MEHRAN UNIVERSITY OF ENGINEERING AND TECHNOLOGY JAMSHORO Batch 10ES (3rd year 1st Term)

PRACTICAL HANDOUTS FEEDBACK CONTROL SYSTEMS Lab-01

Introduction to MATLAB Environment and Basics

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Lab Outline:
To be familiar with the Basics of MATLAB Use of MATLAB in Control Systems Basic Commands used for vector Analysis Basic Plotting techniques Examples

Introduction to MATLAB:
MATLAB stands for Matrix Laboratory. It is a powerful programming language which is used for symbolic and numerical computations effectively. It is a High level programming language. It is an interactive, matrix-based computer program for scientific and engineering numeric computation and visualization. MATLAB will be used extensively in the labs of Signals and Systems, Digital Signal Processing, Control Engineering and applications. The aim of Matlab is to enable us to solve complex numerical problems, without writing programs in traditional languages like C and FORTRAN. Thus, Matlab interprets commands like Basic does, instead of compiling source code like C and FORTRAN require. Visit www.mathsworks.com for Assistance.

Use of MATLAB in Control Engineering:

Its a very powerful tool used in Control System Designing. User can develop its own applications, can find the desired Transfer Function , Simulate and analyse the result, Check out various possibilities for multiple inputs, can work in frequency and time domain, develop your own block diagrams etc. Simulink library gives a huge range of defined blocks for creating applications without writing codes.

Basic Commands used for vector Analysis and Other functions:

Various command and used in MATLAB for vector analysis including: Entering a Vector: Any vector can be entered in the command window containing certain values. A=[1234] B =[ 0 1 3 4 ]; Operations performed on vectors: Various operations can be performed on the command window including Addition, multiplication, division etc B=A+A , C=A-B , D=A*B Point Operator: Point operator is used for element by element calculations. C=A .*A.. it will multiply corresponding elements of A with A D=A ./B.. it will divide corresponding elements of A with A (Make sure order of matrix should be same) Transpose: Transpose can be found using compliment operator or any matrix can be converted to column matrix by use of semicolon. B=A C= [1;2;3;4] Both will give same results

Use of Semicolon and Parenthesis: Semicolon is used to terminate the corresponding line operation and shift the cursor to the next line without executing it while ( ) are used to execute ay function you specified. Clear and Clc command: Clear command clear all the variables which are used from the memory location preventing any unpredictable result. Clc command just clear the screen or the command window. Trigonometric functions: You have variety of trigonometric functions on MATLAB incuding sine, cosine, tangent, inverse and hyperbolic of these function, logarithmic etc x = 20; cos(x)Cosine of 20 asin(x)..inverse of sine sin(x) sine of 20 acos(x).inverse of cosine csc(x)..cosecant of 20 sinh(x)..hyperbolic of sine Zeros and Ones: Zeros.. will yield 1 by 1 matrix containing all elements zeros Ones.. will yield 1 by 1 matrix containing all elements ones ones(2)..will yield 2 by 2 matrix containing all elements one Zeros.. will yield 2 by 2 matrix containing all elements zeros WHO command: who command is used to display all the variables which are declared in the command window before using CLEAR command. Who press enter Inverse of a Matrix: Inverse can be calculated using inv command A=[1 3;1 2];.(Matrix should be square Matrix) Inv(A) Linspace:.Linear spaced generates a row vector of 100 linearly equally spaced points between X1 and X2. Linspace(1,5) Logspace: It generates again certain vectors which are logarithmically spaced of 50 logarithmically equally spaced points between decades 10^X1 and 10^X2. Logspace(x1,x2) Identity Matrix: Matlab allows you to find identity Matrix by eye command Eye(n)where n = order of the matrix DET Determinant: DET(X) is the determinant of the square matrix X.

INV Matrix inverse: INV(X) is the inverse of the square matrix X. EYE(N) is the N-by-N identity matrix. EYE(M,N) or EYE([M,N]) is an M-by-N matrix with 1's on the diagonal and zeros elsewhere. DIAG(x): Diagonal matrices and diagonals of a matrix RAND random number: RAND (N) returns an N-by-N matrix containing pseudorandom values drawn from the standard uniform distribution on the open interval(0,1). RAND(M,N) or RAND([M,N]) returns an M-by-N matrix. E.g rand(1,3) RANDPERM(N) : A random permutation of the integers 1 to n can be generated using the RANDPERM(N) function

randperm(5) To create a random number between interval a and b, we can use following command a=1; b=5 a+(b-a)*rand(1,3)

Saving arrays to a file:

To save arrays for example M v, type type the following command on MATLAB command prompt save myvar M v Here myvar is name of the MATLAB file. Data files in MATLAB have extension .mat; the file myvar.mat would be saved in the current directory. To restore the variables, type the following command on MATLAB command prompt load myvar To restore any specific variable(s) from the saved file, type the following command on MATLAB command prompt load myvar M

Basic Plotting Commands and Codes:

Continous Time Plots: Plot command: PLOT command is used to plot continuous tome signal defined in time domain as shown in figure. Plot(t,y) where y is desired function and t is time is seconds Subplot: It is used to display 2 or more graphical function on the same graph with two different plots as shown in the figure. subplot(2,1,1) 2 shows number of graphs, 1 shows one is plotted and last one shows out of 2 functions 1 st function is plotted first. (Note: Use plot command first) subplot(2,1,2)

Multiple functions on same plot: to plot 2 or more function simultaneously on one graph use the following code Plot (axis1,function1,axis2,function2) Plot(t,y1,t,y2) Plot(t,y1,o,t,y2,*)

Plotting with symbols: To plot certain distinct values on the continuous graph use the following code. Plot(t,*).. just points in form of * are plotted Plot(t,y,*) Graph along function and distinct points are plotted

Bar charts: Bar(x)

Discrete Plots: Use Stem Command: STEM command to plot discrete time signals. Define n vector rather t.

Modifying Your Graph:

AXIS Command: Define x and y axis and give range for x and y axis axis ([x1 x2 y1 y2]) X-LABEL Command: It gives x-axis appropriate label xlabel(time in seconds)

Y-LABEL Command: It gives x-axis appropriate label ylabel(particular function) TITLE: It gives suitable title to your graph. title(Electronics) TEXT: It adds text on the desired position (row and column) on the graph. text (a, b,Electronics Engineering) text (1.3,2.1,Electronics Engineering) Where a and b are row and column positions Legend: LEGEND(string1, string2 , string3 , ...) puts a legend on the current plot using the specified strings as labels. HOLD ON: hold on holds the current plot and all axis properties so that subsequent graphing commands add to the existing graph. hold on sets the Next Plot property of the current figure and axes to "add". HOLD OFF: hold off returns to the default mode whereby PLOT commands erase the previous plots and reset all axis properties before drawing new plots. hold off sets the Next Plot property of the current axes to replace". HOLD: hold by itself, toggles the hold state. hold does not affect axis auto ranging properties. HOLD ALL: hold all holds the plot and the current color and line style so that subsequent plotting commands will not reset the color an line style.

Programs to Explore (just observe the result):

1.linspace(1,0.01,10) and Linspace(1,10) 2. t=0:0.005:10; q=sin(3); plot(t,q) xlabel(sine function) text(0.6,1.2,Graph) title(Plotting of sine function) 3.t=0:0.01:7; p=cos(t) q=sin(p); plot(t,p);subplot(2,1,1) plot(t,q);subplot(2,1,2) plot(t,p,t,q)

Explore:
Help, Matlab Environment, Square root function (sqrt), hold on and hold off command, exp function and M-file. (Attach their answers in the handouts)

Lab Activity: (To be Submitted)

You are supposed to perform them on MATLAB and copy them to word along attached printouts.
1 1 1 and M = 2 9]; z = 0 4 0
2 3 6 3 1 5

1. If v = [2 4 7

5], and w = [1 3 8

Investigate the effect of the following command and explain operation/function: i) v(2) ii) sum = v + w iii) diff = v w iv) vw = [v w] v) vw(2: 6) vi) v vii) z viii) z*v ix) [v; w] x) v*z xi) [z; v] xii) z + v xiii) M(1,1) xiv) M(1:2,1:2) xv) M(:,1) xvi) M(2,:) xvii) M(:,end) xviii) M(:,end-1) xix) M(:,[1 3]) xx) M(:,:) xxi) M(:,2)=[] xxii) fliplr(M) xxiii) flipud(M) xxiv) M(:) convert matrix column vector xxv) M=M(:) convert matrix to row vector xxvi) M=reshape(M,2,3) convert back to matrix 2. Apply DIAG function to vector v and matrix M mentioned in exercise#1. Explain the results 3. Generate the following row vector: a=1:5; Investigate the following commands and explain: i. a(2)=6; ii. a([ 1 3])=0 iii. a(1,2)=100 iv. a(3)=[ ] v. a([1 4])=[]

4. Write a matlab code to plot following functions( attach graphs) Using t=1:0.01:10 (i) cos (pi*t) (ii) sin(t) (iii) cos(t) (iv) cosec(2*pi*t) 5. Repeat problem 4 using subplot command for plotting the following functions. 6. Repeat problem 4 using the command plot(t,y1,t,y2..) (NOTE: Write your roll number , xlabel, ylabel on each graph. 7. Use text command to plot sine(x*y) where x=your roll number*2, y=cos(your roll number) and it should contain distinct points * in the code with a suitable text (Your Name) at position 0.2 and 1.2 8. Differentiate Linspace(1,10) and logspace(1,10) . 9. How can you save a program in MATLAB. What is the advantage of writing a program in M-file and if any error occurs in M-file how can you check that error. What role command windows plays here?