MATLAB Solutions - Part 2

Telemark University College
Department of Electrical Engineering, Information Technology and Cybernetics
Solutions
So You Think You Can
MATLAB
HANS-PETTER HALVORSEN, 2013.08.19
Part II: Modelling, Simulation and Control
Faculty of Technology, Postboks 203, Kjlnes ring 56, N-3901 Porsgrunn, Norway. Tel: +47 35 57 50 00 Fax: +47 35 57 54 01
Table of Contents
1
Introduction .................................................................................................................................... 3
Differential Equations and ODE Solvers ......................................................................................... 4
Numerical Techniques .................................................................................................................. 11
Optimization ................................................................................................................................. 27
Control System Toolbox................................................................................................................ 31
Transfer Functions ........................................................................................................................ 32
State-Space Models ...................................................................................................................... 52
Discrete Systems ........................................................................................................................... 58
Frequency Response ..................................................................................................................... 61
10
Additional Tasks ............................................................................................................................ 76
MATLAB Course, Part II - Solutions
1 Introduction
No Tasks
2 Differential Equations and

ODE Solvers
Task 1:
Bacteria Population
In this task we will simulate a simple model of a bacteria population in a jar.

The model is as follows:
birth rate=bx
death rate = px2
Then the total rate of change of bacteria population is:
Set b=1/hour and p=0.5 bacteria-hour

Simulate the number of bacteria in the jar after 1 hour, assuming that initially there are 100
bacteria present.
[End of Task]
Solution:
We define the function for the differential equation:
function dx = bacteriadiff(t,x)
% My Simple Differential Equation
b=1;
p=0.5;
dx = b*x - p*x^2;
We create a script to solve the differential equation using a ode function:
tspan=[0 1];
x0=100;
[t,y]=ode45(@bacteriadiff, tspan,x0);
4
Differential Equations and ODE Solvers
plot(t,y)
The result becomes:
Task 2:
Passing Parameters to the model
Given the following system:
where
,where
is the time constant
In this case we want to pass a and b as parameters, to make it easy to be able to change values for
these parameters
We set initial condition
and
The function for the differential equation is:

function dx = mysimplediff(t,x,param)
% My Simple Differential Equation
a=param(1);
b=param(2);
dx=a*x+b;
Then we solve and plot the equation using this code:
tspan=[0 25];
x0=1;
a=-1/5;
b=1;
param=[a b];
[t,y]=ode45(@mysimplediff, tspan, x0,[], param);
plot(t,y)
By doing this, it is very easy to changes values for the parameters a and b.
Note! We need to use the 5.argument in the ODE solver function for this. The 4.argument is for
special options and is normally set to [], i.e., no options.
The result from the simulation is:
Write the code above

Read more about the different solvers that exists in the Help system in MATLAB
[End of Task]
Task 3:
ODE Solvers
Use the ode23 function to solve and plot the results of the following differential equation in the
interval
:
[End of Task]
Solution:
We start by rewriting the differential equation:
This gives:
function dw = diff_task3(t,w)
dw = -(1.2 + sin(10*t))*w;
The Script for solving the equation:

tspan=[0 5];
w0=1;
[t,w]=ode23(@diff_task3, tspan, w0);
plot(t,w)
This gives:
Task 4:
2.order differential equation
Use the ode23/ode45 function to solve and plot the results of the following differential equation in
the interval
:
(
Note! Higher order differential equations must be reformulated into a system of first order
differential equations.
is alone on the left side.
Tip 1: Reformulate the differential equation so

Tip 2: Set:
[End of Task]
Solution:
First we rewrite like this:
In order to solve it using the ode functions in MATLAB it has to be a set with 1.order odes.
So we set:
This gives:
Now we can use MATLAB to solve the equations:

function dx = diff_secondorder(t,x)
[m,n] = size(x);
dx = zeros(m,n)
dx(1) = x(2);
dx(2) = (2-2*t*x(2)-3*x(1))/(1+t^2);
and:
tspan=[0 5];
x0=[0; 1];
[t,x]=ode23(@diff_secondorder, tspan, x0);
plot(t,x)
legend('x1','x2')
This gives:
if we want to plot only
we can use
plot(t,x(:,1))
Like this:
tspan=[0 5];
x0=[0; 1];
[t,x]=ode23(@diff_secondorder, tspan, x0);
plot(t, x(:,2))
This gives:
10
So the solution to:

(
is the plot above.
3 Numerical Techniques
Task 5:
Interpolation
Given the following data:

Temperature, T [ oC]
100
150
200
250
300
400
500
Energy, u [KJ/kg]
2506.7
2582.8
2658.1
2733.7
2810.4
2967.9
3131.6
Plot u versus T. Find the interpolated data and plot it in the same graph. Test out different
interpolation types.
What is the interpolated value for u=2680.78 KJ/kg?
[End of Task]
Solution:
MATLAB Script:
T = [100, 150, 200, 250, 300, 400, 500];
u=[2506.7, 2582.8, 2658.1, 2733.7, 2810.4, 2967.9, 3131.6];
figure(1)
plot(u,T, '-o')
% Find interpolated value for u=2680.78

new_u=2680.78;
interp1(u, T, new_u)
%Spline
new_u = linspace(2500,3200,length(u));
new_T = interp1(u, T, new_u, 'spline');
figure(2)
plot(u,T, new_u, new_T, '-o')
The interpolated value for u=2680.78 KJ/kg is:
11
12
Numerical Techniques
ans =
215.0000
i., for
we get
The plot becomes:
For spline, cubic we get almost the same:
This is because the points listed above are quite linear in their nature.
13
Task 6:
Linear Regression

Temperature, T [ oC]
100
150
200
250
300
400
500
Energy, u [KJ/kg]
2506.7
2582.8
2658.1
2733.7
2810.4
2967.9
3131.6
Plot u versus T.
Find the linear regression model from the data
Plot it in the same graph.

[End of Task]
Solution:
MATLAB Script:
T = [100, 150, 200, 250, 300, 400, 500];
u=[2506.7, 2582.8, 2658.1, 2733.7, 2810.4, 2967.9, 3131.6];
n=1; % 1.order polynomial(linear regression)
p=polyfit(u,T,n);
a=p(1)
b=p(2),
x=u;
ymodel=a*x+b;
plot(u,T,'o',u,ymodel)
a=
0.6415
b=
-1.5057e+003
14
i., we get a polynomial
The Plot becomes:
Task 7:
Polynomial Regression

x
10
20
30
40
50
60
70
80
90
100
y
23
45
60
82
111
140
167
198
200
220
Use the polyfit and polyval functions in MATLAB and compare the models using different orders
of the polynomial.
Use subplots and make sure to add titles, etc.
[End of Task]
15
Solution:
MATLAB Script:
x=[10, 20, 30, 40, 50, 60, 70, 80, 90, 100];
y=[23, 45, 60, 82, 111, 140, 167, 198, 200, 220];
for n=2:5
p=polyfit(x,y,n);
ymodel=polyval(p,x)
subplot(2,2,n-1)
plot(x,y,'o',x,ymodel)
title(sprintf('Model of order %d', n));
end
The result is:
Task 8:
Model fitting

Height, h[ft] Flow, f[ft^3/s]
16
0
1.7
1.95
2.60
2.92
4.04
5.24
0
2.6
3.6
4.03
6.45
11.22
30.61
Create a 1. (linear), 2. (quadratic) and 3.order (cubic) model. Which gives the best model? Plot the
result in the same plot and compare them. Add xlabel, ylabel, title and a legend to the plot and use
different line styles so the user can easily see the difference.
[End of Task]
Solution:
MATLAB Script:
clear,
% Real
height
flow =
clc
Data
= [0, 1.7, 1.95, 2.60, 2.92, 4.04, 5.24];
[0, 2.6, 3.6, 4.03, 6.45, 11.22, 30.61];
new_height = 0:0.5:6; % generating new height values used to test the

model
%linear------------------------polyorder = 1; %linear
p1 = polyfit(height, flow, polyorder) % 1.order model
new_flow1 = polyval(p1,new_height); % We use the model to find new flow
values
%quadratic------------------------polyorder = 2; %quadratic
values
%cubic------------------------polyorder = 3; %cubic
values
%Plotting
%We plot the original data together with the model found for comparison
plot(height, flow, 'o', new_height, new_flow1, new_height, new_flow2,
new_height, new_flow3)
title('Model fitting')
xlabel('height')
ylabel('flow')
17
legend('real data', 'linear model', 'quadratic model', 'cubic model')

The result becomes:
p1 =
5.3862
p2 =
1.4982
p3 =
0.5378
-5.8380
-2.5990
1.1350
-2.6501
4.9412
-0.1001
Where p1 is the linear model (1.order), p2 is the quadratic model (2.order) and p3 is the cubic model
(3.order).
This gives:
1. order model:
2. order model:
3. order model:
We get the following plot:
18
Discussion:
As you see the cubic model (3.order) gives the best result, i.e., the cubic model fits the data best.
Task 9:
Numerical Differentiation
Given the following equation:
Find
analytically (use pen and paper).
Define a vector x from -5 to +5 and use the diff function to approximate the derivative y with respect
to x ( ).
Compare the data in a 2D array and/or plot both the exact value of
same plot.
Increase number of data point to see if there are any difference.
Do the same for the following functions:
and the approximation in the
19
[End of Task]
Solution:
Analytically solution:
MATLAB Script:
x = -5:1:5;
% Define the function y(x)
y = x.^3 + 2*x.^2 - x + 3;
% Plot the function y(x)
plot(x,y)
title('y')
% Find nummerical solution to dy/dx
dydx_num = diff(y)./diff(x);
dydx_exact = 3*x.^2 + 4.*x -1;
dydx = [[dydx_num, NaN]', dydx_exact']
% Plot nummerical vs analytical solution to dy/dx
figure(2)
plot(x,[dydx_num, NaN], x, dydx_exact)
title('dy/dx')
legend('numerical solution', 'analytical solution')
Plot of
20
Plot of
(Analytical vs. numerical solution):
The values are:

dydx =
42
54
21
22
8
0
-2
2
12
28
50
78
NaN
31
14
3
-2
-1
6
19
38
63
94
We do the same for the following functions:
The procedure is exactly the same and will not be shown here.
Task 10:
Differentiation on Polynomials
Consider the following equation:
Use Differentiation on the Polynomial to find

[End of Task]
Solution:
Analytically solution:
The MATLAB Script:

p=[1 2 -1 3]
22
polyder(p)
The solution is:
p =
1
-1
-1
ans =
3
Which is correct.
Task 11:
Differentiation on Polynomials
Find the derivative for the product:
Use the polyder(a,b) function.

Another approach is to use define is to first use the conv(a,b) function to find the total polynomial,
and then use polyder(p) function.
Try both methods, to see if you get the same answer.
[End of Task]
Solution:
MATLAB Script:
% Define the polynomials
p1 = [3 6 9];
p2 = [1 2];
% Method 1
polyder(p1,p2)
% Method 2
p = conv(p1,p2)
polyder(p)
The result is:
23
ans =
9
p =
3
ans =
9
24
21
12
21
24
21
18
As expected, the result are the same for the 2 methods used above.
Task 12:
Numerical Integration
Use diff, quad and quadl on the following equation:
Find the integral of y with respect to x, evaluated from -1 to 1

Compare the different methods.
The exact solution is:
)|
Compare the result with the exact solution.
Repeat the task for the following functions:
[End of Task]
Solution:
MATLAB Script:
clc
x = -1:0.1:1;
y = myfunc(x);
24
plot(x,y)
% Exact Solution
a=-1;
b=1;
Iab = 1/4*(b^4-a^4 )+2/3*(b^3-a^3 )-1/2*(b^2-a^2 )+3*(b-a)
% Method 1
avg_y = y(1:length(x)-1) + diff(y)/2;
A1 = sum(diff(x).*avg_y)
% Method 2
A2 = quad(@myfunc, -1,1)
% Method 3
A3 = quadl(@myfunc, -1,1)
Where the mathematical function is defined in the following function:
function y = myfunc(x)
y = x.^3 + 2*x.^2 - x + 3;
The plot of the function from -1 to 1 is as follows:
The result is:

Iab =
7.3333
A1 =
7.3400
25
A2 =
7.3333
A3 =
7.3333
The procedure is the same for

Repeat the task for the following functions:
and:
)|
The MATLAB Code is not shown, but the procedure is exactly the same for these functions.
Task 13:
Integration on Polynomials
Consider the following equation:
Find the integral of y with respect to x.

[End of Task]
Solution:
MATLAB Script:
p=[1 2 -1 3];
polyint(p)
The solution is:
ans =
26
0.2500
0.6667
-0.5000
3.0000
The solution s a new polynomial

[0.25, 0.67, -0.5, 3, 0]
or:
We know from a previous task that the exact solution is:
So wee se the answer is correct (as expected).
)|
4 Optimization
Task 14:
Optimization
Given the following function:
Plot the function

Find the minimum for this function
[End of Task]
Solution:
We plot the function:
MATLAB Code:
%Optimization
clear, clc
x = -3:0.1:3;
f = mysimplefunc2(x);
plot(x, f)
27
28
Optimization
[xmin,fmin]=fminbnd(@mysimplefunc2, -3, 3)
Where the function is defined like this:

function f = mysimplefunc2(x)
f = x.^3 - 4*x;
This gives:
xmin =
1.1547
fmin =
-3.0792
Task 15:
Optimization
Given the following function:
This function is known as Rosenbrock's banana function.

Plot the function
Find the minimum for this function
[End of Task]
Solution:
The function looks like this:
29
Optimization
The global minimum is inside a long, narrow, parabolic shaped flat valley. To find the valley is trivial.
To converge to the global minimum, however, is difficult.
MATLAB Script:
[x,fval] = fminsearch(@bananafunc, [-1.2;1])
Where the function is defined:
function f = bananafunc(x)
f = (1-x(1)).^2 + 100.*(x(2)-x(1).^2).^2;
This gives:
x=
1.0000
1.0000
fval =
8.1777e-010
It has a global minimum at
where
We can use the following script to plot the function:

clear,clc
30
Optimization
[x,y] = meshgrid(-2:0.1:2, -1:0.1:3);

f = (1-x).^2 + 100.*(y-x.^2).^2;
figure(1)
surf(x,y,f)
figure(2)
mesh(x,y,f)
figure(3)
surfl(x,y,f)
shading interp;
colormap(hot);
This gives:
5 Control System Toolbox

No Tasks
31
6 Transfer Functions
Task 16:
Transfer function
Use the tf function in MATLAB to define the transfer function above. Set K=2 and T=3.
Type help tf in the Command window to see how you use this function.
Example:
% Transfer function H=1/(s+1)
num=[1];
den=[1, 1];
H = tf(num, den)
[End of Task]
Solution:
Transfer function:
With values:
MATLAB Script:
% Transfer function H=K/(Ts+1)
K=2;
T=3;
num=[K];
den=[T, 1];
H = tf(num, den)
MATLAB responds:
Transfer function:
2
------32
33
Transfer Functions
3 s + 1
Task 17:
2. order Transfer function
Define the transfer function using the tf function.

Set
Plot the step response (use the step function in MATLAB) for different values of
follows:
[End of Task]
Solution:
Transfer function:
We then have that:
. Select
as
34
Transfer Functions
We can use:
s = tf('s')
This specifies the transfer function H(s) = s (Laplace variable).
You can then specify transfer functions directly as rational expressions in s, e.g.,
s = tf('s');
H = (s+1)/(s^2+3*s+1)
MATLAB Script (
):
clc
% Second order Transfer function
% H(s)=K/((s/?_0 )^2+2? s/?_0 +1)
% Define variables:
K=1;
35
Transfer Functions
w0=1;
zeta=1;
% Define Transfer function
s = tf('s');
H = K/((s/w0)^2 + 2*zeta*s/w0 + 1)
step(H)
The plot from the step response becomes (
We can easily change he value for
):
in the script, we can e.g., use
We can also modify the program using a For Loop:

clc
% H(s)=K/((s/?_0 )^2+2? s/?_0 +1)
% Define variables:
K=1;
w0=1;
for zeta=[-0.2, 0, 0.2, 1, 2]
36
Transfer Functions
s = tf('s');
H = K/((s/w0)^2 + 2*zeta*s/w0 + 1)
step(H)
pause
end
Task 18:
Time Response
Plot the time response for the transfer function using the step function. Let the time-interval be from
0 to 10 seconds, e.g., define the time vector like this:
t=[0:0.01:10]
and use step(H,t).
[End of Task]
Solution:
MATLAB Script:
% Define the transfer function
num=[1,1];
den=[1,-1,3];
H=tf(num,den);
% Define Time Interval
t=[0:0.01:10];
% Step Response
step(H,t);
Or use this method:

s = tf('s');
H = (s+1)/(s^2-s+3)
% Define Time Interval
t=[0:0.01:10];
% Step Response
step(H,t);
37
Transfer Functions
The Step response becomes:
We see the system is unstable (which we could see from the transfer function!)
Task 19:
Integrator
The transfer function for an Integrator is as follows:
Find the pole(s)

Plot the Step response: Use different values for
MATLAB.
, e.g.,
[End of Task]
Solution:
Pole(s):
The Integrator has a pole in origo:
. Use the step function in
38
Transfer Functions
Im(s)
Re(s)
In MATLAB you may use the pole function in order to find the poles.
% Integrator
clc
K=1;
num = K;
den = [1 0];
H = tf(num, den)
pole(H)
Step Response:
% Integrator
K=1
s = tf('s');
H = K/s
% Step Response
step(H);
or:
% Integrator
clc
K=1;
num = K;
den = [1 0];
H = tf(num, den)
% Step Response
step(H);
39
Transfer Functions
You can easily modify the program in order to try with different values for K. It is also easy to modify
the program using a For Loop, e.g.:
% Integrator
clc
for K = [0.2, 1, 5]
num = K;
den = [1 0];
H = tf(num, den)
% Step Response
step(H);
hold on
end
The plot becomes:
40
Transfer Functions
We can also find the mathematical expression for the step response (
Where
The Laplace Transformation pair for a step is as follows:
The step response of an integrator then becomes:
We use the following Laplace Transformation pair in order to find
Then we get:
41
Transfer Functions
- So we see that the step response of the integrator is a Ramp.

Conclusion: A bigger K will give a bigger slope (In Norwegian: stigningstall) and the integration will
go faster.
Task 20:
1. order system
The transfer function for a 1.order system is as follows:
Find the pole(s)

Plot the Step response. Use the step function in MATLAB.
Step response 1: Use different values for K, e.g., K=0.5, 1, 2. Set T=1
Step response 2: Use different values for T, e.g., T=0.2, 0.5, 1, 2, 4. Set K=1
[End of Task]
Solution:
Pole(s):
A 1.order system has a pole:
Im(s)
Re(s)
-1/T
In MATLAB you may use the pole function in order to find the poles.
Step Response:
MATLAB Script:
% 1.order system
clc
K=1;
T=1;
42
Transfer Functions
num = K;
den = [T 1];
H = tf(num, den)
pole(H)
% Step Response
step(H);
For K=1 and T=1 we get the following:

Transfer function:
1
----s + 1
ans =
-1
The pole is -1.
We can easily modify the program for other values for K and T.
Here is an example where we set K=0.5, 1, 2 (T=1):
43
Transfer Functions
% 1.order system
clc
t=[0:0.5:10];
T=1;
K=0.5;
num = K;
den = [T 1];
H1 = tf(num, den);
K=1;
num = K;
den = [T 1];
H2 = tf(num, den);
K=2;
num = K;
den = [T 1];
H3 = tf(num, den);
% Step Response
step(H1,H2,H3,t);
legend('K=0.5', 'K=1', 'K=2');
This gives the following plot:
We could also have used a simple For Loop for this.

Conclusion: K defines how much the input signal is amplified through the system.
44
Transfer Functions
Here is an example where we set T=0.2, 0.5, 1, 2, 4 (K=1):

MATLAB Code:
% 1.order system
clc
t=[0:0.5:10];
K=1;
T=0.2;
num = K;
den = [T 1];
H1 = tf(num, den);
T=0.5;
num = K;
den = [T 1];
H2 = tf(num, den);
T=1;
num = K;
den = [T 1];
H3 = tf(num, den);
T=2;
num = K;
den = [T 1];
H4 = tf(num, den);
% Step Response
step(H1,H2,H3,H4,t);
legend('T=0.2', 'T=0.5', 'T=1', 'T=2');
45
Transfer Functions
Coclusion: We see from Figure above that smaller T (Time constant) gives faster response.
Mathematical expression for the step response (
).
We compare the simulation results above with the mathematical expression for the step response
(
).
Where
We use inverse Laplace and find the corresponding transformation pair in order to find
gives:
We use the following Laplace transform pair:
This gives:
A simple sketch of step response is T (
):
. This
46
Transfer Functions
Task 21:
2. order system
The transfer function for a 2. Order system is as follows:
Where
is the gain
zeta is the relative damping factor
[rad/s] is the undamped resonance frequency.
Find the pole(s)

Plot the Step response: Use different values for
the step function in MATLAB.
, e.g.,
[End of Task]
Solution:
Poles:
Poles:
gives:
. Set
and K=1. Use
47
Transfer Functions
Step Response:
We then have that:
We create the following MATLAB Script in order to prove this:

clc
t=[0:0.5:10];
% Define variables:
K=1;
w0=1;
zeta=0.2;
num = K;
den = [(1/w0)^2, 2*zeta/w0, 1]
H1 = tf(num, den)
zeta=1;
48
Transfer Functions
num = K;
den = [(1/w0)^2, 2*zeta/w0, 1]
H2 = tf(num, den)
zeta=2;
num = K;
den = [(1/w0)^2, 2*zeta/w0, 1]
H3 = tf(num, den)
step(H1, H2, H3, t)
legend('zeta=0.2', 'zeta=1', 'zeta=')
This gives the following results:
Conclusion: We see the results are as expected.

gives a underdamped system
gives a critically damped system
gives a overdamped system
49
Transfer Functions
Task 22:
2. order system
Special case: When
and the poles are real and distinct we have:
We see that this system can be considered as two 1.order systems in series.
Set
and
Find the pole(s)
Plot the Step response. Set K=1. Set

,
,
function in MATLAB.
,
,
[End of Task]
Solution:
Poles:
The poles are:
Step Response:
,
. Use the step
50
Transfer Functions
We will find the mathematical expression for the step response (

from the simulations.
) in order to analyze the results
We use inverse Laplace and find the corresponding transformation pair in order to find
The step response for this system is:
Where
Then we get:
We use the following Laplace transform pair:
Then we get:
[
).
51
Transfer Functions
We see that the step response is a (weighted) sum of two exponential functions. The response will be
with no overshot and it will be overdamped, as shown in the simulations above.
7 State-Space Models
Task 23:
State-space model
Implement the following equations as a state-space model in MATLAB:
Find the Step Response

Find the transfer function from the state-space model using MATLAB code.
[End of Task]
Solution:
First we do:
We have that:
This gives:
[ ]
][ ]
[ ]
MATLAB Script:
% Define State-space model
A = [0 1; -1 -3];
52
][
53
State-Space Models
B = [0 0; 2 4];
C = [5 6];
D = [7 0];
sys = ss(A, B, C, D)
step(sys)
Step Response:
Note! This is a a MISO system (Multiple Input, Single Output).
The transfer function from the state-space model:

%
A
B
C
D
Define State-space model

= [0 1; -1 -3];
= [0 0; 2 4];
= [5 6];
= [7 0];
H = tf(sys)
The result becomes:
54
State-Space Models
Transfer function from input 1 to output:

7 s^2 + 33 s + 17
----------------s^2 + 3 s + 1
Transfer function from input 2 to output:
24 s + 20
------------s^2 + 3 s + 1
As you see we get 2 transfer functions because this is a MISO system (Multiple Input, Single Output).
You should also try the functions ss2tf and tf2ss.
Task 24:
Mass-spring-damper system
Given a mass-spring-damper system:
Where c=damping constant, m=mass, k=spring constant, F=u=force

The state-space model for the system is:
[ ]
][ ]
[ ]
[ ]
Define the state-space model above using the ss function in MATLAB.
Set c=1, m=1, k=50.
Apply a step in F (u) and use the step function in MATLAB to simulate the result.
Find the transfer function from the state-space model
55
State-Space Models
[End of Task]
Solution:
MATLAB Script:
clc
% Define variables
k = 50;
c = 1;
m = 1;
%
A
B
C
D

= [0 1; -k/m -c/m];
= [0; 1/m];
= [1 0];
= [0];
step(sys)
The result becomes:
Transfer function:
H = tf(sys)
56
State-Space Models
This gives:
Transfer function:
1
-----------s^2 + s + 50
Task 25:
Block Diagram
Find the state-space model from the block diagram below and implement it in MATLAB.
Set
And b=1, c=1

Simulate the system using the step function in MATLAB
[End of Task]
Solution:
A general state-space model:
57
State-Space Models
We get the following state-space model from the block diagram:
This gives:
[ ]
][ ]
[ ]
[ ]
Simulation:
8 Discrete Systems
Task 26:
Discretization
[ ]
][ ]
[ ]
Set some arbitrary values for
and
Find the discrete State-space model using MATLAB.

[End of Task]
Solution:
clc
% Define variables
k = 50;
c = 1;
m = 1;
%
A
B
C
D

= [0 1; -k/m -c/m];
= [0; 1/m];
= [1 0];
= [0];
Ts=0.1; % Sampling Time
sysd = c2d(sys, Ts);
A_disc
B_disc
C_disc
D_disc
=
=
=
=
sysd.A
sysd.B
sysd.C
sysd.D
This gives the following discrete system:

A_disc =
0.7680
-4.3715
0.0874
0.6805
58
[ ]
59
Discrete Systems
B_disc =
0.0046
0.0874
C_disc =
1
0
D_disc =
0
Note! We have to specify the sampling time when using the c2d function.
Task 27:
Discrete Simulation
In this task we will simulate a simple model of a bacteria population in a jar.

The model is as follows:
birth rate=bx
death rate = px2
Then the total rate of change of bacteria population is:
Set b=1/hour and p=0.5 bacteria-hour

We will simulate the number of bacteria in the jar after 1 hour, assuming that initially there are 100
bacteria present.
Find the discrete model using the Euler Forward method by hand and implement and simulate the
system in MATLAB using a For Loop.
[End of Task]
Solution:
We create a discrete model. and use Euler Forward differentiation method:
Where
is the Sampling Time.
We get:
This gives:
60
Discrete Systems
We implement the model in MATLAB:

clc
% Model Parameters
b = 1;
p = 0.5;
% Simulation Parameters
Ts=0.01;
x(1)=100;
k=1;
% Simulation Loop
for i=Ts:Ts:1
% Discrete model
x(k+1) = x(k) + Ts*(b.*x(k) - p*x(k).^2);
k=k+1;
end
% Plot the simulation results
i = 0:Ts:1;
plot(x, i)
The simulation result becomes:
9 Frequency Response
Task 28:
1. order system
We have the following transfer function:
What is the break frequency?

Set up the mathematical expressions for
Assignment.
and
. Use Pen & Paper for this
Plot the frequency response of the system in a bode plot using the bode function in MATLAB.
Discuss the results.
Find
and
for the following frequencies using MATLAB code (use the bode function):
0.1
0.16
0.25
0.4
0.625
2.5
Make sure
Find
and
is in dB.
and
for the same frequencies above using the mathematical expressions for
. Tip: Use a For Loop or define a vector w=[0.1, 0.16, 0.25, 0.4, 0.625, 2.5].
[End of Task]
Solutions:
What is the break frequency?
Solution:
and
61
62
Frequency Response
Solution:
|
Plot the frequency response of the system in a bode plot using the bode function in MathScript.
Solution:
MATLAB Script:
clc
% Transfer function
K = 4;
T = 2;
num = [K];
den = [T, 1];
H = tf(num, den)
% Bode Plot
bode(H)
grid
The Bode Plot becomes:
63
Find
Frequency Response
and
for the following frequencies using MathScript code:
Solution:
MATLAB Script:
clc
% Transfer function
K = 4;
T = 2;
num = [K];
den = [T, 1];
H = tf(num, den)
% Bode Plot
bode(H)
grid
% Margins and Phases
w=[0.1, 0.16, 0.25, 0.4, 0.625,2.5];
[mag, phase] = bode(H, w);
magdB=20*log10(mag); %convert to dB
magdB
phase
The result from the script is:
Transfer function:
4
------2 s + 1
magdB(:,:,1)
11.8709
magdB(:,:,2)
11.6178
magdB(:,:,3)
11.0721
magdB(:,:,4)
9.8928
magdB(:,:,5)
7.9546
magdB(:,:,6)
-2.1085
=
=
=
=
=
=
phase(:,:,1) =
-11.3099
phase(:,:,2) =
-17.7447
phase(:,:,3) =
64
Frequency Response
-26.5651
phase(:,:,4) =
-38.6598
phase(:,:,5) =
-51.3402
phase(:,:,6) =
-78.6901
We insert the values into the table and get:
Find
and
0.1
11.9
-11.3
0.16
11.6
-17.7
0.25
11.1
-26.5
0.4
9.9
-38.7
0.625
7.8
-51.3
2.5
-2.1
-78.6
and
. Tip: Use a For Loop or define a vector w=[0.1, 0.16, 0.25, 0.4, 0.625, 2.5].
Solution:
MATLAB Script:
clc
% Transfer function
K = 4;
T = 2;
num = [K];
den = [T, 1];
H = tf(num, den)
% Frequency List
wlist=[0.1, 0.16, 0.25, 0.4, 0.625,2.5];
N= length(wlist);
for i=1:N
gain(i) = 20*log10(4) - 20*log10(sqrt((2*wlist(i))^2+1));
phase(i) = -atan(2*wlist(i));
65
Frequency Response
phasedeg(i) = phase(i) * 180/pi; %convert to degrees
end
% Print to Screen
gain_data = [wlist; gain]'
phase_data=[wlist; phasedeg]'
%-----------------------------------------% Check with results from the bode function
[gain2, phase2,w] = bode(H, wlist);
gain2dB=20*log10(gain2); %convert to dB
% Print to Screen
gain2dB
phase2
The output is:

gain_data =
0.1000
11.8709
0.1600
11.6178
0.2500
11.0721
0.4000
9.8928
0.6250
7.9546
2.5000
-2.1085
phase_data =
0.1000 -11.3099
0.1600 -17.7447
0.2500 -26.5651
0.4000 -38.6598
0.6250 -51.3402
2.5000 -78.6901
We see the results are the same as the result found using the bode function.
Task 29:
Bode Diagram
We have the following transfer function:
What is the break frequencies?

Assignment.
and
. Use Pen & Paper for this
66
Frequency Response
Discuss the results.
Find
and
for some given frequencies using MATLAB code (use the bode function).
Find
and
and
. Tip: use a For Loop or define a vector w=[0.01, 0.1, ].
[End of Task]
Solutions:
What is the break frequencies?
Solution:
and
Solution:
|
Find
and
for some given frequencies using MATLAB code.
Solution:
MATLAB Script:
clc
clf
% Transfer function
num=[5,1];
den1=[2, 1];
den2=[10,1]
67
Frequency Response
den = conv(den1,den2);
H = tf(num, den)
% Bode Plot
bode(H)
grid
w=[0.01, 0.1, 0.2, 0.5, 1, 10, 100];
[mag, phase] = bode(H, wlist);
% Print to Screen
magdB
phase
Bode Plot:
Find
and
and
. Tip: use a For Loop or define a vector w=[0.01, 0.1, ].
Solution:
Same procedure as for previous Task, the code will not be shown here.
68
Frequency Response
Task 30:
Frequency Response Analysis

Process transfer function:
Where
, where
Measurement (sensor) transfer function:
Where
Controller transfer function (PI Controller):
Set Kp = 1,5 og Ti = 1000 sec.

Define the Loop transfer function
function
and in MATLAB.
, Sensitivity transfer function
and Tracking transfer
Plot the Loop transfer function

, the Tracking transfer function
and the Sensitivity
transfer function
in the same Bode diagram. Use, e.g., the bodemag function in MATLAB.
Find the bandwidths
from the plot above.
Plot the step response for the Tracking transfer function

[End of Task]
Solution:
MATLAB Script:
% Frequency Response Analysis
clear
clc
69
Frequency Response
close all %closes all opened figures. They will be opened as the script
is executed.
s=tf('s'); %Defines s to be the Laplace variable used in transfer
functions
%Model parameters:
Ks=0.556; %(kg/s)/%
A=13.4; %m2
rho=145; %kg/m3
transportdelay=250; %sec
%Defining the process transfer function:
K=Ks/(rho*A);
Hp=K/s;
%Defining sensor transfer function:
Km=1; Hs=tf(Km); %Defining sensor transfer function (just a gain in this
example)
%Defining controller transfer function:
Kp=1.5; Ti=1000;
Hc=Kp+Kp/(Ti*s); %PI controller transfer function
%Calculating control system transfer functions:
L=Hc*Hp*Hs; %Calculating Loop transfer function
T=L/(1+L) %Calculating tracking transfer function
S=1-T; %Calculating sensitivity transfer function
figure(1)
bodemag(L,T,S), grid %Plots maginitude of L, T, and S in Bode diagram
figure(2)
step(T), grid %Simulating step response for control system (tracking
transfer function)
The Bode plot becomes:
70
Frequency Response
We find the bandwidths in the plot according to the sketch below:
71
Frequency Response
We change the scaling for more details:
I get the following values:
72
Frequency Response
The step response for the Tracking transfer function
Task 31:
Stability Analysis
We will find the crossover-frequencies for the system using MATLAB. We will also find also the gain
margins and phase margins for the system.
Plot a bode diagram where the crossover-frequencies, GM and PM are illustrated. Tip! Use the
margin function in MATLAB.
73
Frequency Response
[End of Task]
Solution:
MATLAB Code:
clear
clc
% Transfer function
num=[1];
den1=[1,0];
den2=[1,1];
den3=[1,1];
den = conv(den1,conv(den2,den3));
H = tf(num, den);
% Bode Plot
figure(1)
bode(H)
grid
wlist=[0.01, 0.1, 0.2, 0.5, 1, 10, 100];
[mag, phase,w] = bode(H, wlist);
% Display magnitude and phase data
%magdB
%phase
% Crossover Frequency------------------------------------[gm, pm, gmf, pmf] = margin(H);

gm_dB = 20*log10(gm);
gm_dB
pm
gmf
pmf
figure(2)
margin(H)
The Bode plot becomes:
74
Frequency Response
We can find the crossover-frequencies, the gain margins and phase margins for the system from the
plot above.
But if we use the margin function:
margin(H)
we get the following plot:
75
Frequency Response
We can alos calculate the values using the same margin function:
[gm, pm, gmf, pmf] = margin(H);
gm_dB = 20*log10(gm);
This gives:
gm_dB =
6.0206
pm =
21.3877
gmf =
1
pmf =
0.6823
10 Additional Tasks
Task 32:
ODE Solvers
Use the ode45 function to solve and plot the results of the following differential equation in the
interval
:
[End of Task]
Solution:
We rewrite the equation:
This gives:
function dw = diff_task34(t,w)
dw = (cos(t) - (w/(1+t^2)))/3;
and:
tspan=[0 5];
w0=1;
[t,w]=ode23(@diff_task34, tspan, w0);
plot(t,w)
The result becomes:
76
77
Task 33:
Additional Tasks
Mass-spring-damper system

[ ]
][ ]
[ ]
78
Additional Tasks
Define the state-space model above using the ss function in MATLAB.

Set c=1, m=1, k=50.
Solve and Plot the system using one or more of the built-in solvers (ode32, ode45) in MATLAB.
Apply a step in F (u).
[End of Task]
Solution:
MATLAB Script:
clc
tspan=[0 10];
x0=[0.5; 0];
[t,y]=ode23(@msd_diff, tspan,x0);
plot(t,y)
legend('x1', 'x2')
The differential equations is defined in the function msd_diff (msd_diff.m):
function dx = msd_diff(t,x)
%
k
c
m
Define variables
= 50;
= 1;
= 1;
u=1;
A = [0 1; -k/m -c/m];
B = [0; 1/m];
dx = A*x + B*u;
Results:
79
Task 34:
Additional Tasks
Numerical Integration
Given a piston cylinder device:
Find the work produced in a piston cylinder device by solving the equation:
80
Additional Tasks
Assume the ideal gas low applies:
where
P= pressure
V=volume, m3
n=number of moles, kmol
R=universal gas constant, 8.314 kJ/kmol K
T=Temperature, K
We also assume that the piston contains 1 mol of gas at 300K and that the temperature is constant
during the process.
Use both the quad and quadl functions. Compare with the exact solution by solving the integral
analytically.
[End of Task]
Solution:
We start by solving the integral analytically:
( )
Inserting values gives:

(
Note! Because this work is positive, it is produced by (and not on) the system.
MATLAB Script:
clear, clc
quad(@piston_func, 1, 5)
quadl(@piston_func, 1, 5)
where the function is defined in an own function called piston_func:
function P = piston_func(V)
% Define constants
81
Additional Tasks
n = 1;
R = 8.315;
T=300;
P=n*R*T./V;
Running the script gives:
ans =
4.0147e+003
ans =
4.0147e+003
Task 35:
State-space model
The following model of a pendulum is given:
where m is the mass, r is the length of the arm of the pendulum, g is the gravity, b is a friction
coefficient.
Define the state-space model in MATLAB
Solve the differential equations in MATLAB and plot the results.
Use the following values
[End of Task]
Solution:
State-space model:
[ ]
][ ]
MATLAB Script:
clear,clc
tspan=[0 100];
82
Additional Tasks
x0=[0.5; 0];
[t,y]=ode23(@pendulum_diff, tspan,x0);
plot(t,y)
legend('x1', 'x2')
The function is defined:
function dx = pendulum_diff(t,x)
%
g
m
r
b
Define variables and constants

= 9.81;
= 8;
= 5;
= 10;

A = [0 1; -g/r -b/(m*r^2)];
dx = A*x;
The results become:
83
Additional Tasks
Task 36:
lsim

[ ]
][ ]
[ ]
[ ]
Simulate the system using the lsim function in the Control System Toolbox.
Set c=1, m=1, k=50.
[End of Task]
Solution:
MATLAB Script:
clear, clc
% Define variables
k = 50;
c = 1;
m = 1;
%
A
B
C
D

= [0 1; -k/m -c/m];
= [0; 1/m];
= [1 0];
= [0];
sssys = ss(A, B, C, D);
84
Additional Tasks
t = 0:0.01:5;
u = eye(length(t),1);
x0=[0.5; 0];
lsim(sssys, u, t, x0)
The result becomes:

Faculty of Technology
Kjlnes Ring 56
N-3918 Porsgrunn, Norway
www.hit.no
Hans-Petter Halvorsen, M.Sc.

Department of Electrical Engineering, Information Technology and Cybernetics
E-mail: hans.p.halvorsen@hit.no
Blog: http://home.hit.no/~hansha/
Room: B-237a

MATLAB Solutions - Part 2

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MATLAB Solutions - Part 2

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Telemark University College

Department of Electrical Engineering, Information Technology and Cybernetics

Part II: Modelling, Simulation and Control

Differential Equations and ODE Solvers ......................................................................................... 4

Numerical Techniques .................................................................................................................. 11

Control System Toolbox................................................................................................................ 31

Transfer Functions ........................................................................................................................ 32

State-Space Models ...................................................................................................................... 52

Discrete Systems ........................................................................................................................... 58

Frequency Response ..................................................................................................................... 61

Additional Tasks ............................................................................................................................ 76

MATLAB Course, Part II - Solutions

2 Differential Equations and

In this task we will simulate a simple model of a bacteria population in a jar.

Set b=1/hour and p=0.5 bacteria-hour

Differential Equations and ODE Solvers

The result becomes:

Passing Parameters to the model

Given the following system:

is the time constant

The function for the differential equation is:

Differential Equations and ODE Solvers

Write the code above

Differential Equations and ODE Solvers

The Script for solving the equation:

MATLAB Course, Part II - Solutions

Differential Equations and ODE Solvers

2.order differential equation

Tip 1: Reformulate the differential equation so

Now we can use MATLAB to solve the equations:

Differential Equations and ODE Solvers

if we want to plot only

MATLAB Course, Part II - Solutions

Differential Equations and ODE Solvers

So the solution to:

is the plot above.

MATLAB Course, Part II - Solutions

Given the following data:

% Find interpolated value for u=2680.78

The plot becomes:

For spline, cubic we get almost the same:

MATLAB Course, Part II - Solutions

Given the following data:

Plot it in the same graph.

MATLAB Course, Part II - Solutions

i., we get a polynomial

The Plot becomes:

Given the following data:

Given the following data:

new_height = 0:0.5:6; % generating new height values used to test the

legend('real data', 'linear model', 'quadratic model', 'cubic model')

We get the following plot:

MATLAB Course, Part II - Solutions

Given the following equation:

analytically (use pen and paper).

and the approximation in the

MATLAB Course, Part II - Solutions

(Analytical vs. numerical solution):

The values are: