of the
model
 Your Workspace

Library of elements Model is created in this window

Show/hide
Library
Browser
 Block Diagram
A Simulink block diagram is a pictorial model of a dynamic
system. It consists of blocks interconnected by lines.
Blocks represent elementary dynamical systems that
Simulink knows how to simulate. A block comprises one
or more of the following:
n A set of inputs.
n A set of states.
n A set of outputs.
To introduce blocks in your model, choose the block from
the library, click on it and drag it in your model. Double
clicking on the block will allow you to change the block
parameters.
 Model Execution Phase
In this phase Simulink successively computes the states
and the outputs of the system at intervals from the
simulation start time to the stop time, using information
provided by the model.
Time steps - successive time points at which the states
and the outputs are computed.
Step size - the length of time between steps. It depends
on the type of solver:
 Fixed-step - a smaller step size produces a more
accurate simulation but results in a longer execution
time.
 Model Execution Phase
 Variable step - depending on the application, it can
produce more accurate results without sacrificing
execution speed.

Parameters set up:

Simulation > Simulation parameters …

Simulink simulates a system when you choose start from

the model editor’s simulation menu.
 Example 1: a Simple Model

 Build a Simulink model that solves the differential

equation

x  3 sin  2t 
 Initial condition x(0)  1.

 First, sketch a simulation diagram of this

mathematical model (equation) (3 min.)
 Simulation Diagram
 Input is the forcing function 3sin(2t)
 Output is the solution of the differential equation
x(t)

x (0) = -1

.
x 1 x
3sin(2t) x(t)
(input) s (output)
integrator

 Now build this model in Simulink

Select in Input Block

Drag a Sine Wave block

from the Sources library to
the model window
Select an Operator Block

Drag an Integrator block

from the Continuous library
to the model window
Select an Output Block

Drag a Scope block from the

Sinks library to the model
window
 Connect Blocks with Signals

 Place your cursor on

the output port (>) of
the sine wave block
 Drag from the sine
wave output to the
integrator input
 Drag from the
integrator output to
the scope input Arrows indicate the direction of
the signal flow.
 Select Simulation Parameters

Double-click on the
Sine Wave block to
set amplitude = 3
and freq = 2

This produces the

desired input of
3sin(2t)
 Select Simulation Parameters

Double-click on
the Integrator
block to set
initial condition =
-1

This sets our IC

x(0) = -1.
 Run the Simulation

In the model
window, from the
Simulation pull-
down menu, select
Start

Double-click on
the Scope to view
the simulation
results
 Simulation Results

To verify that this plot represents the solution to the

problem, solve the equation analytically.

The analytical result,

x(t )  12  32 cos 2t 
matches the plot (the
simulation result)
exactly.
 Example 2

 Build a Simulink model that solves the following

differential equation

mx  cx  kx  f (t )
– 2nd-order mass-spring-damper system
– Zero ICs
– Input f(t) is a step with magnitude 3
– Parameters: m = 0.25, c = 0.5, k = 1
– m->mass; c->damping factor; k->spring
constant
 Example 2

k
m f (t)

x c
 Create the Simulink Diagram

 On the following slides:

– The simulation diagram for solving the ODE
is created step by step.
– After each step, elements are added to the
Simulink model.
 Optional exercise: first, sketch the complete
diagram (5 min.).
 Create the Block Diagram
 First, solve for the term with highest-order
derivative

mx  f (t )  cx  kx
 Make the left-hand side of this equation the
output of a summing block

..
mx

summing
block
Drag a Sum block from the Math library

Double-click to change the

block parameters to
rectangular and + - -
 Create the Block Diagram

 Add a gain (multiplier) block to eliminate the

coefficient and produce the highest-derivative
alone

.. ..
mx 1 x
m

summing
block
 Drag a Gain block from the Math library

The gain is 4 since 1/m = 4.

Double-click to change the

block parameters.
Add a title.
 Create the Block Diagram

 Add integrators to obtain the desired

output variable

mx 1 x 1 x 1 x
m s s
summing
block
 Drag Integrator blocks from the
Continuous library

ICs on the
integrators are
zero.

Add a scope from the Sinks library.

Connect output ports to input ports.
Label the signals by double-clicking on the leader line.
 Create the Block Diagram

 Connect to the integrated signals with gain

blocks to create the terms on the right-hand
side of the equation

mx 1 x 1 x 1 x
m s s
summing cx c
block
kx k
 Drag new Gain blocks
from the Math library
To flip the gain block, select it and
choose Flip Block in the Format pull-
down menu or double-clock on it.

c = 0.5

 Double-click on gain blocks to

set parameters
 Connect from the gain block
input backwards up to the
K = 1.0
branch point.
 Re-title the gain blocks.
 Complete the Model

 Bring all the signals and inputs to the

summing block.
 Check signs on the summer.

f(t) +
input mx 1 x 1 x 1 x x(t)
-
m s s output
-
cx x
c
kx x
k
Drag the Step function from the Source
library
Double-click on Step block
to set parameters. For a
step input of magnitude 3,
set Final value to 3
Final Simulink Model
Run the Simulation
Results

Underdamped
response.
Overshoot of 0.5.
Final value of 3.
Is this expected?
 Checking Results
x c 1
 Standard form  x  x  f (t )
k k k
m

 Natural frequency k
n   2.0
m

2 c
 Damping ratio     0.5
n k

 Static gain 1
K  1
k
 Checking Results

 Damping ratio of 0.5 is less than 1:

– Expect the system to be underdamped.
– Expect to see overshoot.
 Static gain is 1:
– Expect output magnitude to equal input
magnitude.
– Input has magnitude 3, so does output.
Simulation results conform to
expectations
Saving to Workspace
Drag the To Workspace block
from the Sink library
 Saving to Workspace
Double click on the To
Workspace block to change
the parameters.

Check on MATLAB workspace if the variable is there.

Example: plot (tout, x); y = sqrt (x )
Inserting a S-Function
Drag a S-Function block from
the Functions & Tables library
 Inserting a S-Function
Double click on the S-
Function block to change
the S-Function name and
include additional
parameters.

Use the template that comes with

Simulink.
Change the template based on your
project.
 Inserting a S-Function
• Type sfundemos at the MATLAB command
line.
• Double click on M-files
• Double click on M-file S-Function Template
• Save the file in another folder and with
another name
• Change the function name:

function [sys,x0,str,ts]=sfungains(t,x,u,flag)
 Inserting a S-Function
• Change the S-Function size parameters:

sizes = simsizes;

sizes.NumContStates = 0;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 2;
sizes.NumInputs = 0;
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 1; % at least one sample time is
needed

sys = simsizes(sizes);
 Inserting a S-Function

• Edit the mdlOutputs m-function in

accordance to your project:

function sys=mdlOutputs(t,x,u)

K1 = 50;
K2 = 20;
sys = [K1 K2];
Inserting a S-Function

Drag a Demux block from the

Signals & Systems library
Inserting a S-Function

Drag Display blocks from the

Sink library

Run your project