Introduction

To
MATLAB & Simulink

AAiT 1 March, 2015

 Contents
• Introduction to Matlab

Part 1: Variables, Scripts and Operations

Part 2: Visualization and Programming

Part 3: Solving Equations, Fitting

Part 4: Images, Animations, Advanced Methods

Part 5: File I/O, Symbolic Math, Graphical User Interfaces

• Introduction to Simulink

AAiT 2 March, 2015

 Introduction to Matlab

Part 1

Variables, Scripts and Operations

AAiT 3 March, 2015

 Outline

(1) What is Matlab?

(2) Getting Started
(3) Scripts
(4) Making Variables
(5) Manipulating Variables
(6) Basic Plotting

AAiT 4 March, 2015

 What is Matlab?

 MATrix LABoratory.
 MATLAB is a high -performance language for technical
computing:
 Math & computat ion
 Algorithm development (optimized for DSP)
 Data acquisition
 Modeling, simulation and prototyping
 Data analyzing, exploration ,&visualization
 Scientific & engineering graphics
 Application development, including graphical user
interface building.

AAiT 5 March, 2015

 Getting Started

• To get MATLAB Student Version for yourself

» www.mathworks.com
• Open up MATLAB for Windows
 Through the START Menu Current Directory

 Workspace
Current Folder Command Windows



Command
 History

AAiT 6 March, 2015

[Making Folders]

• Use folders to keep your programs organized

• To make a new folder, click the „Browse‟ button next to „Current
Directory‟

• Click the „Make New Folder‟ button, and change the name of the
Folder. Do NOT use spaces in folder names.

• Highlight the folder you just made and click „OK‟

• The current directory is now the folder you just created

AAiT 7 March, 2015

 [ Customization ]
• Under Environment  Preferences
 Allows you personalize your MATLAB experience















 

AAiT 8 March, 2015

 [ Help /Docs ]

• help
 The most important function for learning MATLAB on
your own.
• To get info on how to use a function:
» help sin
 Help lists related functions at the bottom and links to
the doc
• To get a nicer version of help with examples and easy-to-
read descriptions:
» doc sin
• To search for a function by specifying keywords:
» doc + Search tab

AAiT 9 March, 2015

 Outline

(1) What is Matlab?

(2) Getting Started
(3) Scripts
(4) Making Variables
(5) Manipulating Variables
(6) Basic Plotting

AAiT 10 March, 2015

 [ Scripts: Overview ]

• Scripts are
 collection of commands executed in sequence
 written in the MATLAB editor
 saved as MATLAB files (.m extension)

• To create an MATLAB file from command-line
» edit helloWorld.m
• Or click

AAiT 11 March, 2015

 [ Scripts: the Editor ] * Means that is not saved
Matlab File paths Debugging Tools

Line Numbers
Real time
Error check

Help Files

Comments

Possible Breakpoints

AAiT 12 March, 2015

 [ Scripts: Some Notes ]
• COMMENT!
 Anything following a % is seen as a comment
 The first contiguous comment becomes the script's help file
 Comment thoroughly to avoid wasting time later

• Note that scripts are somewhat static, since there is no
input and no explicit output

• All variables created and modified in a script exist in the

workspace even after it has stopped running

AAiT 13 March, 2015

 Outline

(1) What is Matlab?

(2) Getting Started
(3) Scripts
(4) Making Variables
(5) Manipulating Variables
(6) Basic Plotting

AAiT 14 March, 2015

 [ Variable Types ]

• MATLAB is a weakly typed language

 No need to initialize variables!

• MATLAB supports various types, the most often used are

» 3.84
 64-bit double (default)
» ‘a’
 16-bit char

• Most variables you‟ll deal with will be vectors or matrices of

doubles or chars

• Other types are also supported: complex, symbolic, 16-bit

and 8 bit integers, etc.

AAiT 15 March, 2015

 [ Naming variables ]

• To create a variable, simply assign a value to a name:

» var1=3.14
» myString=‘hello world’
• Variable names
 first character must be a LETTER
 after that, any combination of letters, numbers and _
 CASE SENSITIVE! (var1 is different from Var1)

• Built-in variables. Don‟t use these names!
 i and j can be used to indicate complex numbers
 pi has the value 3.1415926…
 ans stores the last unassigned value (like on a calculator)
 Inf and -Inf are positive and negative infinity
 NaN represents „Not a Number‟
AAiT 16 March, 2015
 [ Scalars ]
• A variable can be given a value explicitly
» a = 10
 shows up in workspace!

• Or as a function of explicit values and existing variables
» c = 1.3*45-2*a

• To suppress output, end the line with a semicolon

» cooldude = 13/3;

AAiT 17 March, 2015

 [ Arrays ]

• Like other programming languages, arrays are an

important part of MATLAB
• Two types of arrays

(1) matrix of numbers (either double or complex)

(2) cell array of objects (more advanced data structure)

MATLAB makes vectors easy!

That’s its power!

AAiT 18 March, 2015

 [ Row Vectors ]

• Row vector: comma or space separated values between

Brackets.
» row = [1 2 5.4 -6.6]
» row = [1, 2, 5.4, -6.6];

• Command window:

• Workspace:

AAiT 19 March, 2015

 [ Column Vectors ]

• Column vector: semicolon separated values between

brackets
» column = [4;2;7;4]

• Command window:

• Workspace:

AAiT 20 March, 2015

 [ size & length ]

• You can tell the difference between a row and a column

vector by:
 Looking in the workspace
 Displaying the variable in the command window
 Using the size function





• To get a vector's length, use the length function

AAiT 21 March, 2015

 [ Matrices ]

• Make matrices like vectors

1 2
• Element by element a= [ 3 4
]
» a= [1 2;3 4];
• By concatenating vectors or matrices (dimension matters)
» a = [1 2];
» b = [3 4];
» c = [5;6];

» d = [a;b];
» e = [d c];
» f = [[e e];[a b a]];
» str = ['Hello, I am ' 'John'];
 Strings are character vectors
AAiT 22 March, 2015
 [ save/clear/load ]
• Use save to save variables to a file
» save myFile a b
 saves variables a and b to the file myfile.mat

 myfile.mat file is saved in the current directory

 Default working directory is
 Make sure you‟re in the desired folder when saving
files. Right
now, we should be in:

• Use clear to remove variables from environment

» clear a b
 look at workspace, the variables a and b are gone

• Use load to load variable bindings into the environment

» load myFile
 look at workspace, the variables a and b are back

• To clear command window

» clc

AAiT 23 March, 2015

 Outline

(1) What is Matlab?

(2) Getting Started
(3) Scripts
(4) Making Variables
(5) Manipulating Variables
(6) Basic Plotting

AAiT 24 March, 2015

 [ Basic Scalar Operations ]

• Arithmetic operations (+,-,*,/)

» 7/45
» (1+i)*(2+i)
» 1 / 0
» 0 / 0

• Exponentiation (^)
» 4^2
» (3+4*j)^2

• Complicated expressions, use parentheses

» ((2+3)*3)^0.1

• Multiplication is NOT implicit given parentheses

» 3(1+0.7) gives an error

AAiT 25 March, 2015

 [ Built-in Functions ]

• MATLAB has an enormous library of built-in functions

• Call using parentheses – passing parameter to function

» sqrt(2)
» log(2), log10(0.23)
» cos(1.2), atan(-.8)
» exp(2+4*i)
» round(1.4), floor(3.3), ceil(4.23)
» angle(i); abs(1+i);

AAiT 26 March, 2015

 [ Transpose ]

• The transpose operators turns a column vector into a row

vector and vice versa
» a = [1 2 3 4+i]
» transpose(a)
» a'
» a.'

• The ' gives the Hermitian-transpose, i.e. transposes and

conjugates all complex numbers

• For vectors of real numbers .' and ' give same result

AAiT 27 March, 2015

 [ Addition and Subtraction]

• Addition and subtraction are element-wise; sizes must

match (unless one is a scalar):

• The following would give an error

» c = row + column
• Use the transpose to make sizes compatible
» c = row’ + column
» c = row + column’
• Can sum up or multiply elements of vector
» s=sum(row);
» p=prod(row);

AAiT 28 March, 2015

 [ Element-Wise Functions ]

• All the functions that work on scalars also work on vectors

» t = [1 2 3];
» f = exp(t);
 is the same as
» f = [exp(1) exp(2) exp(3)];

• If in doubt, check a function‟s help file to see if it handles

vectors element-wise

• Operators (* / ^) have two modes of operation

 element-wise
 standard

AAiT 29 March, 2015

 Operators: element-wise
• To do element-wise operations, use the dot: . (.*, ./,
.^).
BOTH dimensions must match (unless one is scalar)!

AAiT 30 March, 2015

 Operators: standard

• Multiplication can be done in a standard way or element-wise

• Standard multiplication (*) is either a dot-product or an outer-product
 Remember from linear algebra: inner dimensions must MATCH!!

• Standard exponentiation (^) can only be done on square matrices

• Or scalars Left and right division (/ \) is same as multiplying by

inverse
 Our recommendation: just multiply by inverse (more on this later)

AAiT 31 March, 2015

 [ Automatic Initialization ]

• Initialize a vector of ones, zeros, or random numbers

» o=ones(1,10)
 row vector with 10 elements, all 1
» z=zeros(23,1)
 column vector with 23 elements, all 0
» r=rand(1,45)
 row vector with 45 elements (uniform [0,1])
» n=nan(1,69)
 row vector of NaNs (useful for representing uninitialized
variables)
The general function call is:
var=zeros(M,N);

Number of rows Number of columns

AAiT 32 March, 2015

 [ Automatic Initialization ]

• To initialize a linear vector of values use linspace

» a=linspace(0,10,5)
 starts at 0, ends at 10 (inclusive), 5 values

• Can also use colon operator (:)
» b=0:2:10
 starts at 0, increments by 2, and ends at or before 10
 increment can be decimal or negative
» c=1:5
 if increment isn‟t specified, default is 1

• To initialize logarithmically spaced values use logspace
 similar to linspace, but see help

AAiT 33 March, 2015

 [ Vector Indexing ]

• MATLAB indexing starts with 1, not 0

• a(n) returns the nth element

a = [13 5 9 10 ]

a(1) a(2) a(3) a(4)

• The index argument can be a vector. In this case, each

element is looked up individually, and returned as a vector
of the same size as the index vector.
» x=[12 13 5 8];
» a=x(2:3); a=[13 5];
» b=x(1:end-1); b=[12 13 5];

AAiT 34 March, 2015

 [ Matrix Indexing ]

• Matrices can be indexed in two ways

 using subscripts (row and column)
 using linear indices (as if matrix is a vector)
• Matrix indexing: subscripts or linear indices

• Picking submatrices
» A = rand(5) % shorthand for 5x5 matrix
» A(1:3,1:2) % specify contiguous submatrix
» A([1 5 3], [1 4]) % specify rows and columns

AAiT 35 March, 2015

 [ Advanced Indexing 1 ]

• To select rows or columns of a matrix, use the :

AAiT 36 March, 2015

 [ Advanced Indexing 2 ]

• MATLAB contains functions to help you find desired values

within a vector or matrix
» vec = [5 3 1 9 7]

• To get the minimum value and its index:

» [minVal,minInd] = min(vec);
 max works the same way

• To find any the indices of specific values or ranges
» ind = find(vec == 9);
» ind = find(vec > 2 & vec < 6);

AAiT 37 March, 2015

 Outline

(1) What is Matlab?

(2) Getting Started
(3) Scripts
(4) Making Variables
(5) Manipulating Variables
(6) Basic Plotting

AAiT 38 March, 2015

 [ Plotting ]

• Example
» x=linspace(0,4*pi,10);
» y=sin(x);

• Plot values against their index

» plot(y);
• Usually we want to plot y versus x
» plot(x,y);

MATLAB makes visualizing data

fun and easy!

AAiT 39 March, 2015

 [ What does plot do? ]

• plot generates dots at each (x,y) pair and then connects the dots
with a line
• To make plot of a function look smoother, evaluate at more points
» x=linspace(0,4*pi,1000);
» plot(x,sin(x));
• x and y vectors must be same size or else you‟ll get an error
» plot([1 2], [1 2 3])
 error!!


1 1

10 x values: 0.8

0.6
1000 x values:
0.8

0.6

0.4 0.4

0.2 0.2

0 0

-0.2 -0.2

-0.4 -0.4

-0.6 -0.6

-0.8 -0.8

-1 -1
0 2 4 6 8 10 12 14 0 2 4 6 8 10 12 14

AAiT 40 March, 2015

 Introduction to Matlab

Part 2

Visualization and Programming

AAiT 41 March, 2015

 Outline

(1) Functions
(2) Flow Control
(3) Line Plots
(4) Image/ Surface Plots
(5) Vectorization

AAiT 42 March, 2015

 [ User-defined Functions ]
• Functions look exactly like scripts, but for ONE difference

 Functions must have a function declaration

AAiT 43 March, 2015

 [ User-defined Functions ]
• Some comments about the function declaration

• No need for return: MATLAB 'returns' the variables whose

names match those in the function declaration

• Variable scope: Any variables created within the function

but not returned disappear after the function stops running

AAiT 44 March, 2015

 [ Functions: overloading ]

• We're familiar with

» zeros
» size
» length
» sum

• Look at the help file for size by typing

» help size

• The help file describes several ways to invoke the function

 D = SIZE(X)
 [M,N] = SIZE(X)
 [M1,M2,M3,...,MN] = SIZE(X)
 M = SIZE(X,DIM)

AAiT 45 March, 2015

 [ Functions: overloading ]

• MATLAB functions are generally overloaded

 Can take a variable number of inputs
 Can return a variable number of outputs

• What would the following commands return:
» a=zeros(2,4,8); %n-dimensional matrices are OK
» D=size(a)
» [m,n]=size(a)
» [x,y,z]=size(a)
» m2=size(a,2)

• You can overload your own functions by having variable

input and output arguments (see varargin, nargin,
varargout, nargout)
AAiT 46 March, 2015
 Outline

(1) Functions
(2) Flow Control
(3) Line Plots
(4) Image/Surface Plots
(5) Vectorization

AAiT 47 March, 2015

 [ Relational Operators ]

• MATLAB uses mostly standard relational operators

 equal ==
 not equal ~=
 greater than >
 less than <
 greater or equal >=
 less or equal <=
• Logical operators elementwise short-circuit (scalars)
 And & &&
 Or | ||
 Not ~
 Xor xor
 All true all
 Any true any

• Boolean values: zero is false, nonzero is true

• See help . for a detailed list of operators
AAiT 48 March, 2015
 [ if/else/elseif ]

• Basic flow-control, common to all languages

• MATLAB syntax is somewhat unique

IF ELSE ELSEIF
if cond if cond if cond1
commands commands1 commands1
end else elseif cond2
commands2 commands2
end else
Conditional statement:
evaluates to true or false commands3
end

• No need for parentheses: command blocks are between

reserved words
AAiT 49 March, 2015
 [ for ]

• for loops: use for a known number of iterations

• MATLAB syntax:
Loop variable

for n=1:100
commands
end Command block

• The loop variable

 Is defined as a vector
 Is a scalar within the command block
 Does not have to have consecutive values (but it's usually
cleaner if they're consecutive)
• The command block
 Anything between the for line and the end

AAiT 50 March, 2015

 [ while ]

• The while is like a more general for loop:

 Don't need to know number of iterations


WHILE

while cond
commands
end

• The command block will execute while the conditional

expression is true
• Beware of infinite loops!

AAiT 51 March, 2015

 Outline

(1) Functions
(2) Flow Control
(3) Line Plots
(4) Image/Surface Plots
(5) Vectorization

AAiT 52 March, 2015

 [ Plot Options ]

• Can change the line color, marker style, and line style by
adding a string argument
» plot(x,y,’k.-’);

color marker line-style

• Can plot without connecting the dots by omitting line style

argument
» plot(x,y,’.’)

• Look at help plot for a full list of colors, markers, and

linestyles

AAiT 53 March, 2015

 to select lines
and delete or
to see all plot
change tools at once
properties
to slide the plot
to zoom in/out around

AAiT 54 March, 2015

 [ Line and Marker Options ]

• Everything on a line can be customized

» plot(x,y,'--s','LineWidth',2,...
'Color', [1 0 0], ...
'MarkerEdgeColor','k',...
'MarkerFaceColor','g',...
'MarkerSize',10)

You can set colors by using

a vector of [R G B] values 0.8

or a predefined color 0.6

character like 'g', 'k', etc. 0.4

0.2

• See doc line_props for a full list of-0.2

properties that can be specified
-0.4

-0.6

-0.8

AAiT 55 March, 2015

 [ Cartesian Plots ]

• We have already seen the plot function

» x=-pi:pi/100:pi;
» y=cos(4*x).*sin(10*x).*exp(-abs(x));
» plot(x,y,'k-');

• The same syntax applies for semilog and loglog plots

» semilogx(x,y,'k');
50
10

» semilogy(y,'r.-'); 10
40

» loglog(x,y); 30
10

• For example:
20
10

» x=0:100; 10
10

» semilogy(x,exp(x),'k.-');
0
10
0 10 20 30 40 50 60 70 80 90 100

AAiT 56 March, 2015

 [ 3D Line Plots ]

• We can plot in 3 dimensions just as easily as in 2

» time=0:0.001:4*pi;
» x=sin(time);
» y=cos(time);
» z=time;
» plot3(x,y,z,'k','LineWidth',2);
» zlabel('Time');
10

• Use tools on figure to rotate it 5

• Can set limits on all 3 axes 0

-5
» xlim, ylim, zlim
-10
1
0.5 1
0 0.5
0
-0.5 -0.5
-1 -1

AAiT 57 March, 2015

 [ Axis Modes ]

• Built-in axis modes

» axis square
 makes the current axis look like a box
» axis tight
 fits axes to data
» axis equal
 makes x and y scales the same
» axis xy
 puts the origin in the bottom left corner (default for plots)
» axis ij
 puts the origin in the top left corner (default for
matrices/images)

AAiT 58 March, 2015

 [ Multiple Plots in one Figure ]

• To have multiple axes in one figure

» subplot(2,3,1)
 makes a figure with 2 rows and three columns of axes, and
activates the first axis for plotting
 each axis can have labels, a legend, and a title
» subplot(2,3,4:6)
 activating a range of axes fuses them into one

• To close existing figures
» close([1 3])
 closes figures 1 and 3
» close all
 closes all figures (useful in scripts/functions)

AAiT 59 March, 2015

 [ Copy/Paste Figures ]
• Figures can be pasted into other apps (word, ppt, etc)
• Edit copy options figure copy template
 Change font sizes, line properties; presets for word and ppt
• Edit copy figure to copy figure
• Paste into document of interest

AAiT 60 March, 2015

 [ Saving Figures ]
• Figures can be saved in many formats. The common ones
are:

.fig preserves all

information

.bmp uncompressed
image

.eps high-quality
scaleable format

.pdf compressed
image

AAiT 61 March, 2015

 Outline

(1) Functions
(2) Flow Control
(3) Line Plots
(4) Image/Surface Plots
(5) Vectorization

AAiT 62 March, 2015

 [ Visualizing matrices ]

• Any matrix can be visualized as an image

» mat=reshape(1:10000,100,100);
» imagesc(mat);
» colorbar

• imagesc automatically scales the values to span the entire

colormap

• Can set limits for the color axis (analogous to xlim, ylim)
» caxis([3000 7000])

AAiT 63 March, 2015

 [ Colormaps ]
• You can change the colormap:
» imagesc(mat)
 default map is jet
» colormap(gray)
» colormap(cool)
» colormap(hot(256))

• See help hot for a list

• Can define custom colormap

» map=zeros(256,3);
» map(:,2)=(0:255)/255;
» colormap(map);

AAiT 64 March, 2015

 [ Surface Plots ]

• It is more common to visualize surfaces in 3D

• Example: f ( x, y ) = sin ( x ) cos ( y )

x ∈ [-π ,π ]; y ∈ [-π ,π ]

• surf puts vertices at specified points in space x,y,z, and

connects all the vertices to make a surface

• The vertices can be denoted by matrices X,Y,Z

3

• How can we make these matrices

2

4 2

3 6
2
1
8
4 2

 loop (DUMB)
10
0
6

1 12
8
-1
14
10
0
16

 built-in function: meshgrid

12 -2
18
-1
14
20 -3
16 2 4 6 8 10 12 14 16 18 20
-2
18

20 -3
2 4 6 8 10 12 14 16 18 20

AAiT 65 March, 2015

 [ surf ]

• Make the x and y vectors

» x=-pi:0.1:pi;
» y=-pi:0.1:pi;

• Use meshgrid to make matrices (this is the same as loop)

» [X,Y]=meshgrid(x,y);

• To get function values,

evaluate the matrices
» Z =sin(X).*cos(Y);

• Plot the surface

» surf(X,Y,Z)
» surf(x,y,Z);

AAiT 66 March, 2015

 [ surf Options ]

• See help surf for more options

• There are three types of surface shading
» shading faceted
» shading flat
» shading interp
• You can change colormaps
» colormap(gray)

AAiT 67 March, 2015

 [ contour ]

• You can make surfaces two-dimensional by using contour

» contour(X,Y,Z,'LineWidth',2)
 takes same arguments as surf
 color indicates height
 can modify linestyle properties
 can set colormap
» hold on
» mesh(X,Y,Z)

AAiT 68 March, 2015

 Outline

(1) Functions
(2) Flow Control
(3) Line Plots
(4) Image/Surface Plots
(5) Vectorization

AAiT 69 March, 2015

 [ Revisiting find ]

• find is a very important function

 Returns indices of nonzero values
 Can simplify code and help avoid loops

• Basic syntax: index=find(cond)
» x=rand(1,100);
» inds = find(x>0.4 & x<0.6);

• inds will contain the indices at which x has values between

0.4 and 0.6. This is what happens:
 x>0.4 returns a vector with 1 where true and 0 where false
 x<0.6 returns a similar vector
 The & combines the two vectors using an and
 The find returns the indices of the 1's

AAiT 70 March, 2015

 [ Example: Avoiding Loops ]

• Given x= sin(linspace(0,10*pi,100)), how many of the

entries are positive?

Using a loop and if/else Being more clever

count=0; count=length(find(x>0));
for n=1:length(x)
length(x) Loop time Find time
if x(n)>0
100 0.01 0
count=count+1;
10,000 0.1 0
end
100,000 0.22 0
end
1,000,000 1.5 0.04

• Avoid loops!
• Built-in functions will make it faster to write and execute
AAiT 71 March, 2015
 [ Efficient Code ]
• Avoid loops
 This is referred to as vectorization
• Vectorized code is more efficient for MATLAB
• Use indexing and matrix operations to avoid loops
• For example, to sum up every two consecutive terms:
» a=rand(1,100); » a=rand(1,100);
» b=zeros(1,100); » b=[0 a(1:end-1)]+a;
» for n=1:100  Efficient and clean. 
Can also do this using
» if n==1 conv
» b(n)=a(n);
» else
» b(n)=a(n-1)+a(n);
» end
» end
 Slow and complicated
AAiT 72 March, 2015
 Introduction to Matlab

Part 3

Solving Equations and Curve Fitting

AAiT 73 March, 2015

 Outline

(1) Linear Algebra

(2) Polynomials
(3) Optimization
(4) Differentiation/Integration
(5) Differential Equations

AAiT 74 March, 2015

 [ Systems of Linear Equations ]
MATLAB makes linear
• Given a system of linear equations algebra fun!
 x+2y-3z=5
 -3x-y+z=-8
 x-y+z=0
• Construct matrices so the system is described by Ax=b
» A=[1 2 -3;-3 -1 1;1 -1 1];
» b=[5;-8;0];

• And solve with a single line of code!

» x=A\b;
 x is a 3x1 vector containing the values of x, y, and z

• The \ will work with square or rectangular systems.
• Gives least squares solution for rectangular systems.
Solution depends on whether the system is over or under
determined.

AAiT 75 March, 2015

 [ More Linear Algebra ]

• Given a matrix
» mat=[1 2 -3;-3 -1 1;1 -1 1];

• Calculate the rank of a matrix

» r=rank(mat);
 the number of linearly independent rows or columns

• Calculate the determinant
» d=det(mat);
 mat must be square
 if determinant is nonzero, matrix is invertible

• Get the matrix inverse
» E=inv(mat);
 if an equation is of the form A*x=b with A a square matrix,
x=A\b is the same as x=inv(A)*b
AAiT 76 March, 2015
 [ Matrix Decompositions ]

• MATLAB has built-in matrix decomposition methods

• The most common ones are
» [V,D]=eig(X)
 Eigenvalue decomposition
» [U,S,V]=svd(X)
 Singular value decomposition
» [Q,R]=qr(X)

 QR decomposition

AAiT 77 March, 2015

 Outline

(1) Linear Algebra

(2) Polynomials
(3) Optimization
(4) Differentiation/Integration
(5) Differential Equations

AAiT 78 March, 2015

 [ Polynomials ]

• Many functions can be well described by a high-order

Polynomial.

• MATLAB represents a polynomials by a vector of coefficients

 if vector P describes a polynomial
ax3+bx2+cx+d

P(1) P(2) P(3) P(4)

• P=[1 0 -2] represents the polynomial x2-2

• P=[2 0 0 0] represents the polynomial 2x3

AAiT 79 March, 2015

 [ Polynomial Operations ]

• P is a vector of length N+1 describing an N-th order polynomial

• To get the roots of a polynomial
» r=roots(P)
 r is a vector of length N

• Can also get the polynomial from the roots

» P=poly(r)
 r is a vector length N

• To evaluate a polynomial at a point

» y0=polyval(P,x0)
 x0 is a single value; y0 is a single value

• To evaluate a polynomial at many points

» y=polyval(P,x)
 x is a vector; y is a vector of the same size

AAiT 80 March, 2015

 [ Polynomial Fitting ]

• MATLAB makes it very easy to fit polynomials to data

• Given data vectors X=[-1 0 2] and Y=[0 -1 3]

» p2=polyfit(X,Y,2);
 finds the best second order polynomial that fits the points
(-1,0),(0,-1), and (2,3)
 see help polyfit for more information
» plot(X,Y,’o’, ‘MarkerSize’, 10);
» hold on;
» x = -3:.01:3;
» plot(x,polyval(p2,x), ‘r--’);

AAiT 81 March, 2015

 Outline

(1) Linear Algebra

(2) Polynomials
(3) Optimization
(4) Differentiation/Integration
(5) Differential Equations

AAiT 82 March, 2015

 [ Nonlinear Root Finding ]

• Many real-world problems require us to solve f(x)=0

• Can use fzero to calculate roots for any arbitrary function

• fzero needs a function passed to it.

• We will see this more and more as we delve into solving
equations.
• Make a separate function file
» x=fzero('myfun',1)
» x=fzero(@myfun,1)
 1 specifies a
point close to where
you think the root is

AAiT 83 March, 2015

 [ Minimizing a Function ]

• fminbnd: minimizing a function over a bounded interval

» x=fminbnd('myfun',-1,2);
 myfun takes a scalar input and returns a scalar output
 myfun(x) will be the minimum of myfun for -1≤x ≤ 2

• fminsearch: unconstrained interval
» x=fminsearch('myfun',.5)
 finds the local minimum of myfun starting at x=0.5

AAiT 84 March, 2015

 [ Anonymous Functions ]

• You do not have to make a separate function file

» x=fzero(@myfun,1)
 What if myfun is really simple?

• Instead, you can make an anonymous function
» x=fzero(@(x)(cos(exp(x))+x^2-1), 1 );

input function to evaluate

» x=fminbnd(@(x) (cos(exp(x))+x^2-1),-1,2);

AAiT 85 March, 2015

 [ Optimization Toolbox ]

• If you are familiar with optimization methods, use the

optimization toolbox

• Useful for larger, more structured optimization problems

• Sample functions (see help for more info)

» linprog
 linear programming using interior point methods
» quadprog
 quadratic programming solver
» fmincon
 constrained nonlinear optimization

AAiT 86 March, 2015

 Outline

(1) Linear Algebra

(2) Polynomials
(3) Optimization
(4) Differentiation/Integration
(5) Differential Equation

AAiT 87 March, 2015

 [ Numerical Differentiation ]
1

• MATLAB can 'differentiate' numerically 0.8

» x=0:0.01:2*pi; 0.6

0.4
» y=sin(x); 0.2

» dydx=diff(y)./diff(x); 0

 diff computes the first difference-0.2

-0.4
 -0.6

• Can also operate on matrices -0.8

» mat=[1 3 5;4 8 6]; -1

0 100 200 300 400 500 600 700

» dm=diff(mat,1,2)
 first difference of mat along the 2nd dimension, dm=[2 2;4 -2]
 see help for more details
 The opposite of diff is the cumulative sum cumsum

• 2D gradient
» [dx,dy]=gradient(mat)

AAiT 88 March, 2015

 [ Numerical Integration ]

• MATLAB contains common integration methods

• Adaptive Simpson's quadrature (input is a function)

» q=quad('myFun',0,10);
 q is the integral of the function myFun from 0 to 10
» q2=quad(@(x) sin(x)*x,0,pi)
 q2 is the integral of sin(x)*x from 0 to pi
• Trapezoidal rule (input is a vector)
» x=0:0.01:pi;
» z=trapz(x,sin(x));
 z is the integral of sin(x) from 0 to pi
» z2=trapz(x,sqrt(exp(x))./x)
x
 z2 is the integral of e x from 0 to pi

AAiT 89 March, 2015

 Outline

(1) Linear Algebra

(2) Polynomials
(3) Optimization
(4) Differentiation/Integration
(5) Differential Equations

AAiT 90 March, 2015

 [ ODE Solvers: Method ]

• Given a differential equation, the solution can be found by integration:

 Evaluate the derivative at a point and approximate by straight line

 Errors accumulate!
 Variable timestep can decrease the number of iterations

AAiT 91 March, 2015

 [ ODE Solvers: MATLAB ]

• MATLAB contains implementations of common ODE solvers

• Using the correct ODE solver can save you lots of time and
give more accurate results
» ode23
 Low-order solver. Use when integrating over small intervals
or when accuracy is less important than speed
» ode45
 High order (Runge-Kutta) solver. High accuracy and
reasonable speed. Most commonly used.
» ode15s
 Stiff ODE solver (Gear's algorithm), use when the diff eq's
have time constants that vary by orders of magnitude

AAiT 92 March, 2015

 [ ODE Solvers: Standard Syntax ]

• To use standard options and variable time step

» [t,y]=ode45('myODE',[0,10],[1;0])

ODE integrator: Initial conditions

23, 45, 15s Time range
ODE function
• Inputs:
 ODE function name (or anonymous function). This function
takes inputs (t,y), and returns dy/dt
 Time interval: 2-element vector specifying initial and final
time
 Initial conditions: column vector with an initial condition for
each ODE. This is the first input to the ODE function
• Outputs:
 t contains the time points
 y contains the corresponding values of the integrated
variables.
AAiT 93 March, 2015
 [ ODE Function ]
• The ODE function must return the value of the derivative
at a given time and function value
• Example: chemical reaction
10
 Two equations
dA A B
= -10 A + 50B
dt 50
dB
= 10A - 50B
dt

 ODE file:
– y has [A;B]
– dydt has
[dA/dt;dB/dt]

AAiT 94 March, 2015

 [ ODE Function: viewing results ]

• To solve and plot the ODEs on the previous slide:

» [t,y]=ode45('chem',[0 0.5],[0 1]);
 assumes that only chemical B exists initially
» plot(t,y(:,1),'k','LineWidth',1.5);
» hold on;
» plot(t,y(:,2),'r','LineWidth',1.5);
» legend('A','B');
» xlabel('Time (s)');
» ylabel('Amount of chemical (g)');
» title('Chem reaction');

AAiT 95 March, 2015

 [ ODE Function: viewing results ]

• The code on the previous slide produces this figure

Chem reaction
1
A
0.9 B

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (s)

AAiT 96 March, 2015

 [ Higher Order Equations ]
• Must make into a system of first-order equations to use

AAiT 97 March, 2015

 [ Plotting the Output ]

• We can solve for the position and velocity of the pendulum:

» [t,x]=ode45('pendulum',[0 10],[0.9*pi 0]);
 assume pendulum is almost horizontal
» plot(t,x(:,1));
» hold on;
» plot(t,x(:,2),'r');
» legend('Position','Velocity');
8
Position
Velocity
6
Velocity (m/s)
Position in terms of 4

angle (rad) 2

-2

-4

-6

-8
0 1 2 3 4 5 6 7 8 9 10

AAiT 98 March, 2015

 [ Plotting the Output ]

• Or we can plot in the phase plane:

» plot(x(:,1),x(:,2));
» xlabel('Position');
» yLabel('Velocity');
• The phase plane is just a plot of one variable versus the
other:
8

4
Velocity is greatest
2 when theta=0
0

-2

Velocity=0 when -4

theta is the greatest -6

-8
-3 -2 -1 0 1 2 3
Position

AAiT 99 March, 2015

 [ ODE Solvers: Custom Options ]

• MATLAB's ODE solvers use a variable timestep

• Sometimes a fixed timestep is desirable
» [t,y]=ode45('chem',[0:0.001:0.5],[0 1]);
 Specify the timestep by giving a vector of times
 The function value will be returned at the specified points
 Fixed timestep is usually slower because function values
are interpolated to give values at the desired timepoints

• You can customize the error tolerances using odeset

» options=odeset('RelTol',1e-6,'AbsTol',1e-10);
» [t,y]=ode45('chem',[0 0.5],[0 1],options);
 This guarantees that the error at each step is less than
RelTol times the value at that step, and less than AbsTol
 Decreasing error tolerance can considerably slow the solver
 See doc odeset for a list of options you can customize
AAiT 100 March, 2015
 Introduction to Matlab

Part 3

Images, Animations, Advanced Methods

AAiT 101 March, 2015

 Outline

(1) Probability and Statistics

(2) Data Structures
(3) Images and Animation
(4) Debugging

AAiT 102 March, 2015

 [ Statistics]

• Whenever analyzing data, you have to compute statistics

» scores = 100*rand(1,100);

• Built-in functions
 mean, median, mode

• To group data into a histogram
» hist(scores,5:10:95);
 makes a histogram with bins centered at 5, 15, 25…95
» N=histc(scores,0:10:100);
 returns the number of occurrences between the specified
bin edges 0 to <10, 10 to <20…90 to <100. you can plot
these manually:
» bar(0:10:100,N,'r')

AAiT 103 March, 2015

 [ Random Numbers ]

• Many probabilistic processes rely on random numbers

• MATLAB contains the common distributions built in

» rand
 draws from the uniform distribution from 0 to 1
» randn
 draws from the standard normal distribution (Gaussian)
» random
 can give random numbers from many more distributions
 see doc random for help
 the docs also list other specific functions
• You can also seed the random number generators
» rand('state',0); rand(1); rand(1);
rand('state',0); rand(1);

AAiT 104 March, 2015

 [ Changing Mean and Variance ]

• We can alter the given distributions

» y=rand(1,100)*10+5;
 gives 100 uniformly distributed numbers between 5 and 15
» y=floor(rand(1,100)*10+6);
 gives 100 uniformly distributed integers between 10 and
15. floor or ceil is better to use here than round
400

350

» y=randn(1,1000)
300

250

200

» y2=y*5+8 150

100

 increases std to 5 and makes the mean 8 50

0
-25 -20 -15 -10 -5 0 5 10 15 20 25

90

80

70

60

50

40

30

20

10

0
-25 -20 -15 -10 -5 0 5 10 15 20 25

AAiT 105 March, 2015

 Outline

(1) Probability and Statistics

(2) Data Structures
(3) Images and Animation
(4) Debugging

AAiT 106 March, 2015

 [ Advanced Data Structures ]

• We have used 2D matrices

 Can have n-dimensions
 Every element must be the same type (ex. integers,
doubles, characters…)
 Matrices are space-efficient and convenient for calculation
 Large matrices with many zeros can be made sparse:
» a=zeros(100); a(1,3)=10;a(21,5)=pi; b=sparse(a);

• Sometimes, more complex data structures are more

appropriate
 Cell array: it's like an array, but elements don't have to
be the same type
 Structs: can bundle variable names and values into one
structure
– Like object oriented programming in MATLAB

AAiT 107 March, 2015

 [ Cells: organization ]

• A cell is just like a matrix, but each field can contain

anything (even other matrices):

3x3 Matrix 3x3 Cell Array

2
J o h n
1.2 -3 5.5 4
32
-2.4 15 -10
M a r y 27 1
7.8 -1.1 4 18

L e o []

• One cell can contain people's names, ages, and the ages of
their children
• To do the same with matrices, you would need 3 variables
and padding
AAiT 108 March, 2015
 [ Cells: initialization ]

• To initialize a cell, specify the size

» a=cell(3,10);
 a will be a cell with 3 rows and 10 columns

• or do it manually, with curly braces {}
» c={'hello world',[1 5 6 2],rand(3,2)};
 c is a cell with 1 row and 3 columns

• Each element of a cell can be anything

• To access a cell element, use curly braces {}

» a{1,1}=[1 3 4 -10];
» a{2,1}='hello world 2';
» a{1,2}=c{3};

AAiT 109 March, 2015

 [ Structs ]

• Structs allow you to name and bundle relevant variables

 Like C-structs, which are objects with fields

• To initialize an empty struct:
» s=struct([]);
 size(s) will be 1x1
 initialization is optional but is recommended when using large
structs
• To add fields
» s.name = 'Jack Bauer';
» s.scores = [95 98 67];
» s.year = 'G3';
 Fields can be anything: matrix, cell, even struct
 Useful for keeping variables together

• For more information, see doc struct
AAiT 110 March, 2015
 [ Struct Arrays ]

• To initialize a struct array, give field, values pairs

» ppl=struct('name',{'John','Mary','Leo'},...
'age',{32,27,18},'childAge',{[2;4],1,[]});
 size(s2)=1x3
 every cell must have the same size
» person=ppl(2);
 person is now a struct with fields name, age, children
 the values of the fields are the second index into each cell
» person.name
 returns 'Mary' (3)
» ppl(1).age
 returns 32 'John' 'Mary' 'Leo'
32 27 18
[2;4] 1 []
AAiT 111 March, 2015
 [ Structs: access ]

• To access 1x1 struct fields, give name of the field

» stu=s.name;
» scor=s.scores;
 1x1 structs are useful when passing many variables to a
function. put them all in a struct, and pass the struct

• To access nx1 struct arrays, use indices

» person=ppl(2);
 person is a struct with name, age, and child age
» personName=ppl(2).name;
 personName is 'Mary'
» a=[ppl.age];
 a is a 1x3 vector of the ages; this may not always work,
the vectors must be able to be concatenated.
AAiT 112 March, 2015
 Outline

(1) Probability and Statistics

(2) Data Structures
(3) Images and Animation
(4) Debugging

AAiT 113 March, 2015

 [ Figure Handles ]
• Every graphics object has a handle
» L=plot(1:10,rand(1,10));
 gets the handle for the plotted line
» A=gca;
 gets the handle for the current axis
» F=gcf;
 gets the handle for the current figure
• To see the current property values, use get
» get(L);
» yVals=get(L,'YData');
• To change the properties, use set
» set(A,'FontName','Arial','XScale','log');
» set(L,'LineWidth',1.5,'Marker','*');
• Everything you see in a figure is completely customizable
through handles
AAiT 114 March, 2015
 [ Reading/Writing Images ]

• Images can be imported into matlab

» im=imread('myPic.jpg');

• MATLAB supports almost all image formats

 jpeg, tiff, gif, bmp, png, hdf, pcx, xwd, ico, cur, ras, pbm,
pgm, ppm
 see help imread for a full list and details

• To write an image, give an rgb matrix or indices and
colormap
» imwrite(rand(300,300,3),'test1.jpg');
» imwrite(ceil(rand(200)*256),jet(256),...
'test2.jpg');
 see help imwrite for more options

AAiT 115 March, 2015

 [ Animations ]

• MATLAB makes it easy to capture movie frames and play

them back automatically
• The most common movie formats are:
 avi
 animated gif
• Avi
 good when you have „natural‟ frames with lots of colors and
few clearly defined edges
• Animated gif
 Good for making movies of plots or text where only a few
colors exist (limited to 256) and there are well-defined
lines

AAiT 116 March, 2015

 [ Making Animations ]

• Plot frame by frame, and pause in between

» close all
» for t=1:30
» imagesc(rand(200));
» colormap(gray);
» pause(.5);
» end
• Can also use drawnow instead of pause
• When plotting lines or points, it's faster to change the
xdata and ydata properties rather than plotting each time
» h=plot(1:10,1:10);
» set(h,'ydata',10:1);

AAiT 117 March, 2015

 [ Saving Animations as Movies ]

• A movie is a series of captured frames

» close all
» for n=1:30
» imagesc(rand(200));
» colormap(gray);
» M(n)=getframe;
» end
• To play a movie in a figure window
» movie(M,2,30);
 Loops the movie 2 times at 30 frames per second
• To save as an .avi file on your hard drive
» movie2avi(M,'testMovie.avi','FPS',30, ...
'compression', 'cinepak');
• See doc movie2avi for more information
AAiT 118 March, 2015
 [ Making Animated GIFs ]

• You can use imwrite to save an animated GIF. Below is a

trivial example

» temp=ceil(rand(300,300,1,10)*256);
» imwrite(temp,jet(256),'testGif.gif',...
'delaytime',0.1,'loopcount',100);

• Alternatively, you can use getframe, frame2im, and

rgb2ind to convert any plotted figure to an indexed image
and then stack these indexed images into a 4-D matrix and
pass them to imwrite. Read the doc on imwrite and these
other functions to figure out how to do this.

AAiT 119 March, 2015

 Outline

(1) Probability and Statistics

(2) Data Structures
(3) Images and Animation
(4) Debugging

AAiT 120 March, 2015

 [ display ]

• When debugging functions, use disp to print messages

» disp('starting loop')
» disp('loop is over')
 disp prints the given string to the command window



• It's also helpful to show variable values
» disp(strcat(['loop iteration ',num2str(n)]));
 strcat concatenates the given strings
 Sometimes it's easier to just remove some semicolons

AAiT 121 March, 2015

 [ Debugging ]
• To use the debugger, set breakpoints
 Click on – next to line numbers in MATLAB files
 Each red dot that appears is a breakpoint
 Run the program
 The program pauses when it reaches a breakpoint
 Use the command window to probe variables
 Use the debugging buttons to control debugger




Clear breakpoint Stop execution; exit

Step to next
Two breakpoints

Where the program is now

AAiT 122 March, 2015
 [ Performance Measures ]

• It can be useful to know how long your code takes to run

 To predict how long a loop will take
 To pinpoint inefficient code

• You can time operations using tic/toc:
» tic
» CommandBlock1
» a=toc;
» CommandBlock2
» b=toc;
 tic resets the timer
 Each toc returns the current value in seconds
 Can have multiple tocs per tic

AAiT 123 March, 2015

 [ Performance Measures ]

• For more complicated programs, use the profiler

» profile on
 Turns on the profiler. Follow this with function calls
» profile viewer
 Displays gui with stats on how long each subfunction took











AAiT 124 March, 2015

 Introduction to Matlab

Part 5

File I/O, Symbolic Math, Graphical User

Interfaces

AAiT 125 March, 2015

 Outline

(1) Symbolic Math

(2) File I/O
(3) Graphical User Interfaces

AAiT 126 March, 2015

 [ Symbolic Math Toolbox ]

• Don‟t do nasty calculations by hand!

• Symbolics vs. Numerics

Advantages Disadvantages

Symbolic •Analytical solutions •Sometimes can't be

•Lets you intuit solved
things about •Can be overly
solution form complicated
Numeric •Always get a •Hard to extract a
solution deeper understanding
•Can make solutions •Num. methods
accurate sometimes fail
•Easy to code •Can take a while to
compute

AAiT 127 March, 2015

 [ Symbolic Variables ]

• Symbolic variables are a type, like double or char

• To make symbolic variables, use sym

» a=sym('1/3');
» b=sym('4/5');
» mat=sym([1 2;3 4]);
 fractions remain as fractions
» c=sym('c','positive');
 can add tags to narrow down scope
 see help sym for a list of tags

• Or use syms
» syms x y real
 shorthand for x=sym('x','real'); y=sym('y','real');
AAiT 128 March, 2015
 [ Symbolic Expressions ]

• Multiply, add, divide expressions

» d=a*b
 does 1/3*4/5=4/15;

» expand((a-c)^2);
 multiplies out

» factor(ans)
 factors the expression

» matInv=inv(mat)
 Computes inverse symbolically

AAiT 129 March, 2015

 [ Cleaning up Symbolic Statements ]

» pretty(ans)
 makes it look nicer

» collect(3*x+4*y-1/3*x^2-x+3/2*y)
 collects terms

» simplify(cos(x)^2+sin(x)^2)
 simplifies expressions

» subs(‘c^2’,c,5) ans=
25
 Replaces variables with numbers
or expressions. To do multiple substitutions
pass a cell of variable names followed by a cell of values
» subs(‘c^2’,c,x/7) ans=
1/49*x^2
AAiT 130 March, 2015
 [ More Symbolic Operations ]

• We can do symbolics with matrices too

» mat=sym('[a b;c d]');

» mat2=mat*[1 3;4 -2];

 compute the product
» d=det(mat)
 compute the determinant
» i=inv(mat)
 find the inverse

• You can access symbolic matrix elements as before
» i(1,2)

AAiT 131 March, 2015

 Outline

(1) Symbolic Math

(2) File I/O
(3) Graphical User Interfaces

AAiT 132 March, 2015

 [ Making GUIs ]
• It's really easy to make a graphical user interface in
MATLAB
• To open the graphical user interface development
environment, type guide
» guide
 Select Blank GUI











AAiT 133 March, 2015

 [ Draw the GUI ]
• Select objects from the left, and draw them where you
want them

AAiT 134 March, 2015

 [ Change Object Settings ]
• Double-click on objects to open the Inspector. Here you can
change all the object's properties.

AAiT 135 March, 2015

 [ Save the GUI ]
• When you have modified all the properties, you can save
the GUI
• MATLAB saves the GUI as a .fig file, and generates an
MATLAB file!

AAiT 136 March, 2015

 [ Add Functionality to MATLAB file ]
• To add functionality to your buttons, add commands to the
'Callback' functions in the MATLAB file. For example, when
the user clicks the Draw Image button, the
drawimage_Callback function will be called and executed
• All the data for the GUI is stored in the handles, so use set
and get to get data and change it if necessary
• Any time you change the handles, save it using guidata
» guidata(handles.Figure1,handles);

AAiT 137 March, 2015

 [ Running the GUI ]
• To run the GUI, just type its name in the command window
and the GUI will pop up. The debugger is really helpful for
writing GUIs because it lets you see inside the GUI

AAiT 138 March, 2015

 Introduction to Simulink

AAiT 139 March, 2015

 SIMULINK
• Interactive graphical environment
• Block diagram based MATLAB add-on environment
• Design, simulate, implement, and test control, signal
processing, communications, and other time-varying
systems

AAiT 140 March, 2015

 [ Getting Started ]
• In MATLAB,
Start Simulink

• Create a new
Simulink file,
similar to how
you make a new
script

AAiT 141 March, 2015

 [ Simulink Library Browser ]
• The Library Browser contains various blocks that you can
put into your model
• Examine some blocks:
 Click on a library: “Sources”
– Drag a block into Simulink: “Band limited white noise”
 Visualize the block by going into “Sinks”
– Drag a “Scope” into Simulink

AAiT 142 March, 2015

 [ Connections ]
• Click on the carat/arrow on the right of the band
limited white noise box

• Drag the line to the scope

 You‟ll get a hint saying you can quickly connect
blocks by hitting Ctrl
 Connections between lines represent signals


• Click the play button

• Double click on the scope.

 This will open up a chart of the variable over the
simulation time

AAiT 143 March, 2015

 [ Connections, Block Specification ]
• To split connections, hold down „Ctrl‟ when clicking on a
connection, and drag it to the target block; or drag
backwards from the target block
• To modify properties of a block, double-click it and fill in
the property values.

.
AAiT 144 March, 2015
 [ Behind the curtain ]
• Go to “Simulation”->”Configuration Parameters”
at the top menu
See ode45? Change the solver type here

AAiT 145 March, 2015

 Exercise: Simulink

• Take your white noise signal, and split it into high

frequency and low frequency components. Use the
Transfer Function block from Continuous and use these
transfer functions:
1 0.1s
LP = HP =
0.1s +1 0.1s +1
• Hook up scopes to the input and the two outputs
• Send the two outputs to the workspace by using the to
Workspace block from Sink

AAiT 146 March, 2015

 Exercise: Simulink
• The diagram should look like this. To change the transfer
function parameters, double click the blocks and specify
the numerator and denominator as polynomials in s
(remember how we defined polynomial vectors before)

AAiT 147 March, 2015

 Exercise: Simulink

• After running the simulation, double-clicking the scopes will

show:

Input
Low pass

High Pass

AAiT 148 March, 2015

 [ Toolboxes ]

• Math
 Takes the signal and performs a math operation
» Add, subtract, round, multiply, gain, angle
• Continuous
 Adds differential equations to the system
» Integrals, Derivatives, Transfer Functions,
State Space
• Discontinuities
 Adds nonlinearities to your system
• Discrete
 Simulates discrete difference equations
 Useful for digital systems

AAiT 149 March, 2015

 [ Building systems ]

• Sources
» Step input, white noise, custom input, sine
wave, ramp input,
 Provides input to your system
• Sinks
» Scope: Outputs to plot
» simout: Outputs to a MATLAB vector on workspace
» MATLAB mat file

AAiT 150 March, 2015

 The End

AAiT 151 March, 2015

AAiT 152 March, 2015