University

College of Southeast Norway

MATLAB
Part II: Modelling, Simulation & Control
Hans-Petter Halvorsen, 2016.06.22

http://home.hit.no/~hansha

Table of Contents
1 Introduction ...................................................................................................................... 4

2 Differential Equations and ODE Solvers ............................................................................ 5

Task 1: Bacteria Population ....................................................................................... 5

Task 2: Passing Parameters to the model .................................................................. 6

Task 3: ODE Solvers ................................................................................................... 7

Task 4: 2.order differential equation ......................................................................... 9

3 Discrete Systems ............................................................................................................. 12

Task 5: Discrete Simulation ..................................................................................... 12

Task 6: Discrete Simulation – Bacteria Population .................................................. 14

Task 7: Simulation with 2 variables ......................................................................... 15

4 Numerical Techniques ..................................................................................................... 18

Task 8: Interpolation ................................................................................................ 18

Task 9: Linear Regression ........................................................................................ 20

Task 10: Polynomial Regression ............................................................................. 21

Task 11: Model fitting ............................................................................................ 22

Task 12: Numerical Differentiation ........................................................................ 25

Task 13: Differentiation on Polynomials ................................................................ 28

Task 14: Differentiation on Polynomials ................................................................ 29

Task 15: Numerical Integration ............................................................................. 30

Task 16: Integration on Polynomials ..................................................................... 32

5 Optimization .................................................................................................................... 34

Task 17: Optimization ............................................................................................ 34

Task 18: Optimization - Rosenbrock's Banana Function ........................................ 35

MATLAB Course, Part II - Solutions



6 Control System Toolbox .................................................................................................. 38

7 Transfer Functions ........................................................................................................... 39

Task 19: Transfer function ..................................................................................... 39

Task 20: 2. order Transfer function ....................................................................... 40

Task 21: Time Response ........................................................................................ 43

Task 22: Integrator ................................................................................................ 44

Task 23: 1. order system ........................................................................................ 48

Task 24: 2. order system ........................................................................................ 53

Task 25: 2. order system – Special Case ................................................................ 56

8 State-Space Models ......................................................................................................... 59

Task 26: State-space model ................................................................................... 59

Task 27: Mass-spring-damper system ................................................................... 61

Task 28: Block Diagram .......................................................................................... 63

Task 29: Discretization ........................................................................................... 64

9 Frequency Response ....................................................................................................... 66

Task 30: 1. order system ........................................................................................ 66

Task 31: Bode Diagram .......................................................................................... 71

Task 32: Frequency Response Analysis .................................................................. 73

Task 33: Stability Analysis ...................................................................................... 78

10 Additional Tasks .......................................................................................................... 82

Task 34: ODE Solvers ............................................................................................. 82

Task 35: Mass-spring-damper system ................................................................... 83

Task 36: Numerical Integration ............................................................................. 85

Task 37: State-space model ................................................................................... 87

Task 38: lsim .......................................................................................................... 89

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:

𝑥 = 𝑏𝑥 − 𝑝𝑥 2

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;

6 Differential Equations and ODE Solvers

[t,y]=ode45(@bacteriadiff, tspan,x0);
plot(t,y)

The result becomes:

Task 2: Passing Parameters to the model

Given the following system:

𝑥 = 𝑎𝑥 + 𝑏
5
where 𝑎 = − ,where 𝑇 is the time constant
6

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 𝑥(0) = 1 and 𝑇 = 5.

The function for the differential equation is:

function dx = mysimplediff(t,x,param)
% My Simple Differential Equation

a=param(1);
b=param(2);

MATLAB Course, Part II - Solutions

7 Differential Equations and ODE Solvers

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

MATLAB Course, Part II - Solutions

8 Differential Equations and ODE Solvers

Use the ode23 function to solve and plot the results of the following differential equation in
the interval [𝑡? , 𝑡A ]:

𝒘D + 𝟏. 𝟐 + 𝒔𝒊𝒏𝟏𝟎𝒕 𝒘 = 𝟎, 𝑡? = 0, 𝑡A = 5, 𝑤 𝑡? = 1

[End of Task]

Solution:

We start by rewriting the differential equation:

𝑤 D = − 1.2 + 𝑠𝑖𝑛10𝑡 𝑤

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:

MATLAB Course, Part II - Solutions

9 Differential Equations and ODE Solvers

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 [𝑡? , 𝑡A ]:

𝟏 + 𝒕𝟐 𝒘 + 𝟐𝒕𝒘 + 𝟑𝒘 = 𝟐, 𝑡? = 0, 𝑡A = 5, 𝑤 𝑡? = 0, 𝑤 𝑡? = 1

Note! Higher order differential equations must be reformulated into a system of first order
differential equations.

Tip 1: Reformulate the differential equation so 𝑤 is alone on the left side.

Tip 2: Set:

𝑤 = 𝑥5

𝑤 = 𝑥2

[End of Task]

Solution:

First we rewrite like this:

2 − 2𝑡𝑤 − 3𝑤
𝑤=
1 + 𝑡2

In order to solve it using the ode functions in MATLAB it has to be a set with 1.order ode’s.

So we set:

𝑤 = 𝑥5

𝑤 = 𝑥2

This gives:

𝑥5 = 𝑥2

2 − 2𝑡𝑥2 − 3𝑥5
𝑥2 =
1 + 𝑡2

Now we can use MATLAB to solve the equations:

function dx = diff_secondorder(t,x)

[m,n] = size(x);
dx = zeros(m,n)

MATLAB Course, Part II - Solutions

10 Differential Equations and ODE Solvers

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 𝑤 = 𝑥5 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:

MATLAB Course, Part II - Solutions

11 Differential Equations and ODE Solvers

So the solution to:

𝟏 + 𝒕𝟐 𝒘 + 𝟐𝒕𝒘 + 𝟑𝒘 = 𝟐, 𝑡? = 0, 𝑡A = 5, 𝑤 𝑡? = 0, 𝑤 𝑡? = 1

is the plot above.

MATLAB Course, Part II - Solutions

3 Discrete Systems
Task 5: Discrete Simulation

Given the following differential equation:

𝑥 = 𝑎𝑥
5
where 𝑎 = − , where 𝑇 is the time constant
6

ST
Note! 𝑥 =
SU

Find the discrete differential equation and plot the solution for this system using MATLAB.

Set 𝑇 = 5 and the initial condition 𝑥(0) = 1.

Create a script in MATLAB (.m file) where we plot the solution 𝑥(𝑘).

[End of Task]

Solution:

We can use e.g., the Euler Approximation:

𝑥XY5 − 𝑥X
𝑥≈
𝑇Z

Then we get:
𝑥XY5 − 𝑥X
= 𝑎𝑥X
𝑇Z

Which gives:

𝑥XY5 = 𝑥X (1 + 𝑇Z 𝑎)

MATLAB Code:

% Simulation of discrete model

clear, clc

% Model Parameters
T = 5;

12

13 Discrete Systems

a = -1/T;

% Simulation Parameters
Ts = 0.1; %s
Tstop = 30; %s
x(1) = 1;

% Simulation
for k=1:(Tstop/Ts)
x(k+1) = (1+a*Ts).*x(k);
end

% Plot the Simulation Results

k=0:Ts:Tstop;
plot(k,x)
grid on

Plot:

MATLAB Course, Part II - Solutions

14 Discrete Systems

Task 6: Discrete Simulation – 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:

𝑥 = 𝑏𝑥 − 𝑝𝑥 2

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:

𝑥XY5 − 𝑥X
𝑥≈
𝑇Z

Where 𝑇Z is the Sampling Time.

We get:
𝑥XY5 − 𝑥X
= 𝑏𝑥X − 𝑝𝑥X2
𝑇Z

This gives:

𝑥XY5 = 𝑥X + 𝑇Z (𝑏𝑥X − 𝑝𝑥X2 )

We implement the model in MATLAB:

clc
% Model Parameters
b = 1;

MATLAB Course, Part II - Solutions

15 Discrete Systems

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:

Task 7: Simulation with 2 variables

Given the following system

𝑑𝑥5
= −𝑥2
𝑑𝑡
𝑑𝑥2
= 𝑥5
𝑑𝑡
MATLAB Course, Part II - Solutions
16 Discrete Systems

Find the discrete system and simulate the discrete system in MATLAB.

[End of Task]

Solution:

Using Euler gives:

𝑥5 𝑘 + 1 = 𝑥5 𝑘 − 𝑇Z 𝑥2 𝑘

𝑥2 𝑘 + 1 = 𝑥2 𝑘 + 𝑇Z 𝑥5 𝑘

MATLAB Code:

% Simulation of discrete model

clear, clc

% Model Parameters
T = 5;
a = -1/T;

% Simulation Parameters
Ts = 0.1; %s
Tstop = 10; %s
x1(1) = 1;
x2(1) = 1;

% Simulation
for k=1:(Tstop/Ts)
x1(k+1) = x1(k) - Ts.*x2(k);
x2(k+1) = x2(k) + Ts.*x1(k);
end

% Plot the Simulation Results

k=0:Ts:Tstop;
plot(k,x1,k,x2)
grid on

Plot:

MATLAB Course, Part II - Solutions

17 Discrete Systems

MATLAB Course, Part II - Solutions

4 Numerical Techniques
Task 8: Interpolation

Given the following data:

Temperature, T [ oC] Energy, u [KJ/kg]

100 2506.7
150 2582.8
200 2658.1
250 2733.7
300 2810.4
400 2967.9
500 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')

18

19 Numerical Techniques

The interpolated value for u=2680.78 KJ/kg is:

ans =

215.0000

i., for 𝑢 = 2680.76 we get 𝑇 = 215.

The plot becomes:

For spline, cubic we get almost the same:

This is because the points listed above are quite linear in their nature.

MATLAB Course, Part II - Solutions

20 Numerical Techniques

Task 9: Linear Regression

Given the following data:

Temperature, T [ oC] Energy, u [KJ/kg]

100 2506.7
150 2582.8
200 2658.1
250 2733.7
300 2810.4
400 2967.9
500 3131.6

Plot u versus T.

Find the linear regression model from the data

𝑦 = 𝑎𝑥 + 𝑏

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

MATLAB Course, Part II - Solutions

21 Numerical Techniques

i., we get a polynomial 𝑝 = [0.6, −1.5 ∙ 10b ].

The Plot becomes:

Task 10: Polynomial Regression

Given the following data:

x y
10 23
20 45
30 60
40 82
50 111
60 140
70 167
80 198
90 200
100 220

→ 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.

MATLAB Course, Part II - Solutions

22 Numerical Techniques

[End of Task]

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 11: Model fitting

Given the following data:

MATLAB Course, Part II - Solutions

23 Numerical Techniques

Height, h[ft] Flow, f[ft^3/s]

0 0
1.7 2.6
1.95 3.6
2.60 4.03
2.92 6.45
4.04 11.22
5.24 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, clc
% Real Data
height = [0, 1.7, 1.95, 2.60, 2.92, 4.04, 5.24];
flow = [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
p2 = polyfit(height, flow, polyorder) % 2.order model
new_flow2 = polyval(p2,new_height); % We use the model to find
new flow values

%cubic-------------------------
polyorder = 3; %cubic
p3 = polyfit(height, flow, polyorder) % 3.order model
new_flow3 = polyval(p3,new_height); % We use the model to find
new flow values

%Plotting
%We plot the original data together with the model found for
comparison

MATLAB Course, Part II - Solutions

24 Numerical Techniques

plot(height, flow, 'o', new_height, new_flow1, new_height,

new_flow2, new_height, new_flow3)
title('Model fitting')
xlabel('height')
ylabel('flow')
legend('real data', 'linear model', 'quadratic model', 'cubic
model')

The result becomes:

p1 =
5.3862 -5.8380
p2 =
1.4982 -2.5990 1.1350
p3 =
0.5378 -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:

𝑝5 = 𝑎? 𝑥 + 𝑎5 = 5.4𝑥 − 5.8

2. order model:

𝑝2 = 𝑎? 𝑥 2 + 𝑎5 𝑥 + 𝑎2 = 1.5𝑥 2 − 2.6𝑥 + 1.1

3. order model:

𝑝b = 𝑎? 𝑥 b + 𝑎5 𝑥 2 + 𝑎2 𝑥 + 𝑎b = 0.5𝑥 b − 2.7𝑥 2 + 4.9𝑥 − 0.1

We get the following plot:

MATLAB Course, Part II - Solutions

25 Numerical Techniques

Discussion:

As you see the cubic model (3.order) gives the best result, i.e., the cubic model fits the data
best.

Task 12: Numerical Differentiation

Given the following equation:

𝑦 = 𝑥 b + 2𝑥 2 − 𝑥 + 3
Se
Find analytically (use “pen and paper”).
ST

Define a vector x from -5 to +5 and use the diff function to approximate the derivative y with
∆e
respect to x ( ).
∆T

Se
Compare the data in a 2D array and/or plot both the exact value of and the
ST
approximation in the same plot.

Increase number of data point to see if there are any difference.

MATLAB Course, Part II - Solutions

26 Numerical Techniques

Do the same for the following functions:

𝑦 = sin (𝑥)

𝑦 = 𝑥 i − 1

[End of Task]

Solution:

Analytically solution:

𝑑𝑦
= 3𝑥 2 + 4𝑥 − 1
𝑑𝑥
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 𝑦(𝑥):

MATLAB Course, Part II - Solutions

27 Numerical Techniques

Se
Plot of (Analytical vs. numerical solution):
ST

The values are:

dydx =
42 54
22 31

MATLAB Course, Part II - Solutions

28 Numerical Techniques

8 14
0 3
-2 -2
2 -1
12 6
28 19
50 38
78 63
NaN 94

We do the same for the following functions:

𝑦 = sin (𝑥)

𝑑𝑦
= cos (𝑥)
𝑑𝑥

𝑦 = 𝑥 i − 1

𝑑𝑦
= 5𝑥 l
𝑑𝑥
→ The procedure is exactly the same and will not be shown here.

Task 13: Differentiation on Polynomials

Consider the following equation:

𝑦 = 𝑥 b + 2𝑥 2 − 𝑥 + 3
Se
Use Differentiation on the Polynomial to find
ST

[End of Task]

Solution:

Analytically solution:

𝑑𝑦
= 3𝑥 2 + 4𝑥 − 1
𝑑𝑥
The MATLAB Script:

p=[1 2 -1 3]

MATLAB Course, Part II - Solutions

29 Numerical Techniques

polyder(p)

The solution is:

p =

1 2 -1 3

ans =

3 4 -1

Which is correct.

Task 14: Differentiation on Polynomials

Find the derivative for the product:

3𝑥 2 + 6𝑥 + 9 𝑥 2 + 2𝑥

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:

ans =

MATLAB Course, Part II - Solutions

30 Numerical Techniques

9 24 21
p =
3 12 21 18
ans =
9 24 21

→ As expected, the result are the same for the 2 methods used above.

𝑑( 3𝑥 2 + 6𝑥 + 9 𝑥 2 + 2𝑥 )
= 9𝑥 2 + 24𝑥 + 21
𝑑𝑥

Task 15: Numerical Integration

Use diff, quad and quadl on the following equation:

𝑦 = 𝑥 b + 2𝑥 2 − 𝑥 + 3

Find the integral of y with respect to x, evaluated from -1 to 1

Compare the different methods.

The exact solution is:

m m
b 2
𝑥 l 2𝑥 b 𝑥 2
(𝑥 + 2𝑥 − 𝑥 + 3)𝑑𝑥 = + − + 3𝑥
n 4 3 2 n
1 l 2 1
= 𝑏 − 𝑎l + 𝑏 b − 𝑎b − 𝑏 2 − 𝑎2 + 3(𝑏 − 𝑎)
4 3 2
Compare the result with the exact solution.

Repeat the task for the following functions:

𝑦 = sin 𝑥

𝑦 = 𝑥 i − 1

[End of Task]

Solution:

MATLAB Script:

clc
x = -1:0.1:1;

y = myfunc(x);

MATLAB Course, Part II - Solutions

31 Numerical Techniques

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 =

MATLAB Course, Part II - Solutions

32 Numerical Techniques

7.3400
A2 =
7.3333
A3 =
7.3333

The procedure is the same for

Repeat the task for the following functions:

𝑦 = sin 𝑥
m
m
sin 𝑥 𝑑𝑥 = cos (𝑥) n = cos 𝑏 − cos (𝑎)
n

and:

𝑦 = 𝑥 i − 1

m m
i
𝑥o 𝑏o − 𝑎o
(𝑥 − 1)𝑑𝑥 = −𝑥 = − (𝑏 − 𝑎)
n 6 n
6

The MATLAB Code is not shown, but the procedure is exactly the same for these functions.

Task 16: Integration on Polynomials

Consider the following equation:

𝑦 = 𝑥 b + 2𝑥 2 − 𝑥 + 3

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 =
0.2500 0.6667 -0.5000 3.0000 0

MATLAB Course, Part II - Solutions

33 Numerical Techniques

The solution s a new polynomial

[0.25, 0.67, -0.5, 3, 0]

or:

0.25𝑥 l + 0.67𝑥 b − 0.5𝑥 2 + 3𝑥

We know from a previous task that the exact solution is:

m m
b 2
𝑥 l 2𝑥 b 𝑥 2
(𝑥 + 2𝑥 − 𝑥 + 3)𝑑𝑥 = + − + 3𝑥
n 4 3 2 n

→ So wee se the answer is correct (as expected).

MATLAB Course, Part II - Solutions

5 Optimization
Task 17: Optimization

Given the following function:

𝑓 𝑥 = 𝑥 b − 4𝑥

→ 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;

34

35 Optimization

f = mysimplefunc2(x);
plot(x, f)

[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 18: Optimization - Rosenbrock's Banana Function

Given the following function:

2
𝑓 𝑥, 𝑦 = 1 − 𝑥 + 100(𝑦 − 𝑥 2 )2

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:

MATLAB Course, Part II - Solutions

36 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 (𝑥, 𝑦) = (1,1) where 𝑓(𝑥, 𝑦) = 0.

We can use the following script to plot the function:

clear,clc

MATLAB Course, Part II - Solutions

37 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:

MATLAB Course, Part II - Solutions

6 Control System Toolbox
No Tasks

38

7 Transfer Functions
Task 19: 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:

𝐾
𝐻 𝑠 =
𝑇𝑠 + 1

With values:

2
𝐻 𝑠 =
3𝑠 + 1
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:

39

40 Transfer Functions

-------

3 s + 1

Task 20: 2. order Transfer function

Define the transfer function using the tf function.

Set 𝐾 = 1, 𝜔? = 1

→ Plot the step response (use the step function in MATLAB) for different values of 𝜁. Select
𝜁 as follows:

𝜁 > 1

𝜁 = 1

0 < 𝜁 < 1

𝜁 = 0

𝜁 < 0

[End of Task]

Solution:

Transfer function:

𝐾
𝐻 𝑠 = 2
𝑠 𝑠
+ 2𝜁 +1
𝜔? 𝜔?

We then have that:

MATLAB Course, Part II - Solutions

41 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 (𝜁 = 1):

clc
% Second order Transfer function
% H(s)=K/((s/?_0 )^2+2? s/?_0 +1)

% Define variables:
K=1;
w0=1;

MATLAB Course, Part II - Solutions

42 Transfer Functions

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 (𝜁 = 1):

We can easily change he value for 𝜁 in the script, we can e.g., use 𝜁 = 2, 1, 0.2, 0, −0.2

We can also modify the program using a For Loop:

clc
% Second order Transfer function
% 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]

% Define Transfer function
s = tf('s');
H = K/((s/w0)^2 + 2*zeta*s/w0 + 1)

MATLAB Course, Part II - Solutions

43 Transfer Functions

step(H)
pause
end

Task 21: Time Response

Given the following system:

𝑠+1
𝐻 𝑠 =
𝑠2 − 𝑠 + 3

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:

% Define the transfer function

s = tf('s');
H = (s+1)/(s^2-s+3)

% Define Time Interval

t=[0:0.01:10];

% Step Response
step(H,t);

MATLAB Course, Part II - Solutions

44 Transfer Functions

The Step response becomes:

→ We see the system is unstable (which we could see from the transfer function!)

Task 22: Integrator

The transfer function for an Integrator is as follows:

𝐾
𝐻 𝑠 =
𝑠

→Find the pole(s)

→ Plot the Step response: Use different values for 𝐾, e.g., 𝐾 = 0.2, 1, 5. Use the step
function in MATLAB.

[End of Task]

Solution:

Pole(s):

The Integrator has a pole in origo: 𝑝 = 0

MATLAB Course, Part II - Solutions

45 Transfer Functions

Im(s)

Re(s)

In MATLAB you may use the pole function in order to find the poles.

% Integrator
clc
K=1;
% Define the transfer function
num = K;
den = [1 0];
H = tf(num, den)

pole(H)

Step Response:

% Integrator

K=1
% Define the transfer function
s = tf('s');
H = K/s

% Step Response
step(H);

or:

% Integrator
clc
K=1;
% Define the transfer function
num = K;
den = [1 0];
H = tf(num, den)

% Step Response
step(H);

MATLAB Course, Part II - Solutions

46 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]
% Define the transfer function
num = K;
den = [1 0];
H = tf(num, den)

% Step Response
step(H);
hold on
end

The plot becomes:

MATLAB Course, Part II - Solutions

47 Transfer Functions

We can also find the mathematical expression for the step response (𝑦(𝑡))

𝑦 𝑠 = 𝐻 𝑠 𝑢(𝑠)

Where

𝑈
𝑢 𝑠 =
𝑠
The Laplace Transformation pair for a step is as follows:

1
⇔1
𝑠

The step response of an integrator then becomes:

𝐾 𝑈 1
𝑦 𝑠 =𝐻 𝑠 𝑢 𝑠 = ∙ = 𝐾𝑈 2
𝑠 𝑠 𝑠
We use the following Laplace Transformation pair in order to find 𝑦(𝑡):

1
⇔𝑡
𝑠2

Then we get:

𝑦 𝑡 = 𝐾𝑈𝑡

MATLAB Course, Part II - Solutions

48 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 23: 1. order system

The transfer function for a 1.order system is as follows:

𝐾
𝐻 𝑠 =
𝑇𝑠 + 1

→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):
5
A 1.order system has a pole: 𝑝 = −
6

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

% Define the transfer function

K=1;

MATLAB Course, Part II - Solutions

49 Transfer Functions

T=1;
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.

MATLAB Course, Part II - Solutions

50 Transfer Functions

Here is an example where we set K=0.5, 1, 2 (T=1):

% 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.

MATLAB Course, Part II - Solutions

51 Transfer Functions

→ Conclusion: K defines how much the input signal is amplified through the system.

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');

MATLAB Course, Part II - Solutions

52 Transfer Functions

→ Coclusion: We see from Figure above that smaller T (Time constant) gives faster response.

Mathematical expression for the step response (𝒚(𝒕)).

We compare the simulation results above with the mathematical expression for the step
response (𝑦(𝑡)).

𝑦 𝑠 = 𝐻 𝑠 𝑢(𝑠)

Where

𝑈
𝑢 𝑠 =
𝑠

We use inverse Laplace and find the corresponding transformation pair in order to find
𝑦(𝑡). This gives:

𝐾 𝑈
𝑦 𝑠 = ∙
𝑇𝑠 + 1 𝑠

We use the following Laplace transform pair:

𝑘
⇔ 𝑘(1 − 𝑒 {U/6 )
𝑇𝑠 + 1 𝑠

This gives:

𝑦 𝑡 = 𝐾𝑈(1 − 𝑒 {U/6 )

A simple sketch of step response is T (= 𝑇ob ):

MATLAB Course, Part II - Solutions

53 Transfer Functions

Task 24: 2. order system

The transfer function for a 2. Order system is as follows:

𝐾𝜔? 2 𝐾
𝐻 𝑠 = = 2
𝑠 2 + 2𝜁𝜔? 𝑠 + 𝜔? 2 𝑠 𝑠
+ 2𝜁 +1
𝜔? 𝜔?

Where

• 𝐾 is the gain
• 𝜁 zeta is the relative damping factor
• 𝜔? [rad/s] is the undamped resonance frequency.

→ Find the pole(s)

→ Plot the Step response: Use different values for 𝜁, e.g., 𝜁 = 0.2, 1, 2. Set 𝜔? = 1 and
K=1. Use the step function in MATLAB.

[End of Task]

Solution:

Poles:

Poles: 𝑠 2 + 2𝜁𝜔? 𝑠 + 𝜔? 2 = 0 gives:

MATLAB Course, Part II - Solutions

54 Transfer Functions

𝑝5 , 𝑝2 = −𝜁𝜔? ± 𝜁 2 − 1 𝜔?

Step Response:

We then have that:

We create the following MATLAB Script in order to prove this:

% Second order Transfer function

clc
t=[0:0.5:10];

% Define variables:
K=1;
w0=1;

% Define Transfer function

zeta=0.2;
num = K;
den = [(1/w0)^2, 2*zeta/w0, 1]
H1 = tf(num, den)

zeta=1;

MATLAB Course, Part II - Solutions

55 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.

𝜁 = 0.2 gives a “underdamped” system

𝜁 = 1 gives a “critically damped” system

𝜁 = 2 gives a “overdamped” system

MATLAB Course, Part II - Solutions

56 Transfer Functions

Task 25: 2. order system – Special Case

Special case: When 𝜁 > 0 and the poles are real and distinct we have:

𝐾
𝐻 𝑠 =
(𝑇5 𝑠 + 1)(𝑇2 𝑠 + 1)

We see that this system can be considered as two 1.order systems in series.

𝐾 1 𝐾
𝐻 𝑠 = 𝐻5 𝑠 𝐻5 𝑠 = ∙ =
(𝑇5 𝑠 + 1) (𝑇2 𝑠 + 1) (𝑇5 𝑠 + 1)(𝑇2 𝑠 + 1)

Set 𝑇5 = 2 and 𝑇2 = 5

→ Find the pole(s)

→ Plot the Step response. Set K=1. Set 𝑇5 = 1 𝑎𝑛𝑑 𝑇2 = 0, 𝑇5 = 1 𝑎𝑛𝑑 𝑇2 = 0.05, 𝑇5 =
1 𝑎𝑛𝑑 𝑇2 = 0.1, 𝑇5 = 1 𝑎𝑛𝑑 𝑇2 = 0.25, 𝑇5 = 1 𝑎𝑛𝑑 𝑇2 = 0.5, 𝑇5 = 1 𝑎𝑛𝑑 𝑇2 = 1. Use the
step function in MATLAB.

[End of Task]

Solution:

Poles:

The poles are:

1 1
𝑝5 = − , 𝑝2 = −
𝑇5 𝑇2

Step Response:

MATLAB Course, Part II - Solutions

57 Transfer Functions

We will find the mathematical expression for the step response (𝑦(𝑡)) in order to analyze
the results from the simulations.

We use inverse Laplace and find the corresponding transformation pair in order to find
𝑦(𝑡)).

The step response for this system is:

𝑦 𝑠 = 𝐻 𝑠 𝑢(𝑠)

Where

𝑈
𝑢 𝑠 =
𝑠
Then we get:

𝐾𝑈
𝑦 𝑠 =
(𝑇5 𝑠 + 1)(𝑇2 𝑠 + 1)𝑠

We use the following Laplace transform pair:

1 1 {
U
⇔ 1 + (𝑇5 𝑒 6~ − 𝑇2 𝑒 {U/6• )
(𝑇5 𝑠 + 1)(𝑇2 𝑠 + 1)𝑠 𝑇2 − 𝑇5

Then we get:

MATLAB Course, Part II - Solutions

58 Transfer Functions

1 {
U
𝑦 𝑡 = 𝐾𝑈 1 + (𝑇5 𝑒 6~ − 𝑇2 𝑒 {U/6• )
𝑇2 − 𝑇5

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.

MATLAB Course, Part II - Solutions

8 State-Space Models
Task 26: State-space model

Implement the following equations as a state-space model in MATLAB:

𝑥5 = 𝑥2

2𝑥2 = −2𝑥5 −6𝑥2 +4𝑢5 +8𝑢2

𝑦 = 5𝑥5 +6𝑥2 +7𝑢5

→ Find the Step Response

→ Find the transfer function from the state-space model using MATLAB code.

[End of Task]

Solution:

First we do:

𝑥5 = 𝑥2

𝑥2 = −𝑥5 −3𝑥2 +2𝑢5 +4𝑢2

𝑦 = 5𝑥5 +6𝑥2 +7𝑢5

We have that:

𝑥 = 𝐴𝑥 + 𝐵𝑢

𝑦 = 𝐶𝑥 + 𝐷𝑢

This gives:

𝑥5 0 1 𝑥5 0 0 𝑢5
= +
𝑥2 −1 −3 𝑥2 2 4 𝑢2
„ …

𝑥5 𝑢5
𝑦= 5 6 𝑥 + 7 0 𝑢
2 2
† ‡

MATLAB Script:

59

60 Discrete Systems

% Define State-space model

A = [0 1; -1 -3];
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).
𝑦 𝑦
𝐻5 = , 𝐻2 =
𝑢5 𝑢2

The transfer function from the state-space model:

% Define State-space model

A = [0 1; -1 -3];
B = [0 0; 2 4];
C = [5 6];
D = [7 0];

sys = ss(A, B, C, D)
H = tf(sys)

MATLAB Course, Part II - Solutions

61 Discrete Systems

The result becomes:

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).
𝑦 𝑦
𝐻5 = , 𝐻2 =
𝑢5 𝑢2

You should also try the functions ss2tf and tf2ss.

Task 27: 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:

0 1 𝑥5 0
𝑥5 𝑘 𝑐 1 𝑢
= 𝑥2 +
𝑥2 − −
𝑚 𝑚 𝑚
𝑥5
𝑦= 1 0 𝑥
2

Define the state-space model above using the ss function in MATLAB.

Set c=1, m=1, k=50.

MATLAB Course, Part II - Solutions

62 Discrete Systems

→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

[End of Task]

Solution:

MATLAB Script:

clc
% Define variables
k = 50;
c = 1;
m = 1;

% Define State-space model

A = [0 1; -k/m -c/m];
B = [0; 1/m];
C = [1 0];
D = [0];

sys = ss(A, B, C, D)

step(sys)

The result becomes:

MATLAB Course, Part II - Solutions

63 Discrete Systems

Transfer function:

H = tf(sys)

This gives:

Transfer function:
1
------------
s^2 + s + 50

Task 28: Block Diagram

Find the state-space model from the block diagram below and implement it in MATLAB.

Set

𝑎5 = 5

𝑎2 = 2

And b=1, c=1

→ Simulate the system using the step function in MATLAB

[End of Task]

Solution:

MATLAB Course, Part II - Solutions

64 Discrete Systems

A general state-space model:

𝑥 = 𝐴𝑥 + 𝐵𝑢

𝑦 = 𝐶𝑥 + 𝐷𝑢

We get the following state-space model from the block diagram:

𝑥5 = −𝑎5 𝑥5 − 𝑎2 𝑥2 + 𝑏𝑢

𝑥2 = −𝑥2 + 𝑢

𝑦 = 𝑥5 + 𝑐𝑥2

This gives:

𝑥5 −𝑎5 −𝑎2 𝑥5 𝑏
= + 𝑢
𝑥2 0 −1 𝑥2 1
„ …

𝑥5
𝑦= 1 𝑐 𝑥
2
†

Simulation:

Task 29: Discretization

The state-space model for the system is:

MATLAB Course, Part II - Solutions

65 Discrete Systems

0 1 𝑥5 0
𝑥5 𝑘 𝑐 1 𝑢
= 𝑥2 +
𝑥2 − −
𝑚 𝑚 𝑚
𝑥5
𝑦= 1 0 𝑥
2

Set some arbitrary values for 𝑘, 𝑐 and 𝑚.

Find the discrete State-space model using MATLAB.

[End of Task]

Solution:

Code:

clc
% Define variables
k = 50;
c = 1;
m = 1;

% Define State-space model

A = [0 1; -k/m -c/m];
B = [0; 1/m];
C = [1 0];
D = [0];

sys = ss(A, B, C, D)

Ts=0.1; % Sampling Time

sysd = c2d(sys, Ts);

A_disc = sysd.A
B_disc = sysd.B
C_disc = sysd.C
D_disc = sysd.D

This gives the following discrete system:

A_disc =
0.7680 0.0874
-4.3715 0.6805
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.

MATLAB Course, Part II - Solutions

9 Frequency Response
Task 30: 1. order system

We have the following transfer function:

4
𝐻 𝑠 =
2𝑠 + 1

→ What is the break frequency?

→ Set up the mathematical expressions for 𝐴(𝜔) and 𝜙(𝜔). Use “Pen & Paper” for this
Assignment.

→ Plot the frequency response of the system in a bode plot using the bode function in
MATLAB. Discuss the results.

→ Find 𝐴(𝜔) and 𝜙(𝜔) for the following frequencies using MATLAB code (use the bode
function):

𝝎 𝑨 𝝎 [𝒅𝑩] 𝝓 𝝎 (𝒅𝒆𝒈𝒓𝒆𝒆𝒔)
0.1
0.16
0.25
0.4
0.625
2.5

Make sure 𝐴 𝜔 is in dB.

→ Find 𝐴(𝜔) and 𝜙(𝜔) for the same frequencies above using the mathematical
expressions for 𝐴(𝜔) and 𝜙(𝜔). 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:

66

67 Frequency Response

1 1
𝜔= = = 0.5
𝑇 2
→ Set up the mathematical expressions for 𝐴(𝜔) and 𝜙(𝜔).

Solution:

𝐻(𝑗𝜔) S… = 20𝑙𝑜𝑔4 − 20𝑙𝑜𝑔 (2𝜔)2 + 1

∠𝐻(𝑗𝜔) = −arctan (2𝜔)

→ 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:

MATLAB Course, Part II - Solutions

68 Frequency Response

→ Find 𝐴(𝜔) and 𝜙(𝜔) 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

MATLAB Course, Part II - Solutions

69 Frequency Response

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) =
-26.5651
phase(:,:,4) =
-38.6598
phase(:,:,5) =
-51.3402
phase(:,:,6) =
-78.6901

We insert the values into the table and get:

𝜔 𝐴(𝜔) 𝜙(𝜔)

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

MATLAB Course, Part II - Solutions

70 Frequency Response

2.5 -2.1 -78.6

→ Find 𝐴(𝜔) and 𝜙(𝜔) for the same frequencies above using the mathematical
expressions for 𝐴(𝜔) and 𝜙(𝜔). 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));
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

MATLAB Course, Part II - Solutions

71 Frequency Response

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 31: Bode Diagram

We have the following transfer function:

(5𝑠 + 1)
𝐻 𝑆 =
2𝑠 + 1 (10𝑠 + 1)

→ What is the break frequencies?

→ Set up the mathematical expressions for 𝐴(𝜔) and 𝜙(𝜔). Use “Pen & Paper” for this
Assignment.

→ Plot the frequency response of the system in a bode plot using the bode function in
MATLAB. Discuss the results.

→ Find 𝐴(𝜔) and 𝜙(𝜔) for some given frequencies using MATLAB code (use the bode
function).

→ Find 𝐴(𝜔) and 𝜙(𝜔) for the same frequencies above using the mathematical
expressions for 𝐴(𝜔) and 𝜙(𝜔). Tip: use a For Loop or define a vector w=[0.01, 0.1, …].

[End of Task]

Solutions:

→ What is the break frequencies?

Solution:

MATLAB Course, Part II - Solutions

72 Frequency Response

1 1
𝜔5 = = = 1
𝑇5 5

1 1
𝜔2 = = = 0.5
𝑇2 2

1 1
𝜔b = = = 0.1
𝑇b 10

→ Set up the mathematical expressions for 𝐴(𝜔) and 𝜙(𝜔).

Solution:

𝐻(𝑗𝜔) S… = 20𝑙𝑜𝑔 (5𝜔)2 + 1 − 20𝑙𝑜𝑔 (2𝜔)2 + 1 − 20𝑙𝑜𝑔 (10𝜔)2 + 1

∠𝐻(𝑗𝜔) = arctan (5𝜔) − arctan (2𝜔) − arctan (10𝜔)

→ Plot the frequency response of the system in a bode plot using the bode function in
MATLAB.

→ Find 𝐴(𝜔) and 𝜙(𝜔) for some given frequencies using MATLAB code.

Solution:

MATLAB Script:

clc
clf

% Transfer function
num=[5,1];
den1=[2, 1];
den2=[10,1]

den = conv(den1,den2);
H = tf(num, den)

% Bode Plot
bode(H)
grid

% Margins and Phases

w=[0.01, 0.1, 0.2, 0.5, 1, 10, 100];

[mag, phase] = bode(H, wlist);

MATLAB Course, Part II - Solutions

73 Frequency Response

magdB=20*log10(mag); %convert to dB

% Print to Screen
magdB
phase

Bode Plot:

→ Find 𝐴(𝜔) and 𝜙(𝜔) for the same frequencies above using the mathematical
expressions for 𝐴(𝜔) and 𝜙(𝜔). 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.

Task 32: Frequency Response Analysis

Given the following system:

Process transfer function:

𝐾
𝐻™ =
𝑠
š›
Where 𝐾 = , where 𝐾Z = 0,556, 𝐴 = 13,4, 𝜚 = 145
œ„

MATLAB Course, Part II - Solutions

74 Frequency Response

Measurement (sensor) transfer function:

𝐻ž = 𝐾ž

Where 𝐾ž = 1.

Controller transfer function (PI Controller):

𝐾™
𝐻Ÿ = 𝐾™ +
𝑇𝑠

Set Kp = 1,5 og Ti = 1000 sec.

→ Define the Loop transfer function 𝑳(𝒔), Sensitivity transfer function 𝑺(𝒔) and Tracking
transfer function 𝑻(𝒔) and in MATLAB.

→ Plot the Loop transfer function 𝐿(𝑠), the Tracking transfer function 𝑇(𝑠) and the
Sensitivity transfer function 𝑆(𝑠) in the same Bode diagram. Use, e.g., the bodemag
function in MATLAB.

→ Find the bandwidths 𝜔U , 𝜔Ÿ , 𝜔Z from the plot above.

→ Plot the step response for the Tracking transfer function 𝑇(𝑠)

[End of Task]

Solution:

MATLAB Script:

% Frequency Response Analysis

clear
clc

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

MATLAB Course, Part II - Solutions

75 Frequency Response

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:

MATLAB Course, Part II - Solutions

76 Frequency Response

We find the bandwidths in the plot according to the sketch below:

MATLAB Course, Part II - Solutions

77 Frequency Response

We change the scaling for more details:

I get the following values:

𝝎𝒄 = 𝟎. 𝟎𝟎𝟎𝟕𝟑

𝝎𝒔 = 𝟎. 𝟎𝟎𝟎𝟑𝟐

𝝎𝒕 = 𝟎. 𝟎𝟎𝟏𝟐

The step response for the Tracking transfer function 𝑇(𝑠):

MATLAB Course, Part II - Solutions

78 Frequency Response

Task 33: Stability Analysis

Given the following system:

1
𝐻 𝑆 =
𝑠 𝑠+1 2

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.

[End of Task]

Solution:

MATLAB Code:

clear
clc
% Transfer function

MATLAB Course, Part II - Solutions

79 Frequency Response

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

% Margins and Phases

wlist=[0.01, 0.1, 0.2, 0.5, 1, 10, 100];

[mag, phase,w] = bode(H, wlist);

magdB=20*log10(mag); %convert to dB

% 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:

MATLAB Course, Part II - Solutions

80 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:

MATLAB Course, Part II - Solutions

81 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

MATLAB Course, Part II - Solutions

10 Additional Tasks
Task 34: ODE Solvers

Use the ode45 function to solve and plot the results of the following differential equation in
the interval [𝑡? , 𝑡A ]:

𝟏
𝟑𝒘D + 𝒘 = 𝒄𝒐𝒔𝒕, 𝑡? = 0, 𝑡A = 5, 𝑤 𝑡? = 1
𝟏 + 𝒕𝟐
[End of Task]

Solution:

We rewrite the equation:

𝑤
𝑐𝑜𝑠𝑡 −
𝑤D = 1 + 𝑡2
3
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:

82

83 Additional Tasks

Task 35: 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:

0 1 𝑥5 0
𝑥5 𝑘 𝑐 1 𝑢
= 𝑥2 +
𝑥2 − −
𝑚 𝑚 𝑚
Define the state-space model above using the ss function in MATLAB.

MATLAB Course, Part II - Solutions

84 Additional Tasks

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)

% Define variables
k = 50;
c = 1;
m = 1;

u=1;

% Define State-space model

A = [0 1; -k/m -c/m];
B = [0; 1/m];

dx = A*x + B*u;

Results:

MATLAB Course, Part II - Solutions

85 Additional Tasks

Task 36: Numerical Integration

Given a piston cylinder device:

→ Find the work produced in a piston cylinder device by solving the equation:
«•
𝑊= 𝑃𝑑𝑉
«~

MATLAB Course, Part II - Solutions

86 Additional Tasks

Assume the ideal gas low applies:

𝑃𝑉 = 𝑛𝑅𝑇

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. 𝑉5 = 1𝑚b , 𝑉2 = 5𝑚b

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:

«• «• «•
𝑛𝑅𝑇 1 𝑉2
𝑊= 𝑃𝑑𝑉 = 𝑑𝑉 = 𝑛𝑅𝑇 𝑑𝑉 = 𝑛𝑅𝑇 𝑙𝑛
«~ «~ 𝑉 «~ 𝑉 𝑉5

Inserting values gives:

𝑘𝐽 5 𝑚b
𝑊 = 1 𝑘𝑚𝑜𝑙 ×8.314 ×300𝐾 × ln = 4014𝑘𝐽
𝑘𝑚𝑜𝑙 𝐾 1 𝑚b

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
n = 1;

MATLAB Course, Part II - Solutions

87 Additional Tasks

R = 8.315;
T=300;

P=n*R*T./V;

Running the script gives:

ans =

4.0147e+003

ans =

4.0147e+003

Task 37: State-space model

The following model of a pendulum is given:

𝑥5 = 𝑥2

𝑔 𝑏
𝑥2 = − 𝑥5 − 𝑥
𝑟 𝑚𝑟 2 2
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 𝑔 = 9.81, 𝑚 = 8, 𝑟 = 5, 𝑏 = 10

[End of Task]

Solution:

State-space model:

0 1 𝑥5
𝑥5 𝑔 𝑏
= 𝑥
𝑥2 − − 2 2
𝑟 𝑚𝑟
MATLAB Script:

clear,clc

MATLAB Course, Part II - Solutions

88 Additional Tasks

tspan=[0 100];
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)

% Define variables and constants

g = 9.81;
m = 8;
r = 5;
b = 10;

% Define State-space model

A = [0 1; -g/r -b/(m*r^2)];

dx = A*x;

The results become:

MATLAB Course, Part II - Solutions

89 Additional Tasks

Task 38: lsim

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:

0 1 𝑥5 0
𝑥5 𝑘 𝑐 1 𝑢
= 𝑥2 +
𝑥2 − −
𝑚 𝑚 𝑚
𝑥5
𝑦= 1 0 𝑥
2

→ 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;

% Define State-space model

A = [0 1; -k/m -c/m];
B = [0; 1/m];
C = [1 0];
D = [0];

sssys = ss(A, B, C, D);

MATLAB Course, Part II - Solutions

90 Additional Tasks

t = 0:0.01:5;
u = eye(length(t),1);
x0=[0.5; 0];

lsim(sssys, u, t, x0)

The result becomes:

MATLAB Course, Part II - Solutions



Hans-Petter Halvorsen, M.Sc.

E-mail: [email protected]
Blog: http://home.hit.no/~hansha/

University College of Southeast Norway

www.usn.no