EXPERIMENT

8
Introduction to MATLAB

MECHATRONICS SYSTEM DESIGN

 COURSE MECHANICS

 Groups:
https://groups.yahoo.com/neo/groups/DE_34_MTS
 All slides/assignments to be uploaded on the group –
please check mails at least once a day.
 Submit Lab reports on the LMS before next lab. Late reports
shall not be entertained.
 COURSE MECHANICS
 Requirements for passing
 Attend all lectures
 Complete all assignments
 Quizzes

 Pre-requisites
 Basic familiarity with programming
 Revise Arrays, Structures in C
 Outline
 Basics of MATLAB
 Introduction to the MATLAB Environment
 Variables
 Basic operations
 Basic plotting

 Visualization

 Programming (conditional statements and loops etc.)

 Simulink

 Graphical User Interface

 DIP Toolbox

 Camera interface
 Outline
(1) Getting Started
(2) Making Variables
(3) Manipulating Variables
(4) Basic Plotting
 MATLAB
 Stems from: MATrix LABoratory

 Mathematical Verification of Concepts

 – Algorithm development/prototyping
 – Rapid ability to tweak and perform “what if” trials
 – Visualize what an equation does or says
 Engineering
 – System Modeling
 – Algorithm Development and Verification
 – Implementation Validation
 – Test Signal Generation and Results Analysis

 Suffice it to say, MATLAB is a powerful software. And you will soon

find that out
 Getting Started

 Open up MATLAB for Windows

 Through the START Menu
 Through the Desktop Shortcut
 Starting  Command Window
 Current directory

Workspace

Command Window

Command History
 MATLAB Environment
 Command Window
 Use the Command Window to enter
variables and run functions and M-files

 Command History
 History, you can view previously
used functions, and
 Copy and execute selected lines
 MATLAB Environment
 The MATLAB workspace
 Consists of the set of variables
(named arrays) built up during a
MATLAB session and stored in
memory

 Current working directory

 Customization
 File  Preferences
 Allows you to personalize your MATLAB experience
 MATLAB Help
 Command Line
 Very well documented software
 Help available on all
commands/functions

>> help

>> doc

Try this
>> help sin
Outline
(1) Getting Started
(2) Making Variables
(3) Manipulating Variables
(4) Basic Plotting
 Numeric Variable Types
 MATLAB is a weakly typed language
 No need to define or declare a variable before it is used

Data Type Class Size (bytes)

Integers int8 1 byte
int16 2 bytes
int32 4 bytes
uint8, uint16, uint32 are unsigned versions
Floating point single 4 bytes
double 8 bytes
Boolean logical 1 byte
Character char 1 byte

 Most variables you’ll deal with will be arrays or matrices of doubles or chars
 Images are stored and manipulated as 2-D arrays of real numbers

 Other types are also supported: complex, symbolic, etc.

 Creating/Naming variables
 To create a variable, simply assign a value to a name:
Take a look at your
 var1=3.14 workspace, the variables
have been added
 myString=‘hello world’

>> 34_mts = 3.4

 Variable names Gives error
>> mts_34 = 3.4
 first character must be a LETTER
Valid assignment!
 after that, any combination of letters, numbers and _
 CASE SENSITIVE! (var1 is different from Var1)

Try these commands

 Built-in variables >> 1/0
>> -1/0
 i and j can be used to indicate complex numbers >> 0/0
 pi has the value 3.1415926… >> var_complex = 3 + 2i

 ans stores the last unassigned value (like on a calculator)

 Inf and -Inf are positive and negative infinity Try this
>> 6 + 3
 NaN represents ‘Not a Number’ >> ans
>> 6 - 3
>> ans
 Variables cont.
 You can specify the type on
Tip: To view the list of variable
creation currently in workspace, try
>> who
 var_int= int8(34)
or for more details
 var_single = single(35.51) >> whos

 For numbers, the default Try this

date type is double >> try_this = int8(44.5)
>> whos(‘try_this’)
 var_default = 34.5 >> try_this
will create the variable of type
double
 Scalars

 A variable can be given a value explicitly

 a = 10
 Check MATLAB workspace, it now shows the newly created variable ‘a’

 Or as a function of explicit values and existing variables

 c = 1.3*45-2*a

Tip: To suppress output (i.e. not show results of

command on command window), end the line
 suppressed = 66/2; with a semicolon.
Might speed up execution
 Arrays
 Like other programming languages, arrays are an
important part of MATLAB
 Two types of arrays

(1) matrix of numbers (either double or complex)

(2) cell array of objects (more advanced data structure)

MATLAB makes vectors easy!

That’s its power!
 Row Vectors
 Row vector: comma or space separated values between
brackets
 row = [1 2 5.4 -6.6];
 row = [1, 2, 5.4, -6.6];

 Command window:

 Workspace:
 Column Vectors
 Column vector: semicolon separated values between
brackets
 column = [4;2;7;4];

 Command window:

 Workspace:
 Matrices
 Make matrices like vectors
1 2
 Element by element a 
3 4 
 a= [1 2;3 4];

 By concatenating vectors or matrices (dimension matters)

 a = [1 2]; Note:
 b = [3 4]; >> d = [a;b];
is the same as
 c = [5;6]; >> d = [a
b];

 d = [a;b];
 e = [d c];
 f = [[e e];[a b a]];
 save/clear/load
 Use save to save variables to a file
 save myfile a b
 saves variables a and b to the file myfile.mat
 myfile.mat file in the current directory
 Default working directory is
 …\MATLAB\ (check using pwd)
 Create own folder and change working directory to it

 Use clear to remove variables from environment

Try this (keep monitoring
 clear a b
the Workspace window ):
 To clear all variables >> a = 2, b = 3, c
 clear all = a*b
 look at workspace, the variables a and b are gone >> whos
>> save my_var
 Use load to load variable bindings into the environment >> clear all
 load myfile
>> whos
>> load my_var
 look at workspace, the variables a and b are back
>> whos

 Can do the same for entire environment

 save myenv; clear all; load myenv;
 Exercise: Variables
 Do the following 5 things:
 Create the variable r as a row vector with values 1 4 7 10 13
 Create the variable c as a column vector with values 13 10 7 4 1
 Save these two variables to file varEx
 clear the workspace
 load the two variables you just created

>> r=[1 4 7 10 13];

>> c=[13 10 7 4 1];
>> save varEx r c Tip: If your screen is congested
>> clear all and you want to clean up
>> load varEx >> clc
 Outline
(1) Getting Started
(2) Making Variables
(3) Manipulating Variables
(4) Basic Plotting
 Basic Scalar Operations
 Arithmetic operations (+,-,*,/)
 7/45
 (1+i)*(2+i)
 1.1 – 0.1

 Exponentiation (^)
 4^2
 (3+4*j)^2

 Complicated expressions, use parentheses

 ((2+3)*3)^0.1

 Multiplication is NOT implicit given parentheses

Try
>> 3(1+0.7)
Error!
>> 3*(1+0.7)
OK
 Built-in Functions
 MATLAB has an enormous library of built-in functions

 Call using parentheses – passing parameter to function

 sqrt(2)
 log(2), log10(0.23)
 cos(1.2), atan(-0.8)
 exp(2+4*i)
 round(1.4), floor(3.3), ceil(4.23)
 angle(i); abs(1+i);

For Help on a function

>> help sqrt
For a ‘Windows Help’ version
>> doc sqrt
 Exercise:
 Verify that e^(i*x) = cos(x) + i*sin(x) (Euler’s equation) for a few values of x.

Tip: Use exp(x) for the e x

function

>> x = pi/3;
>> a = exp(i*x);
>> b = cos(x) + i*sin(x)
>> a - b
 size() & length()
 You can tell the difference between a row and a column
vector by:
 Looking in the workspace
 Displaying the variable in the command window
 Using the size() function –
shows Try this
>> column = [1; 2; 3; 4]
[(no. of rows) (no. of cols)] >> row = [5 6 7 8]
>> size(column)
>> size(row)

 To get a vector's length, use the length() function

Now try this
>> length(row)
>> length(column)
 transpose()
 The transpose operators turns a column vector into a row vector and vice
versa
 a = [1 2 3 4]
 transpose(a)
 Can use dot-apostrophe as short-cut
 a.‘

 The apostrophe (without the dot) gives the Hermitian-transpose, i.e.

transposes and conjugates all complex numbers

Try this
>> mat1 = [1+j 2+3*j]
>> mat1’
>> mat1.’

 For vectors of real numbers .' and ' give same result
 Addition and Subtraction
 Addition and subtraction are element-wise; sizes must match (unless one is
a scalar):
12 3 32 11  12   3   9 
 1   1  2 
  2 11 30 32      
 10  13   23
 14 14 2 21      
 0 33
    33 
Try this
>> row = [1 2 3 4]
>> column = [4; 5; 6; 7]
>> c = row + column
Error! Incompatible sizes. Now try this
>> c = row + column’
 >> c = row’ + column

 Can sum up or multiply elements of vector

 s=sum(row);
 p=prod(row);
 Addition and Subtraction (cont.)
 If one operand is a scalar and the other a matrix, then addition/subtraction
will be done on each element.

Try this
>> our_matrix = [1 2;3 4]
>> result = our_matrix + 5
 Element-Wise Functions
 All the functions that work on scalars also work on
vectors
 t = [1 2 3];
 f = exp(t);
is the same as
 f = [exp(1) exp(2) exp(3)];

 If in doubt, check a function’s help file to see if it handles

vectors element-wise

 Operators (* / ^) have two modes of operation

 element-wise
 standard
 Operators: element-wise
 To do element-wise operations, use the dot < . > BOTH dimensions must match (unless one
is scalar)!

4 1 1 1 1 2 3 1 2 3
2 2 2 .* 1 2 3  2 4 6
1 2 3 .* 2  ERROR      
1  3 3 3 1 2 3 3 6 9
1   4   4  3  3.* 3  3  3  3
 2  .*  2    4 
     
 3   1   3 
3  1.* 3  1  3  1 Try this
>> a = [1 3 3]; b = [4;2;1];
>> a.*b
1 2  12 22  >> a./b
3 4  .^ 2   2 2
>> a.^b
   3 4  All Errors!
>> a.*b’
Can be any dimension >> a./b’
>> a.^(b’)
All Valid
 Operators: standard
 Multiplication can be done in a standard way or element-wise
 Standard multiplication (*) is either a dot-product or an outer-product
 Remember from linear algebra: inner dimensions must MATCH! (for matrix multiplication AxB,
number of columns of A = number of rows of B)

 Standard exponentiation (^) implicitly uses *

 Can only be done on square matrices or scalars
Try this
>> a = [1 2; 3 4]
>> a^2
>> a*a
Same result. a^2 = a*a. Now try
>> a.^2

 Left and right division (/ \) is same as multiplying by inverse

 A = [1 2;3 4];
 B = [5 6;7 8];
 C = A/B;
Tip:The inv() function gives the inverse of a matrix
 is same as
 C = A*inv(B);
 Exercise: Vector Operations
 Find the inner product between [1 2 3] and [3 5 4]

>> a = [1 2 3]*[3 5 4]’

 Multiply the same two vectors element-wise

>> b = [1 2 3].*[3 5 4]

 Calculate the sin of each element of the resulting vector

>> c = sin(b)
 Automatic Initialization
 Initialize a vector of ones, zeros, or random numbers
 o=ones(1,10)
 row vector with 10 elements, all with the value 1
 z=zeros(23,1)
 column vector with 23 elements, all 0
 r=rand(1,45)
 row vector with 45 elements with random values between interval [0,1]
 n=nan(1,69)
 row vector of NaNs (useful for representing uninitialized variables)
 id = eye(5,5)
 identity vector of 5x5

The general function call is:

>> ones[M,N]
Where M = number of rows
N = number columns
 Automatic Initialization
 To initialize a linear vector of values use linspace()
 a=linspace(X,Y,Z)
 starts at X, ends at Y (inclusive), Z values

 Can also use colon operator (:)

 b=X:Y:Z
 starts at X, increments by Y, and ends at Z
 increment can be decimal or negative
 c=X:Z
 if increment isn’t specified, default is 1

 To initialize logarithmically spaced values use logspace()

 similar to linspace()
Try these
>> a = linspace(1,10,5)
>> b = 1:2:10
>> c = 1:10
>> d = logspace(1,10,5)
 Exercise: Vector Functions
 Make a vector that has 10,000 samples of
f(x) = e^{-x}*cos(x), for x between 0 and 10.

>> x = linspace(0,10,10000);
>> f = exp(-x).*cos(x);
 Vector Indexing
 Matlab indexing starts with 1, not 0

 a(n) returns the nth element

13 5 9 10

a(1) a(2) a(3) a(4)

 The index argument can be a vector. In this case, each element is looked up
individually, and returned as a vector of the same size as the index vector.
 x = [12 13 5 8];
 a = x(2:4); a = [13 5 8];
 b = x(1:end-1); b= [12 13 5];

The colon ( : ) specifies the index interval.

x(2:4) results in an index vector [2 3 4]. A
vector containing elements of x
corresponding to the indices is returned
 Matrix Indexing

 Matrices can be indexed in two ways

 using subscripts (row and column)
 using linear indices (as if matrix is a vector)
 Matrix indexing: subscripts or linear indices

b(1,1) 14 33 b(1,2) b(1) 14 33 b(3)

b(2,1)
9 8 b(2,2) b(2)
9 8 b(4)
   
Picking sub-matrices:Try this:
>> A = rand(5,5)
>> A(1,3)
>> A(11)
>> A(1:3,1:2)
>> A([1 5 3], [1 4])
 Advanced Indexing 1
 The index argument can be a matrix. In this case, each element is looked up
individually, and returned as a matrix of the same size as the index matrix.

 a=[-1 10 3 -2];
 b=a([1 2 4;3 4 2]);  1 10 2   Try it
b 
 3 2 10 
 To select rows or columns of a matrix, use the colon :

12 5 
c 
 2 13 
 d=c(1,:); d=[12 5];
 e=c(:,2); e=[5;13];  And these!
 c(2,:)=[3 6]; replaces second row of c
 Advanced Indexing 2
 MATLAB contains functions to help you find desired values within a vector or
matrix
Try this:
 To get the minimum value and its index >> vec = [1 5 3 9 7]
use min() >> [minVal, minInd] = min(vec)
>> [maxVal, maxInd] = max(vec)
 To get the maximum value and its index:
use max()
 To find any the indices of specific values or ranges
use find()
Try this
>> ind = find(vec == 9);
>> ind = find(vec > 2 & vec < 6);

 find expressions can be very complex, more on this later

 To convert between subscripts and indices, use ind2sub, and sub2ind. Look up
help to see how to use them.
 Exercise: Vector Indexing
 Evaluate a sine wave at 1,000 points between 0 and 2*pi.
 What’s the value at
 Index 55
 Indices 100 through 110
 Find the index of
 the minimum value,
 the maximum value, and
 values between -0.001 and 0.001

>> x = linspace(0,2*pi,1000);
>> y=sin(x);
>> y(55)
>> y(100:110)
>> [minVal,minInd]=min(y)
>> [maxVal,maxInd]=max(y)
>> inds=find(y>-0.001 & y<0.001)
 Outline
(1) Getting Started
(2) Making Variables
(3) Manipulating Variables
(4) Basic Plotting
 Plotting Vectors
 Example
 x=linspace(0,4*pi,10);
 y=sin(x);

 Plot values against their index

 plot(y);
 Usually we want to plot y versus x
 plot(x,y);

MATLAB makes visualizing data

fun and easy!
 What does plot do?
 plot generates dots at each (x,y) pair and then connects the dots with a line
 To make plot of a function look smoother, evaluate at more points
Try this
>> x=linspace(0,4*pi,10);
>> more_x = linespace(0,4*pi,1000);
>> plot(x,sin(x));
>> plot(more_x, sin(more_x));
 x and y vectors must be same size or else you’ll get an error
Try this
>> plot([1 2], [1 2 3])
Error!

1 1

10 x values: 0.8

0.6
1000 x values:
0.8

0.6

0.4 0.4

0.2 0.2

0 0

-0.2 -0.2

-0.4 -0.4

-0.6 -0.6

-0.8 -0.8

-1 -1
0 2 4 6 8 10 12 14 0 2 4 6 8 10 12 14
 Plot Options
 Can change the line color, marker style, and line style by
adding a string argument
 plot(x,y,’k.-’); Try this
>> x = linspace(0,4*pi,1000)
>> plot(x,sin(x),’b*-’);
color line-style
marker
 Can plot without connecting the dots by omitting line
style argument
 plot(x,y,’.’)

 Look at help plot or doc plot for a full list of

colors, markers, and line-styles
 Other Useful plot Commands
 Much more on this in Lecture 2, for now some simple
commands

 To plot two lines on the same graph

 hold on;
 To plot on a new figure
 figure;
 plot(x,y);

 Play with the figure GUI to learn more

 add axis labels
 add a title
 add a grid
 zoom in/zoom out
 Exercise: Plotting
 Plot f(x) = e^x*cos(x) on the interval x = [0 10]. Use a
red solid line with a suitable number of points to get a
good resolution.

>> x=0:0.01:10;
>> plot(x,exp(x).*cos(x),’r’);
 LAB REPORT Question 1
 The maximum angular acceleration of a Geneva wheel
containing “n” slots is
M (1  M 2 ) Sin 
aG   2

(1  M 2  2 MCos  ) 2

1
1 M2 
Cos  
1 M2 
  2   M
 Where  4M   4M  and Sin( )
n

aG
 Determine  2
when n=4?
 LAB REPORT Question 2

 The displacement of the slider of the slider–crank

mechanism shown in Figure is given by
s  aCos ( )  b 2  (aSin ( )  e) 2

 Plot the displacement as a function of the angle  (in

degrees) when a=1, b=1.5, e=0.3 and 0≤  ≤360, that is,
use plot ( , s).
 LAB REPORT Question 3
 Conway’s game of life – is a zero player game, which
showcases evolution given a certain set of rules
 The game of life universe is a 2D grid of square cells where
each cell can either be alive or dead.
 Each cell interacts with its 8 neighbors
 At each time step:
 Any live cell with fewer than two live neighbors dies
 Any live cell with two or three live neighbors lives on
 Any live cell with more than three neighbors dies
 Any dead cell with exactly three live neighbors becomes alive
 You can decide the initial pattern yourself. Simulate the game
of life for a grid of size 50, for at least 50 time steps.
 For each time step plot all x and y values with some color.
 LAB REPORT Question 3
 Submit your lab report along with your m files, on the
LMS before lab starts.
 Late submissions will not be entertained.
 End of Lecture 1
(1) Getting Started
(2) Making Variables
(3) Manipulating Variables
(4) Basic Plotting

Hope that wasn’t too much!!