System Simulation Techniques with MATLAB and Simulink

485 Pages·2013·33.97 MB·English

by  Dingyü Xue

System Simulation
Techniques
with
® ®
MATLAB Simulink
and
Dingyü Xue
YangQuan Chen

SYSTEM SIMULATION
TECHNIQUES WITH
MATLAB® AND SIMULINK®

SYSTEM SIMULATION
TECHNIQUES WITH
MATLAB® AND SIMULINK®
Dingyu¨ Xue
NortheasternUniversity,China
YangQuanChen
UniversityofCalifornia,Merced,USA
Thiseditionfirstpublished2014
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LibraryofCongressCataloging-in-PublicationData
Xue,Dingyu¨.
SystemsimulationtechniqueswithMATLABandSimulink/Dingyu¨Xue,YangQuanChen.
1onlineresource.
Includesbibliographicalreferencesandindex.
DescriptionbasedonprintversionrecordandCIPdataprovidedbypublisher;resourcenotviewed.
ISBN978-1-118-69435-0(AdobePDF)–ISBN978-1-118-69437-4(ePub)–ISBN978-1-118-64792-9(cloth)
1.Systemanalysis–Dataprocessing. 2.Computersimulation. 3.MATLAB. 4.SIMULINK. I.Chen,YangQuan,
1966– II.Title.
T57.62
620.00285(cid:3)53–dc23
2013025348
AcataloguerecordforthisbookisavailablefromtheBritishLibrary.
ISBN:978-1-118-64792-9
Typesetin10/12ptTimesbyAptaraInc.,NewDelhi,India
1 2014
Contents
Foreword xiii
Preface xv
1 IntroductiontoSystemSimulationTechniquesandApplications 1
1.1 OverviewofSystemSimulationTechniques 1
1.2 DevelopmentofSimulationSoftware 2
1.2.1 DevelopmentofEarlierMathematicsPackages 2
1.2.2 DevelopmentofSimulationSoftwareandLanguages 4
1.3 IntroductiontoMATLAB 5
1.3.1 BriefHistoryoftheDevelopmentofMATLAB 5
1.3.2 CharacteristicsofMATLAB 6
1.4 StructureoftheBook 7
1.4.1 StructureoftheBook 7
1.4.2 CodeDownloadandInternetResources 8
1.4.3 FontsUsedinthisBook 8
Exercises 9
References 9
2 FundamentalsofMATLABProgramming 11
2.1 MATLABEnvironment 11
2.1.1 MATLABInterface 11
2.1.2 MATLABOn-lineHelpandDocumentation 11
2.2 DataTypesinMATLAB 13
2.2.1 ConstantsandVariables 13
2.2.2 StructureofMATLABStatements 13
2.2.3 MatrixRepresentationinMATLAB 14
2.2.4 Multi-dimensionalArrays 15
2.3 MatrixComputationsinMATLAB 16
2.3.1 AlgebraicComputation 16
2.3.2 LogicalOperations 19
2.3.3 ComparisonsandRelationships 20
2.3.4 DataTypeConversion 20
2.4 FlowStructures 21
2.4.1 LoopStructures 21
2.4.2 ConditionalStructures 22
2.4.3 Switches 23
2.4.4 TrialStructure 23
vi Contents
2.5 ProgrammingandTacticsofMATLABFunctions 23
2.5.1 StructuresofMATLABFunctions 24
2.5.2 HandlingVariableNumbersofArguments 26
2.5.3 DebuggingofMATLABFunctions 26
2.5.4 PseudoCodes 27
2.6 Two-dimensionalGraphicsinMATLAB 27
2.6.1 BasicTwo-dimensionalGraphics 28
2.6.2 PlottingFunctionswithOtherOptions 29
2.6.3 LabelingMATLABGraphics 30
2.6.4 AddingTextsandOtherObjectstoPlots 30
2.6.5 OtherGraphicsFunctionswithApplications 31
2.6.6 PlottingImplicitFunctions 32
2.7 Three-dimensionalGraphics 33
2.7.1 Three-dimensionalCurves 33
2.7.2 SurfacePlots 35
2.7.3 LocalProcessingofGraphics 36
2.8 GraphicalUserInterfaceDesigninMATLAB 36
2.8.1 GraphicalUserInterfaceTool–Guide 37
2.8.2 HandleGraphicsandPropertiesofObjects 38
2.8.3 MenuSystemDesign 43
2.8.4 IllustrativeExamplesinGUIDesign 43
2.8.5 ToolbarDesign 48
2.8.6 EmbeddingActiveXComponentsinGUIs 51
2.9 AcceleratingMATLABFunctions 52
2.9.1 ExecutionTimeandProfilesofMATLABFunctions 52
2.9.2 SuggestionsforAcceleratingMATLABFunctions 53
2.9.3 MexInterfaceDesign 55
Exercises 60
References 63
3 MATLABApplicationsinScientificComputations 65
3.1 AnalyticalandNumericalSolutions 66
3.2 SolutionstoLinearAlgebraProblems 67
3.2.1 InputtingSpecialMatrices 67
3.2.2 MatrixAnalysisandComputation 69
3.2.3 InverseandPseudoInverseofMatrices 72
3.2.4 SimilarityTransformandDecompositionofMatrices 74
3.2.5 EigenvaluesandEigenvectorsofMatrices 78
3.2.6 SolutionofMatrixEquations 79
3.2.7 NonlinearMatrixFunctions 83
3.3 SolutionsofCalculusProblems 85
3.3.1 AnalyticalSolutionstoCalculusProblems 85
3.3.2 NumericalDifferenceandDifferentiation 87
3.3.3 NumericalIntegration 89
3.3.4 NumericalMultipleIntegration 90
3.4 SolutionsofOrdinaryDifferentialEquations 91
3.4.1 NumericalMethodsofOrdinaryDifferentialEquations 91
3.4.2 MATLABSolutionstoODEProblems 92
Contents vii
3.4.3 ConversionofODESets 99
3.4.4 ValidationofNumericalODESolutions 101
3.4.5 SolutionstoDifferentialAlgebraicEquations 102
3.4.6 SolutionstoLinearStochasticDifferentialEquations 104
3.4.7 AnalyticalSolutionstoODEs 107
3.4.8 NumericalLaplaceTransformsinODESolutions 108
3.5 NonlinearEquationSolutionsandOptimization 110
3.5.1 SolutionsofNonlinearEquations 110
3.5.2 SolutionstoNonlinearEquationswithMultipleSolutions 113
3.5.3 UnconstrainedOptimization 116
3.5.4 LinearProgramming 117
3.5.5 QuadraticProgramming 118
3.5.6 GeneralNonlinearProgramming 118
3.5.7 GlobalSearchMethodsinOptimizationProblems 120
3.6 DynamicProgramminganditsApplicationsinPathPlanning 120
3.6.1 MatrixRepresentationofGraphs 120
3.6.2 OptimalPathPlanningofOrientedGraphs 121
3.6.3 OptimalPathPlanningofGraphs 123
3.7 DataInterpolationandStatisticalAnalysis 124
3.7.1 InterpolationofOne-dimensionalData 124
3.7.2 InterpolationofTwo-dimensionalData 126
3.7.3 LeastSquaresCurveFitting 129
3.7.4 DataSorting 129
3.7.5 FastFourierTransform 130
3.7.6 DataAnalysisandStatistics 131
Exercises 136
References 142
4 MathematicalModelingandSimulationwithSimulink 145
4.1 BriefDescriptionoftheSimulinkBlockLibrary 146
4.1.1 SignalSources 147
4.1.2 ContinuousBlocks 148
4.1.3 Discrete-timeBlocks 150
4.1.4 LookupTableBlocks 151
4.1.5 User-definedFunctions 151
4.1.6 MathBlocks 152
4.1.7 LogicandBitOperationBlocks 153
4.1.8 NonlinearityBlocks 153
4.1.9 OutputBlocks 154
4.1.10 SignalRelatedBlocks 155
4.1.11 PortsandSubsystemBlocks 156
4.1.12 CommonlyUsedBlocks 156
4.1.13 OtherToolboxesandBlocksets 157
4.2 SimulinkModeling 159
4.2.1 EstablishingaModelWindow 159
4.2.2 ConnectingandSimpleManipulationofBlocks 159
4.2.3 ParameterModificationinBlocks 162
viii Contents
4.3 ModelManipulationandSimulationAnalysis 164
4.3.1 ModelCreationandFundamentalModelingSkills 164
4.3.2 ModelExplorer 165
4.3.3 On-lineHelpSysteminSimulink 167
4.3.4 OutputandPrintingofSimulinkModels 168
4.3.5 SimulinkEnvironmentSetting 168
4.3.6 DebuggingToolsofSimulinkModels 171
4.4 IllustrativeExamplesofSimulinkModeling 172
4.5 Modeling,SimulationandAnalysisofLinearSystems 180
4.5.1 ModelingofLinearSystems 180
4.5.2 AnalysisInterfaceforLinearSystems 182
4.6 SimulationofContinuousNonlinearStochasticSystems 184
4.6.1 SimulationofRandomSignalsinSimulink 184
4.6.2 StatisticalAnalysisofSimulationResults 185
Exercises 188
References 191
5 CommonlyUsedBlocksandIntermediate-levelModelingSkills 193
5.1 CommonlyUsedBlocksandModelingSkills 193
5.1.1 ExamplesofVectorizedBlocks 193
5.1.2 SignalsLabelinginSimulinkModels 195
5.1.3 AlgebraicLoopanditsEliminationinSimulinkModels 197
5.1.4 Zero-crossingDetectionandSimulationofSimulinkModels 201
5.2 ModelingandSimulationofMultivariableLinearSystems 202
5.2.1 ModelingStateSpaceMultivariableSystems 202
5.2.2 MultivariableSystemModelingwithControlSystemToolbox 205
5.3 NonlinearComponentswithLookupTableBlocks 209
5.3.1 Single-valuedNonlinearities 209
5.3.2 Multi-valuedNonlinearitieswithMemories 211
5.3.3 Multi-dimensionalLookupTableBlocks 215
5.3.4 CodeRealizationofStaticNonlinearities 216
5.4 BlockDiagramBasedSolutionsofDifferentialEquations 217
5.4.1 OrdinaryDifferentialEquations 218
5.4.2 DifferentialAlgebraicEquations 219
5.4.3 DelayedDifferentialEquations 221
5.4.4 SwitchingDifferentialEquations 224
5.4.5 Fractional-orderDifferentialEquations 225
5.5 OutputBlockLibrary 226
5.5.1 OutputBlockGroup 227
5.5.2 ExamplesofOutputBlocks 229
5.5.3 ModelParameterDisplayandModelBrowser 233
5.5.4 GaugeDisplayofSignals 234
5.5.5 DigitalSignalProcessingOutputs 237
5.6 Three-dimensionalAnimationofSimulationResults 238
5.6.1 FundamentalsofVirtualReality 238
5.6.2 V-realmSoftwareandWorldModeling 239
5.6.3 BrowsingVirtualRealityWorldwithMATLAB 242
5.6.4 VirtualRealityWorldDrivenbySimulinkModels 243