Dingyu Xue, YangQuan Chen
System Simulation Techniques with
MATLAB and Simulink
A JOHN WILEY & SONS, INC., PUBLICATION 2013
CHAPTER 4
MATHEMATICAL MODELING AND SIMULATIO
N WITH SIMULINK
Dingyu Xue
Northeastern University, Shenyang, China
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Chapter 4 Mathematical Modeling and
Simulation with Simulink
The main content
Brief Description of the Simulink Block Library
Simulink Modeling
Model Manipulation and Simulation Analysis
Illustrative Examples of Simulink Modeling
Modeling, Simulation and Analysis of Linear Syste
ms
Simulation of Continuous Nonlinear Stochastic Sys
tems CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
4.1 Brief Description of the Simulink
Block Library
The previous name for Simulink was “Simulab”, relea
sed in 1990
Renamed as Simulink in 1991
Modeling and simulation based on block diagram
Commonly Used Blocks:
Sources, Sinks, Continuous, Discrete, Math Operations, Log
ic and Bit Operations, Discontinuities , Lookup Tables, Sign
als Routing,Signal Attributes, User-defined Functions and P
orts & Subsystems, Other blocks
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
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Signal Sources
Signal Generator:
Square waves, sinusoidal and sawtooth signals
Band-Limited White Noise, continuous:
Other random blocks: such as Random Number and
Uniform Random Number
From File block and From Workspace block
Clock block: generate current time
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
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Constant block
Ground block
Various of other input blocks
Step, Pulse Generator, Ramp and Sine Wave block
s, Repeating Sequence generate arbitrary periodic i
nputs
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
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Continuous Blocks
Transfer Fcn block
State-Space block
Pole-Zero block
PID controllers
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
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Discrete-time Blocks
Zero-Order Hold and First-Order Hold blocks
Discrete Transfer Fcn
Discrete State-Space
Discrete Zero-Pole
Filter, Unit Delay, Integer Delay, Differences, Discret
e Derivative, Discrete-Time Integrator, Transfer Fcn
Lead or Lag blocks
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
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Math Blocks
Gain block: The block can be used for matrix as well a
s dot multiplication of the input signals
Sum, Subtract, Abs, and Product
Algebraic Constraint block
Complex to Real-Imag
Complex to Magnitude-Angle
Commonly used math blocks
Abs
Trigonometric Function
Sign
Rounding Function
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
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Lookup Table Blocks
One-, two- and multi-dimensional lookup table
s
Other Lookup Table
Lookup Table (n-D)
Lookup Table Dynamic
Direct Lookup Table (n-D)
Lookup Table Dynamic and Interpolation Using Pre
lookup
We can construct arbitrary piecewise linear stat
ic nonlinearity functions
Illustrative examples later
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
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User-defined Functions
Fcn block
User-defined MATLAB function blocks:
MATLAB Fcn
Embedded MATLAB Function
S-function block
Using languages such as MATLAB, C, Fortran and
Ada
System files, describing nonlinear state space equa
tions
Describing the complexity of a system in principle
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Nonlinearity Blocks
Coulomb & Viscous Friction
Backlash
Hit Crossing
Piecewise linear static nonlinearity blocks
Saturation
Dead Zone
Quantizer
Relay
Rate Limiter
Dynamic parameters Saturation, Dead Zone, Rate Limite
r blocks
Implemented by one-dimensional lookup table blocks
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Output Blocks
Out1 block
Scope blocks
Ordinary scopes
Floating Scope
x-y Graph
To Workspace
To File
Display
Stop Simulation
Terminator
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
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Signal Related Blocks
Mux and Demux blocks
Model Info
Selector
Various switch blocks
Switch
Manual Switch
Multiport Switch
Signal transfer blocks, From and Goto
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
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Ports and Subsystem Blocks
Input, output: In1, Out1
Trigger
Enable
Atomic Subsystem
Triggered Subsystem
Enabled Subsystem
Flow control subsystems
For loop, while loop, if clause and the switch structure
Model block can be used to embed another existing S
imulink model
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Commonly Used Blocks
In order to provide easy access to the block lib
rary, the commonly used blocks can be put int
o a group.
One can add or remove blocks to and from the
group, so that the next time the group is opene
d, most of the blocks to be used in modeling ar
e already in the window.
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
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Other Toolboxes and Blocksets
Aerospace Blockset
Comm Blockset
DSP Blockset
Gauges Blockset
Blocksets and toolboxes used for interfacing the
existing MATLAB toolboxes
Control System Toolbox
Fuzzy Logic Toolbox
Neural Network Blockset
Model Predictive Blockset
System Identification Toolbox
Simscape
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
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Professional engineering simulation blocksets
SimPowerSystems, SimHydraulics, SimMechanics,
SimDriveline, SimElectronics
SimEvents
Simulink 3D Animation blockset
Real-time control blocksets
Real-Time Workshop, xPC blockset, Fixed-Point B
lockset
Video & Image Processing Blockset
Image Acquisition Toolbox
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
4.2 Simulink Modeling
Establishing a Model Window: Several methods
Connecting and Simple Manipulation of Blocks
Connecting and skills
Rotating
Flipping
Parameter Modification in Blocks
Fill in function block parameters
Block modification
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
4.3 Model Manipulation and Simulatio
n Analysis
The main content
Model Creation and Fundamental Modeling Skills
Model Explorer
Online Help System in Simulink
Output and Printing of Simulink Models
Simulink Environment Setting
Debugging Tools of Simulink Models
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Model Creation and Fundamental Mo
deling Skills
E.g.4.1 Traditional linear system analysis methods m
ay fail completely
Creating block diagrams in Simulink
Blocks needed: Step input, Sum, nonlinear Saturation,
three Transfer Fcn, Scope
Connecting, Parameter modification, saving
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Model Creation and Model Explorer
Model Creation
Opening a blank window
Copying the blocks to the model window
Connecting, The simplest way: Ctrl + Click
The connection of the feedback block
Parameter modification
Model explorer of the model simulation
Launching the model explorer
View | Model Explorer
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Others about Simulation Analysis
Online help: Help | Help on the selected block, F1
Printing of Simulink Models
Print -deps –s file_name
Menu Edit | Copy Model to Clipboard
Simulink Environment Setting
Solver pane: Simulation interval setting, Simulation accurac
y setting,Accurate processing of output signals, Zero-crossi
ng detection, etc.
Data Import/Export pane : tout/yout
Diagnostics pane: Algebraic loop, etc.
Debugging Tools of Simulink Models: Model Adviso
r
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
4.4 Illustrative Examples of Simulink
Modeling
Van der Pol equations
The key signals: expressed as integrators
Several modeling methods
Setting the integrator initial value
Direct bottom block construction
Fcn blocks (introducing this later)
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
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Model name: c4mvdp.mdl
Initial values
Simulation
Simulink model with an xy scope: Model nam
e: c4mvdp1.mdl
A new phase plane trajectory can be obtained
x-y scope parameter setting
Another model: c4mvdp2.mdl
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Solving the problem by means of mode
ls and statements
It's easy to solve the former example by means of
ode45
DC motor drive system
ode45 is not appropriate
By means of Simulink model: c4mex2.mdl
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Nonlinear Model Simulation
Nonlinear model
Nonlinear component existing, ode45 is unfit
Backlash nonlinear component
Simulink model: c4mex3.mdl
Simulation:
Modifying C1 and simulation, modifying amplitude and sim
ulation
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Sample-data System Simulation
System model
Ode45 is not appropriate
Sampling interval: 0.1s
Simulink model: c4mex4.mdl
The transfer function is represented by two blocks
Signals in system
Zero-Order Hold signal
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
4.5 Modeling Simulation and Analysis
of Linear Systems
Linear systems are main models in system modeling
Various of linear system:
Continuous blocks: transfer function block, state space bloc
k
Discrete blocks:
Multivariable system, delay systems, hybrid system
The main content
Modeling of Linear Systems
Analysis Interface for Linear Systems
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
4.5.1 Modeling of Linear Systems
Mathematical model MATLAB expression
In Control System Toolbox, various linear time-invari
ant objects are provided
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
EXAMPLES
Complicated transfer functions
MATLAB expression
System modeling
Providing linear system blocks in the Control Syste
m Toolbox
Filling G in the dialog box
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Multivariable system
Mathematical model
Input commands
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
System Simulation
The discrete state space model
MATLAB commands
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
4.5.2 Analysis Interface for Linear Sys
tems
MATLAB Control System Toolbox commands
frequency domain
Time domain
Simulink Analysis Interface
Model: c4mex2.mdl
Menu: Tools | Control Design | Linear Analysis
Interface arrangement
LTI Viewer menu: Edit | Plot Configurations
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
4.6 Simulation of Continuous Nonline
ar Stochastic Systems
Why we need to discuss the methods?
White Noise not appropriate, insufficient intensity
Two blocks in use
Band Limited White Noise
Common White Noise, adding a gain of
The main content
Simulation of Random Signals in Simulink
Statistical Analysis of Simulation Results
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Simulation of Random Signals in Simu
link
System simulation driven by white noise
Linear model
Simulation method: setting a step size, 30000
simulation points
Simulation model: c4mrnd1.mdl
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Analysis (Compared with theoretical probabili
ty density)
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Statistical Analysis of Simulation
Results
The autocorrelation function
The spectral factorization theorem
stability
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Then
It follows that
Denote
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
We obtain the following linear algebraic equati
ons:
The autocorrelation function
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Power spectral factorizations
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
EXAMPLES
The transfer function
MATLAB analysis
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
Power Spectral Density Analysis
The power spectral density
MATLAB analysis expressions
psd_estm() this function is given in Chapter 3
CHAPTER 4 MATHEMATICAL MODELING AND SIMULATION WITH SIMULINK
Dingyu Xue, YangQuan Chen System Simulation Techniques with MATLAB and
12/12/24 18:49 Simulink 2013
