【2008新书】 Introduction to Simulink with Engineering Applications

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Table of Contents
1 Introduction to Simulink 1−1
1.1 Simulink and its Relation to MATLAB....................................................................1−1
1.2 Simulink Demos ......................................................................................................1−20
1.3 Summary..................................................................................................................1−28
1.4 Exercises ..................................................................................................................1−29
1.5 Solutions to End−of−Chapter Exercises ..................................................................1−30
2 The Commonly Used Blocks Library 2−1
2.1 Inport, Outport, and Subsystem Blocks................................................................ 2−2
2.2 Ground Block ........................................................................................................ 2−4
2.3 Terminator Block .................................................................................................. 2−5
2.4 Constant and Product Blocks ............................................................................... 2−6
2.5 Scope Block ........................................................................................................... 2−8
2.6 Bus Creator and Bus Selector Blocks ................................................................... 2−8
2.7 Mux and Demux Blocks ..................................................................................... 2−12
2.8 Switch Block ....................................................................................................... 2−15
2.9 Sum Block ........................................................................................................... 2−17
2.10 Gain Block .......................................................................................................... 2−18
2.11 Relational Operator Block .................................................................................. 2−19
2.12 Logical Operator Block ....................................................................................... 2−20
2.13 Saturation Block ................................................................................................. 2−21
2.14 Integrator Block .................................................................................................. 2−22
2.15 Unit Delay Block ................................................................................................ 2−27
2.16 Discrete-Time Integrator Block .......................................................................... 2−29
2.17 Data Types and The Data Type Conversion Block ........................................... 2−32
2.18 Summary ............................................................................................................. 2−42
2.19 Exercises .............................................................................................................. 2−46
2.20 Solutions to End−of−Chapter Exercises ............................................................. 2−48
3 The Continuous Blocks Library 3−1
3.1 Continuous−Time Linear Systems Sub−Library ....................................................... 3−2
3.1.1 Integrator Block .............................................................................................. 3−2
3.1.2 Derivative Block.............................................................................................. 3−2
3.1.3 State−Space Block........................................................................................... 3−7
3.1.4 Transfer Fcn Block .......................................................................................... 3−7
3.1.5 Zero&#8722ole Block............................................................................................... 3−9
3.2 Continuous−Time Delays Sub−Library .................................................................. 3−10
3.2.1 Transport Delay Block................................................................................. 3−11
3.2.2 Variable Time Delay Block ......................................................................... 3−12
3.2.3 Variable Transport Delay Block.................................................................. 3−13
3.3 Summary............................................................................................................... 3−15
3.4 Exercises ............................................................................................................... 3−17
3.5 Solutions to End−of−Chapter Exercises............................................................... 3−18
4 The Discontinuities Blocks Library 4−1
4.1 Saturation Block..................................................................................................... 4−2
4.2 Saturation Dynamic Block ..................................................................................... 4−3
4.3 Dead Zone Block .................................................................................................... 4−4
4.4 Dead Zone Dynamic Block..................................................................................... 4−5
4.5 Rate Limiter Block.................................................................................................. 4−6
4.6 Rate Limiter Dynamic Block .................................................................................. 4−8
4.7 Backlash Block........................................................................................................ 4−9
4.8 Relay Block ........................................................................................................... 4−11
4.9 Quantizer Block.................................................................................................... 4−12
4.10 Hit Crossing Block................................................................................................ 4−13
4.11 Coulomb and Viscous Friction Block................................................................... 4−14
4.12 Wrap to Zero Block .............................................................................................. 4−16
4.13 Summary............................................................................................................... 4−17
4.14 Exercises ............................................................................................................... 4−19
4.15 Solutions to End−of−Chapter Exercises ............................................................... 4−20
5 The Discrete Blocks Library 5−1
5.1 Discrete−Time Linear Systems Sub−Library............................................................ 5−2
5.1.1 Unit Delay Block.......................................................................................... 5−2
5.1.2 Integer Delay Block...................................................................................... 5−2
5.1.3 Tapped Delay Block..................................................................................... 5−3
5.1.4 Discrete−Time Integrator Block .................................................................. 5−4
5.1.5 Discrete Transfer Fcn Block ........................................................................ 5−4
5.1.6 Discrete Filter Block .................................................................................... 5−5
5.1.7 Discrete Zero&#8722ole Block............................................................................. 5−8
5.1.8 Difference Block........................................................................................... 5−9
5.1.9 Discrete Derivative Block .......................................................................... 5−10
5.1.10 Discrete State−Space Block ....................................................................... 5−11
5.1.11 Transfer Fcn First Order Block.................................................................. 5−14
5.1.12 Transfer Fcn Lead or Lag Block................................................................. 5−15
5.1.13 Transfer Fcn Real Zero Block .................................................................... 5−18
5.1.14 Discrete FIR Filter Block ........................................................................... 5−19
5.2 Sample & Hold Delays Sub−Library..................................................................... 5−21
5.2.1 Memory Block ............................................................................................ 5−21
5.2.2 First−Order Hold Block.............................................................................. 5−22
5.2.3 Zero−Order Hold Block.............................................................................. 5−23
5.3 Summary ............................................................................................................... 5−25
5.4 Exercises................................................................................................................ 5−27
5.5 Solutions to End−of−Chapter Exercises ............................................................... 5−29
6 The Logic and Bit Operations Library 6−1
6.1 Logic Operations Group Sub−Library ..................................................................... 6−2
6.1.1 Logical Operator Block ................................................................................ 6−2
6.1.2 Relational Operator Block............................................................................ 6−2
6.1.3 Interval Test Block ....................................................................................... 6−2
6.1.4 Interval Test Dynamic Block ....................................................................... 6−3
6.1.5 Combinatorial Logic Block........................................................................... 6−4
6.1.6 Compare to Zero Block ................................................................................ 6−9
6.1.7 Compare to Constant Block....................................................................... 6−10
6.2 Bit Operations Group Sub−Library ...................................................................... 6−11
6.2.1 Bit Set Block ............................................................................................... 6−12
6.2.2 Bit Clear Block ........................................................................................... 6−13
6.2.3 Bitwise Operator Block............................................................................... 6−14
6.2.4 Shift Arithmetic Block ............................................................................... 6−16
6.2.5 Extract Bits Block....................................................................................... 6−17
6.3 Edge Detection Group Sub−Library ..................................................................... 6−18
6.3.1 Detect Increase Block................................................................................. 6−18
6.3.2 Detect Decrease Block ............................................................................... 6−20
6.3.3 Detect Change Block ................................................................................. 6−21
6.3.4 Detect Rise Positive Block ......................................................................... 6−22
6.3.5 Detect Rise Nonnegative Block................................................................. 6−23
6.3.6 Detect Fall Negative Block ........................................................................ 6−24
6.3.7 Detect Fall Nonpositive Block................................................................... 6−25
6.4 Summary............................................................................................................... 6−27
6.5 Exercises ............................................................................................................... 6−31
6.6 Solutions to End−of−Chapter Exercises............................................................... 6−32
7 The Lookup Tables Library 7−1
7.1 Lookup Table Block ................................................................................................7−2
7.2 Lookup Table (2−D) Block .....................................................................................7−3
7.3 Lookup Table (n−D) Block .....................................................................................7−6
7.4 PreLookup Index Search Block...............................................................................7−7
7.5 Interpolation (n−D) Using PreLookup Block......................................................... 7−8
7.6 Direct Lookup Table (n−D) Block ....................................................................... 7−10
7.7 Lookup Table Dynamic Block .............................................................................. 7−16
7.8 Sine and Cosine Blocks ........................................................................................ 7−17
7.9 Summary ............................................................................................................... 7−21
7.10 Exercises................................................................................................................ 7−23
7.11 Solutions to End−of−Chapter Exercises ............................................................... 7−24
8 The Math Operations Library 8−1
8.1 Math Operations Group Sub−Library ..................................................................... 8−2
8.1.1 Sum Block .................................................................................................... 8−2
8.1.2 Add Block .................................................................................................... 8−2
8.1.3 Subtract Block.............................................................................................. 8−3
8.1.4 Sum of Elements Block ................................................................................ 8−4
8.1.5 Bias Block..................................................................................................... 8−4
8.1.6 Weighted Sample Time Math Block ........................................................... 8−5
8.1.7 Gain Block ................................................................................................... 8−6
8.1.8 Slider Gain Block ......................................................................................... 8−6
8.1.9 Product Block............................................................................................... 8−7
8.1.10 Divide Block................................................................................................. 8−7
8.1.11 Product of Elements Block........................................................................... 8−7
8.1.12 Dot Product Block ....................................................................................... 8−8
8.1.13 Sign Block .................................................................................................... 8−9
8.1.14 Abs Block ................................................................................................... 8−10
8.1.15 Unary Minus Block .................................................................................... 8−11
8.1.16 Math Function Block................................................................................. 8−11
8.1.17 Rounding Function Block.......................................................................... 8−13
8.1.18 Polynomial Block ....................................................................................... 8−14
8.1.19 MinMax Block ........................................................................................... 8−14
8.1.20 MinMax Running Resettable Block .......................................................... 8−15
8.1.21 Trigonometric Function Block .................................................................. 8−16
8.1.22 Sine Wave Function Block ........................................................................ 8−17
8.1.23 Algebraic Constraint Block........................................................................ 8−18
8.2 Vector / Matrix Operations Group Sub−Library ................................................... 8−19
8.2.1 The Assignment Block............................................................................... 8−19
8.2.2 The Reshape Block .................................................................................... 8−21
8.2.3 The Squeze Block....................................................................................... 8−21
8.2.4 The Matrix Concatenate Block................................................................. 8−23
8.2.5 The Vector Concatenate Block................................................................. 8−24
8.2.6 The Permute Block .................................................................................... 8−25
8.3 The Complex Vector Conversions Group Sub−Library........................................ 8−26
8.3.1 Complex to Magnitude−Angle Block........................................................ 8−26
8.3.2 Magnitude−Angle to Complex Block....................................................... 8−27
8.3.3 Complex to Real−Imag Block.................................................................... 8−28
8.3.4 Real−Imag to Complex Block.................................................................... 8−29
8.4 Summary................................................................................................................ 8−30
8.5 Exercises ................................................................................................................ 8−34
8.6 Solutions to End−of−Chapter Exercises................................................................ 8−36
9 The Model Verification Library 9−1
9.1 Check Static Lower Bound Block.......................................................................... 9−2
9.2 Check Static Upper Bound Block.......................................................................... 9−3
9.3 Check Static Range Block ..................................................................................... 9−4
9.4 Check Static Gap Block......................................................................................... 9−5
9.5 Check Dynamic Lower Bound Block .................................................................... 9−6
9.6 Check Dynamic Upper Bound Block .................................................................... 9−8
9.7 Check Dynamic Range Block ................................................................................ 9−9
9.8 Check Dynamic Gap Block ................................................................................. 9−10
9.9 Assertion Block.................................................................................................... 9−12
9.10 Check Discrete Gradient Block........................................................................... 9−13
9.11 Check Input Resolution Block ............................................................................ 9−14
9.12 Summary .............................................................................................................. 9−16
9.13 Exercises............................................................................................................... 9−18
9.14 Solutions to End−of−Chapter Exercises .............................................................. 9−19
10 The Model−Wide Utilities Library 10−1
10.1 Linearization of Running Models Sub−Library..................................................10−2
10.1.1 Trigger−Based Linearization Block........................................................10−2
10.1.2 Time−Based Linearization Block...........................................................10−4
10.2 Documentation Sub−Library ............................................................................10−7
10.2.1 Model Info Block...................................................................................10−7
10.2.2 Doc Text Block .....................................................................................10−9
10.3 Modeling Guides Sub−Library ..........................................................................10−9
Block Support Table Block...............................................................................10−9
10.4 Summary .........................................................................................................10−11
11 The Ports & Subsystems Library 11−1
11.1 Inport, Outport, and Subsystem Blocks ........................................................ 11−2
11.2 Trigger Block ................................................................................................. 11−2
11.3 Enable Block.................................................................................................. 11−2
11.4 Function−Call Generator Block .................................................................... 11−3
11.5 Atomic Subsystem Block ............................................................................... 11−4
11.6 Code Reuse Subsystem Block ........................................................................ 11−9
11.7 Model Block ................................................................................................. 11−17
11.8 Configurable Subsystem Block..................................................................... 11−19
11.9 Triggered Subsystem Block.......................................................................... 11−25
11.10 Enabled Subsystem Block............................................................................ 11−27
11.11 Enabled and Triggered Subsystem Block.................................................... 11−30
11.12 Function−Call Subsystem Block ................................................................. 11−34
11.13 For Iterator Subsystem Block ...................................................................... 11−37
11.14 While Iterator Subsystem Block.................................................................. 11−39
11.15 If and If Action Subsystem Blocks .............................................................. 11−41
11.16 Switch Case and The Switch Case Action Subsystem Blocks.................... 11−43
11.17 Subsystem Examples Block ......................................................................... 11−46
11.18 S−Functions in Simulink............................................................................. 11−49
11.19 Summary...................................................................................................... 11−55
12 The Signal Attributes Library 12−1
12.1 Signal Attribute Manipulation Sub−Library .................................................... 12−2
12.1.1 Data Type Conversion Block ............................................................. 12−2
12.1.2 Data Type Duplicate Block................................................................ 12−2
12.1.3 Data Type Propagation Block ............................................................ 12−4
12.1.4 Data Type Scaling Strip Block ........................................................... 12−5
12.1.5 Data Conversion Inherited Block ...................................................... 12−5
12.1.6 IC (Initial Condition) Block............................................................... 12−6
12.1.7 Signal Conversion Block .................................................................... 12−7
12.1.8 Rate Transition Block ........................................................................ 12−8
12.1.9 Signal Specification Block................................................................ 12−11
12.1.10 Bus to Vector Block.......................................................................... 12−12
12.1.11 Data Type Propagation Examples Block.......................................... 12−14
12.2 Signal Attribute Detection Sub−Library........................................................ 12−16
12.2.1 Probe Block....................................................................................... 12−17
12.2.2 Weighted Sample Time Block.......................................................... 12−18
12.2.3 Width Block ..................................................................................... 12−19
12.3 Summary ........................................................................................................ 12−20
13 The Signal Routing Library 13−1
13.1 Signal Routing Group Sub−Library ................................................................. 13−2
13.1.1 Bus Creator Block .............................................................................. 13−2
13.1.2 Bus Selector Block ............................................................................. 13−2
13.1.3 Bus Assignment Block ....................................................................... 13−2
13.1.4 Mux Block ..........................................................................................13−6
13.1.5 Demux Block ......................................................................................13−6
13.1.6 Selector Block.....................................................................................13−6
13.1.7 Index Vector Block.............................................................................13−8
13.1.8 Merge Block........................................................................................13−8
13.1.9 Environmental Controller Block......................................................13−10
13.1.10 Manual Switch Block .......................................................................13−12
13.1.11 Multiport Switch Block ....................................................................13−13
13.1.12 Switch Block.....................................................................................13−14
13.1.13 From Block .......................................................................................13−14
13.1.14 Goto Tag Visibility Block .................................................................13−15
13.1.15 Goto Block........................................................................................13−16
13.2 Signal Storage and Access Group Sub−Library .............................................13−18
13.2.1 Data Store Read Block .....................................................................13−18
13.2.2 Data Store Memory Block................................................................13−18
13.2.3 Data Store Write Block....................................................................13−19
13.3 Summary ........................................................................................................13−22
14 The Sinks Library 14−1
14.1 Models and Subsystems Outputs Sub−Library................................................14−2
14.1.1 Outport Block.......................................................................................14−2
14.1.2 Terminator Block .................................................................................14−2
14.1.3 To File Block........................................................................................14−2
14.1.4 To Workspace Block ...........................................................................14−4
14.2 Data Viewers Sub−Library...............................................................................14−6
14.2.1 Scope Block .........................................................................................14−6
14.2.2 Floating Scope Block ...........................................................................14−8
14.2.3 XY Graph Block.................................................................................14−12
14.2.4 Display Block .....................................................................................14−16
14.3 Simulation Control Sub−Library ...................................................................14−17
Stop Simulation Block...................................................................................14−17
14.4 Summary........................................................................................................14−18
15 The Sources Library 15−1
15.1 Models and Subsystems Inputs Sub−Library .................................................. 15−2
15.1.1 Inport Block .......................................................................................15−2
15.1.2 Ground Block.................................................................................... 15−2
15.1.3 From File Block................................................................................. 15−2
15.1.4 From Workspace Block .................................................................... 15−2
15.2 Signal Generators Sub−Library ...................................................................... 15−3
15.2.1 Constant Block ................................................................................. 15−3
15.2.2 Signal Generator Block ..................................................................... 15−4
15.2.3 Pulse Generator Block ...................................................................... 15−5
15.2.4 Signal Builder Block.......................................................................... 15−6
15.2.5 Ramp Block ....................................................................................... 15−9
15.2.6 Sine Wave Block............................................................................... 15−9
15.2.7 Step Block....................................................................................... 15−12
15.2.8 Repeating Sequence Block ............................................................. 15−13
15.2.9 Chirp Signal Block.......................................................................... 15−14
15.2.10 Random Number Block .................................................................. 15−15
15.2.11 Uniform Random Number Block ................................................... 15−16
15.2.12 Band Limited White Noise Block................................................... 15−17
15.2.13 Repeating Sequence Stair Block..................................................... 15−22
15.2.14 Repeating Sequence Interpolated Block ........................................ 15−22
15.2.15 Counter Free−Running Block ........................................................ 15−24
15.2.16 Counter Limited Block ................................................................... 15−25
15.2.17 Clock Block..................................................................................... 15−26
15.2.18 Digital Clock Block......................................................................... 15−27
15.3 Summary....................................................................................................... 15−29
16 The User−Defined Functions Library 16−1
16.1 Fcn Block....................................................................................................... 16−2
16.2 MATLAB Fcn Block..................................................................................... 16−3
16.3 Embedded MATLAB Function Block .......................................................... 16−3
16.4 S−Function Block .......................................................................................... 16−7
16.5 Level−2 M−file S−Function Block................................................................. 16−7
16.6 S−Function Builder Block ........................................................................... 16−11
16.7 S−Function Examples Block........................................................................ 16−11
16.8 Summary...................................................................................................... 16−12
17 The Additional Discrete Library 17−1
17.1 Transfer Fcn Direct Form II Block............................................................... 17−2
17.2 Transfer Fcn Direct Form II Time Varying Block........................................ 17−3
17.3 Fixed-Point State-Space Block..................................................................... 17−4
17.4 Unit Delay External IC Block ...................................................................... 17−6
17.5 Unit Delay Resettable Block ........................................................................ 17−7
17.6 Unit Delay Resettable External IC Block..................................................... 17−8
17.7 Unit Delay Enabled Block ............................................................................ 17−9
17.8 Unit Delay Enabled Resettable Block ........................................................ 17−11
17.9 Unit Delay Enabled External IC Block ...................................................... 17−12
17.10 Unit Delay Enabled Resettable External IC Block .................................... 17−13
17.11 Unit Delay With Preview Resettable Block............................................... 17−15
17.12 Unit Delay With Preview Resettable External RV Block ......................... 17−16
17.13 Unit Delay With Preview Enabled Block .................................................. 17−17
17.14 Unit Delay With Preview Enabled Resettable Block................................. 17−19
17.15 Unit Delay With Preview Enabled Resettable External RV Block ........... 17−20
17.16 Summary .................................................................................................... 17−22
18 The Additional Math Increment / Decrement Library 18−1
18.1 Increment Real World Block...........................................................................18−2
18.2 Decrement Real World Block .........................................................................18−3
18.3 Increment Stored Integer Block ......................................................................18−4
18.4 Decrement Stored Integer Block.....................................................................18−5
18.5 Decrement to Zero Block ................................................................................18−6
18.6 Decrement Time To Zero Block......................................................................18−7
18.7 Summary ..........................................................................................................18−8
19 The Simulink Extras Library 19−1
19.1 Additional Discrete Group blocks ...................................................................19−2
19.1.1 Discrete Transfer Fcn (with initial states) block.................................19−2
19.1.2 Discrete Transfer Fcn (with initial outputs) block..............................19−5
19.1.3 Discrete Zero&#8722ole (with initial states) block .....................................19−8
19.1.4 Discrete Zero−Pole (with initial outputs) block ................................19−12
19.1.5 Idealized ADC Quantizer block ........................................................19−15
19.2 Additional Linear Group blocks ....................................................................19−18
19.2.1 Transfer Fcn (with initial states) block .............................................19−18
19.2.2 Transfer Fcn (with initial outputs) block ..........................................19−21
19.2.3 Zero−Pole (with initial states) block..................................................19−23
19.2.4 Zero−Pole (with initial outputs) block ..............................................19−26
19.2.5 State−Space (with initial outputs) block...........................................19−27
19.2.6 PID Controller block .........................................................................19−29
19.2.7 PID Controller (with Approximate Derivative) block......................19−31
19.3 Additional Sinks Group blocks......................................................................19−33
19.3.1 Power Spectral Density block ............................................................19−33
19.3.2 Averaging Power Spectral Density block ..........................................19−37
19.3.3 Spectrum Analyzer block...................................................................19−38
19.3.4 Averaging Spectrum Analyzer block .................................................19−41
19.3.5 Cross Correlator block .......................................................................19−43
19.3.6 Auto Correlator block........................................................................19−45
19.3.7 Floating Bar Plot block ......................................................................19−46
19.4 Flip Flops Group blocks................................................................................. 19−48
19.4.1 Clock block ....................................................................................... 19−48
19.4.2 D Latch block.................................................................................... 19−49
19.4.3 S−R Flip Flop block........................................................................... 19−50
19.4.4 D Flip Flop block............................................................................... 19−51
19.4.5 J−K Flip Flop block............................................................................ 19−52
19.5 Linearization Group blocks ........................................................................... 19−53
19.5.1 Switched Derivative for Linearization block ..................................... 19−53
19.5.2 Switched Transport Delay for Linearization block............................ 19−56
19.6 Transformations Group blocks...................................................................... 19−59
19.6.1 Polar to Cartesian block .................................................................... 19−59
19.6.2 Cartesian to Polar block .................................................................... 19−60
19.6.3 Spherical to Cartesian block.............................................................. 19−61
19.6.4 Cartesian to Spherical block.............................................................. 19−62
19.6.5 Fahrenheit to Celsius block ............................................................... 19−63
19.6.6 Celsius to Fahrenheit block ............................................................... 19−64
19.6.7 Degrees to Radians block .................................................................. 19−65
19.6.8 Radians to Degrees block .................................................................. 19−65
19.7 Summary........................................................................................................ 19−67
20 Engineering Applications 20−1
20.1 Applications to Differential Equations ........................................................... 20−1
20.1.1 Math Example .................................................................................. 20−1
20.1.2 Dynamics Example ........................................................................... 20−3
20.1.3 Chemical Solutions Example ........................................................... 20−6
20.1.4 Heat Flow Example .......................................................................... 20−8
20.1.5 Cantilever Beam Deflection Example ............................................ 20−10
20.1.6 Tractrix Curve Example ................................................................. 20−13
20.1.7 Bessel Differential Equation Example ............................................ 20−15
20.1.8 Van der Pol Differential Equation Example .................................. 20−18
20.1.9 The Simple Pendulum Example ..................................................... 20−22
20.1.10 Simple Oscillator Example ............................................................. 20−26
20.2 Zero−Order Hold and First−Order Hold Circuits as Reconstructors .......... 20−28
20.3 Digital Filter Realization Forms ................................................................... 20−30
20.3.1 Direct Form I Realization of a Digital Filter .................................. 20−30
20.3.2 Direct Form II Realization of a Digital Filter ................................. 20−31
20.3.3 Series Form Realization of a Digital Filter ..................................... 20−34
20.3.4 Parallel Form Realization of a Digital Filter ................................... 20−36
20.4 Models for Binary Counters ......................................................................... 20−39
20.4.1 Model for a 3−bit Up / Down Counter .......................................... 20−39
20.4.2 Model for a 4−bit Ring Counter .....................................................20−40
20.5 Models for Mechanical Systems .................................................................20−41
20.5.1 Model for a Mass−Spring−Dashpot .................................................20−41
20.5.2 Model for a Cascaded Mass−Spring System ....................................20−43
20.5.3 Model for a Mechanical Accelerometer ..........................................20−45
20.6 Feedback Control Systems ..........................................................................20−46
20.7 Models for Electrical Systems .....................................................................20−49
20.7.1 Model for an Electric Circuit in Phasor Form .................................20−49
20.7.2 Model for the Application of the Superposition Principle ..............20−51
20.8 Transformations ..........................................................................................20−53
20.9 Discrete Time Integration with Variable Amplitude Input .......................20−54
20.10 The Digital Filter Design Block ..................................................................20−57
20.11 S-Function Examples ..................................................................................20−65
20.11.1 Temperature Coefficients for Semiconductor Diodes ...................20−65
20.11.2 Simple Pendulum ..........................................................................20−67
20.12 Concluding Remarks ...................................................................................20−70
20.13 Summary ......................................................................................................20−71
A Introduction to MATLAB A−1
A.1 MATLAB® and Simulink®............................................................................A−1
A.2 Command Window..........................................................................................A−1
A.3 Roots of Polynomials ........................................................................................A−3
A.4 Polynomial Construction from Known Roots..................................................A−4
A.5 Evaluation of a Polynomial at Specified Values...............................................A−6
A.6 Rational Polynomials........................................................................................A−8
A.7 Using MATLAB to Make Plots .....................................................................A−10
A.8 Subplots..........................................................................................................A−18
A.9 Multiplication, Division, and Exponentiation...............................................A−18
A.10 Script and Function Files ...............................................................................A−26
A.11 Display Formats..............................................................................................A−31
B Masked Subsystems B−1
B.1 Masks Defined.................................................................................................... B−1
B.2 Advantages Using Masked Subsystems ............................................................. B−1
B.3 Mask Features .................................................................................................... B−1
B.4 Creating a Masked Subsystem ........................................................................... B−2
C Random Number Generation C−1
C.1 Random Numbers ..............................................................................................C−1
C.2 An Example .......................................................................................................C−1
D Weighted Moving Average ....................................................................................... D−1
References R−1
Index IN−1

favex

真是好书，第二版找了好久了。谢谢分享。

Flying1987

kan ha kanyha