Simulink®

Getting Started Guide

R2012b
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Simulink® Getting Started Guide
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Revision History
September 2005 Online only New for Version 6.3 (Release 14SP3)
March 2006 Online only Revised for Simulink 6.4 (Release 2006a)
September 2006 Online only Revised for Simulink 6.5 (Release 2006b)
March 2007 First printing Revised for Simulink 6.6 (Release 2007a)
September 2007 Second printing Revised for Simulink 7.0 (Release 2007b)
March 2008 Third printing Revised for Simulink 7.1 (Release 2008a)
October 2008 Fourth printing Revised for Simulink 7.2 (Release 2008b)
March 2009 Fifth printing Revised for Simulink 7.3 (Release 2009a)
September 2009 Online only Revised for Simulink 7.4 (Release 2009b)
March 2010 Online only Revised for Simulink 7.5 (Release 2010a)
September 2010 Online only Revised for Simulink 7.6 (Release 2010b)
April 2011 Online only Revised for Simulink 7.7 (Release 2011a)
September 2011 Sixth printing Revised for Simulink 7.8 (Release 2011b)
March 2012 Seventh printing Revised for Simulink 7.9 (Release 2012a)
September 2012 Eighth printing Revised for Simulink 8.0 (Release 2012b)
 Contents

Introduction
1
Product Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Key Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Modeling, Simulation, and Analysis with Simulink . . . 1-3

Tool for Model-Based Design . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Tool for Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Tool for Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Interaction with MATLAB Environment . . . . . . . . . . . . . . . 1-4

Model-Based Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

What Is Model-Based Design? . . . . . . . . . . . . . . . . . . . . . . . 1-5
Model-Based Design Process . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Documentation and Additional Resources . . . . . . . . . . . 1-9

Simulink Online Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Simulink Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
Web Site Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

Simulink Software Basics

2
Start the Simulink Software . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Open the Simulink Library Browser . . . . . . . . . . . . . . . . . . 2-2
Create a New Simulink Model . . . . . . . . . . . . . . . . . . . . . . . 2-4
Open an Existing Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

Simulink User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

Simulink Library Browser . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Simulink Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

v
 Create a Simulink Model
3
Create a Simple Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Overview of the Simple Model . . . . . . . . . . . . . . . . . . . . . . . 3-2
Create the Simple Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Connect Blocks in the Simple Model . . . . . . . . . . . . . . . . . . 3-8
Simulate the Simple Model . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

Modeling a Dynamic Control System

4
Dynamic Control System Model . . . . . . . . . . . . . . . . . . . . . 4-2

Anatomy of the Control System Model . . . . . . . . . . . . . . . 4-3

Open the Example Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
Overview of the Example Model . . . . . . . . . . . . . . . . . . . . . . 4-4
Subsystems in the Example Model . . . . . . . . . . . . . . . . . . . 4-6
Subsystems and Masks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Creating a Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Create a Subsystem Mask . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

Simulate the Control System Model . . . . . . . . . . . . . . . . . 4-14

Run the Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
Change the Thermostat Setting . . . . . . . . . . . . . . . . . . . . . . 4-15
Change the Average Outdoor Temperature . . . . . . . . . . . . 4-17
Change the Daily Temperature Variation . . . . . . . . . . . . . . 4-19

Move Data Between MATLAB and Simulink Model . . . 4-21

Import Data from the MATLAB Workspace . . . . . . . . . . . . 4-21
Export Simulation Data to the MATLAB Workspace . . . . . 4-25

vi Contents
 Basic Simulation Workflow
5
Simulation with Data Import and Signal Inspection . . 5-2
Data Import and Logging Workflow . . . . . . . . . . . . . . . . . . 5-2
Example Used in this Tutorial . . . . . . . . . . . . . . . . . . . . . . . 5-2
Import Signal Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Simulate Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
Compare Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
Create, Save, and Print a Figure . . . . . . . . . . . . . . . . . . . . . 5-16

Index

vii
viii Contents
 1

Introduction

• “Product Description” on page 1-2

• “Modeling, Simulation, and Analysis with Simulink” on page 1-3
• “Model-Based Design” on page 1-5
• “Documentation and Additional Resources” on page 1-9
 1 Introduction

Product Description
Simulation and Model-Based Design
Simulink® is a block diagram environment for multidomain simulation and
Model-Based Design. It supports system-level design, simulation, automatic
code generation, and continuous test and verification of embedded systems.
Simulink provides a graphical editor, customizable block libraries, and
solvers for modeling and simulating dynamic systems. It is integrated with
MATLAB®, enabling you to incorporate MATLAB algorithms into models and
export simulation results to MATLAB for further analysis.

Key Features
• Graphical editor for building and managing hierarchical block diagrams
• Libraries of predefined blocks for modeling continuous-time and
discrete-time systems
• Simulation engine with fixed-step and variable-step ODE solvers
• Scopes and data displays for viewing simulation results
• Project and data management tools for managing model files and data
• Model analysis tools for refining model architecture and increasing
simulation speed
• MATLAB Function block for importing MATLAB algorithms into models
• Legacy Code Tool for importing C and C++ code into models

1-2
 Modeling, Simulation, and Analysis with Simulink®

Modeling, Simulation, and Analysis with Simulink

In this section...
“Tool for Model-Based Design” on page 1-3
“Tool for Simulation” on page 1-4
“Tool for Analysis” on page 1-4
“Interaction with MATLAB Environment” on page 1-4

Tool for Model-Based Design

With Simulink, you can move beyond idealized linear models to explore more
realistic nonlinear models, factoring in friction, air resistance, gear slippage,
hard stops, and the other things that describe real-world phenomena.
Simulink turns your computer into a laboratory for modeling and analyzing
systems that would not be possible or practical otherwise.

Whether you are interested in the behavior of an automotive clutch system,

the flutter of an airplane wing, or the effect of the monetary supply on the
economy, Simulink provides you with the tools to model and simulate almost
any real-world problem. Simulink also provides examples that model a wide
variety of real-world phenomena (click the Examples link at the top of the
Simulink Documentation Center top-level page).

Simulink provides a graphical user interface (GUI) for building models as

block diagrams, allowing you to draw models as you would with pencil and
paper. Simulink also includes a comprehensive block library of sinks, sources,
linear and nonlinear components, and connectors. If these blocks do not meet
your needs, however, you can also create your own blocks. The interactive
graphical environment simplifies the modeling process, eliminating the need
to formulate differential and difference equations in a language or program.

Models are hierarchical, so you can build models using both top-down
and bottom-up approaches. You can view the system at a high level, then
double-click blocks to see increasing levels of model detail. This approach
provides insight into how a model is organized and how its parts interact.

1-3
 1 Introduction

See “Model-Based Design” on page 1-5 for more information about the
modeling process.

Tool for Simulation

After you define a model, you can simulate its dynamic behavior using a
choice of mathematical integration methods, either from the Simulink menus
or by entering commands in the MATLAB Command Window. The menus
are convenient for interactive work, while the command line is useful for
running a batch of simulations. For example, if you are doing Monte Carlo
simulations or want to apply a parameter across a range of values, you can
use MATLAB scripts.

Using scopes and other display blocks, you can see the simulation results
while the simulation runs. You can then change parameters and see what
happens for “what if” exploration. The simulation results can be put in the
MATLAB workspace for postprocessing and visualization.

Tool for Analysis

Model analysis tools include linearization and trimming tools, which you can
access from the MATLAB command line, plus the many tools in MATLAB and
its application toolboxes. Because MATLAB and Simulink are integrated,
you can simulate, analyze, and revise your models in either environment
at any point.

Interaction with MATLAB Environment

Simulink software is tightly integrated with the MATLAB environment. It
requires MATLAB to run, depending on it to define and evaluate model
and block parameters. Simulink can also use many MATLAB features. For
example, Simulink can use the MATLAB environment to:

• Define model inputs.

• Store model outputs for analysis and visualization.
• Perform functions within a model, through integrated calls to MATLAB
operators and functions.

1-4
 Model-Based Design

Model-Based Design
In this section...
“What Is Model-Based Design?” on page 1-5
“Model-Based Design Process” on page 1-6

What Is Model-Based Design?

Model-Based Design is a process that enables faster, more cost-effective
development of dynamic systems, including control systems, signal processing,
and communications systems. In Model-Based Design, a system model is
at the center of the development process, from requirements development,
through design, implementation, and testing. The model is an executable
specification that you continually refine throughout the development process.
After model development, simulation shows whether the model works
correctly.

When software and hardware implementation requirements are included,

such as fixed-point and timing behavior, you can automatically generate code
for embedded deployment and create test benches for system verification,
saving time and avoiding the introduction of manually coded errors.

Model-Based Design allows you to improve efficiency by:

• Using a common design environment across project teams

• Linking designs directly to requirements
• Integrating testing with design to continuously identify and correct errors
• Refining algorithms through multidomain simulation
• Automatically generating embedded software code
• Developing and reusing test suites
• Automatically generating documentation
• Reusing designs to deploy systems across multiple processors and hardware
targets

1-5
 1 Introduction

Model-Based Design Process

There are six steps to modeling any system:

1 Defining the System

2 Identifying System Components

3 Modeling the System with Equations

4 Building the Simulink Block Diagram

5 Running the Simulation

6 Validating the Simulation Results

You perform the first three steps of this process outside of the Simulink
software environment before you begin building your model.

Defining the System

The first step in modeling a dynamic system is to fully define the system. If
you are modeling a large system that can be broken into parts, you should
model each subcomponent on its own. Then, after building each component,
you can integrate them into a complete model of the system.

For example, the sldemo_househeat example model of the heating system

of a house is broken down into three main parts:

• Heater subsystem
• Thermostat subsystem
• Thermodynamic model subsystem

The most effective way to build a model of this system is to consider each
of these subsystems independently.

1-6
 Model-Based Design

Identifying System Components

The second step in the modeling process is to identify the system components.
Three types of components define a system:

• Parameters — System values that remain constant unless you change

them
• States — Variables in the system that change over time
• Signals — Input and output values that change dynamically during a
simulation

In Simulink, parameters and states are represented by blocks, while signals

are represented by the lines that connect blocks. For each subsystem that you
identified, ask yourself the following questions:

• How many input signals does the subsystem have?

• How many output signals does the subsystem have?
• How many states (variables) does the subsystem have?
• What are the parameters (constants) in the subsystem?
• Are there any intermediate (internal) signals in the subsystem?

Once you have answered these questions, you should have a comprehensive
list of system components, and you are ready to begin modeling the system.

Modeling the System with Equations

The third step in modeling a system is to formulate the mathematical
equations that describe the system. For each subsystem, use the list of system
components that you identified to describe the system mathematically.

Your model may include:

• Algebraic equations
• Logical equations
• Differential equations, for continuous systems
• Difference equations, for discrete systems

1-7
 1 Introduction

You use these equations to create the block diagram in Simulink.

Building the Simulink Block Diagram

After you have defined the mathematical equations that describe each
subsystem, you can begin building a block diagram of your model in Simulink.

Build the block diagram for each of your subcomponents separately. After
you have modeled each subcomponent, you can then integrate them into a
complete model of the system.

See “Create the Simple Model” on page 3-3 for more information on building
the block diagram.

Running the Simulation

After you build the Simulink block diagram, you can simulate the model
and analyze the results.

Simulink allows you to interactively define system inputs, simulate the

model, and observe changes in behavior. This allows you to quickly evaluate
your model.

See “Simulate the Simple Model” on page 3-12 for more information on
running a simulation.

Validating the Simulation Results

Finally, you must validate that your model accurately represents the physical
characteristics of the dynamic system.

You can use the linearization and trimming tools available from the MATLAB
command line, plus the many tools in MATLAB and its application toolboxes
to analyze and validate your model.

1-8
 Documentation and Additional Resources

Documentation and Additional Resources

In this section...
“Simulink Online Help” on page 1-9
“Simulink Examples” on page 1-10
“Web Site Resources” on page 1-10

Simulink Online Help

Simulink software provides comprehensive online help describing features,
blocks, and functions with detailed procedures for common tasks.

Access online help from Help menus and context-sensitive block labels.

• From the Simulink Library Browser, select Help > Simulink Help.
• From the Simulink Editor, select Help > Simulink > Simulink Help.
• Right-click a Simulink block, and then select Help.
• From the model Configuration Parameters or a block parameters dialog
box, right-click a parameter label, then select What’s This?

1-9
 1 Introduction

Simulink Examples
Simulink software provides a variety of example models that illustrate key
modeling concepts and Simulink features.

You can access these examples from the Help menu or from the
documentation.

• From the Simulink Editor, select Help > Simulink > Examples.
• From the documentation, click Examples at the top of the product landing
page.

Featured examples include a button at the top of the Help browser for opening
the model in the Simulink Editor.

Web Site Resources

You can access additional Simulink resources on the MathWorks Web site,
including Simulink related books, webinars, and technical support.

To access the Simulink product page, go to

http://www.mathworks.com/products/simulink

1-10
 2

Simulink Software Basics

• “Start the Simulink Software” on page 2-2

• “Simulink User Interface” on page 2-6
 2 Simulink® Software Basics

Start the Simulink Software

In this section...
“Open the Simulink Library Browser” on page 2-2
“Create a New Simulink Model” on page 2-4
“Open an Existing Model” on page 2-5

Open the Simulink Library Browser

You need MATLAB running before you can open the Simulink Library
Browser.

1 Start MATLAB, and then in the MATLAB Command Window, enter

simulink

The Simulink Library Browser opens.

You can also open the Simulink Library Browser from the MATLAB Toolstrip,

by clicking the Simulink Library button ( ).

2-2
 Start the Simulink® Software

If you have not already loaded Simulink, a short delay occurs while it loads.
The Library Browser opens.

To keep the Library Browser above all other windows on your desktop, in the
Library Browser, select View > Stay on Top.

2-3
 2 Simulink® Software Basics

Create a New Simulink Model

Create a new Simulink model from the Simulink Library Browser.

1 From the Simulink Library Browser menu, select File > New > Model.

An empty model opens in the Simulink Editor.

2 In the Simulink Editor, select File > Save.

3 In the Save As dialog box, enter a name for your model, and then click Save.

Simulink saves your model.

2-4
 Start the Simulink® Software

Open an Existing Model

Open an existing Simulink model from the Simulink Library Browser.

1 From the Simulink Library Browser menu, select File > Open.

2 In the Open dialog box, select the model file that you want to open, and
then click Open.

The selected model opens in the Simulink Editor. For example:

Alternatively, in MATLAB you can set the current folder to the folder
containing your model, and then in the MATLAB Command Window, enter
the model name. For more information about the MATLAB current folder, see
“Working with Files and Folders”.

2-5
 2 Simulink® Software Basics

Simulink User Interface

In this section...
“Simulink Library Browser” on page 2-6
“Simulink Editor” on page 2-10

Simulink Library Browser

The Simulink Library Browser displays the block libraries installed on your
computer. You start to build models by copying blocks from a library into a
Simulink Editor model window.

For example, in the Library Browser below:

• In the Libraries pane on the left, the Sources library is the selected library.
• The Sine Wave block is selected.

2-6
 Simulink® User Interface

Tips for Using the Library Browser

You can perform several tasks using the Library Browser, including the
following.

Task Action to Perform Using the Library

Browser
View the blocks in a library In the left pane, select a library name, or in
the right pane, double-click a library icon.
Search for a specific block In the block search field, enter the name of
a block, and then click the find block icon

.
Get summary information Select View > Show Block Descriptions.
about a block Then select the block.
Get detailed information Select the block, and then select Help >
about a block Help for the Selected Block. The Help
browser opens with the reference page for
the block.
View block parameters Right-click a block, and then select Block
parameters.
Get detailed information Select the block, and then select Help >
about a block Help for the Selected Block. The Help
browser opens with the reference page for
the block.
Copy a block from the Library Drag a block from the Library Browser to a
Browser to a model Simulink Editor model window.

Standard Block Libraries

Simulink software includes the following standard block libraries.

2-7
 2 Simulink® Software Basics

Block Library Description

Commonly Used Group of the most commonly used blocks, such as
Blocks the Constant, In1, Out1, Scope, and Sum blocks.
Each of the blocks in this library are also included in
other libraries.
Continuous Model linear functions using blocks such as the
Derivative and Integrator blocks.
Discontinuities Create outputs that are discontinuous functions of
their inputs using blocks such as the Saturation
block.
Discrete Represent discrete time functions using blocks such
as the Unit Delay block.
Logic and Bit Perform logic or bit operations using blocks such as
Operations the Logical Operator and Relational Operator
blocks.
Lookup Tables Use lookup tables to determine their outputs from
their inputs using blocks such as the Cosine and
Sine blocks.
Math Operations Perform mathematical and logical functions using
blocks such as the Gain, Product, and Sum blocks.
Model Create self-validating models using blocks such as
Verification the Check Input Resolution block.
Model-Wide Provide information about the model using blocks
Utilities such as the Model Info block.
Ports & Create subsystems using blocks such as the In1,
Subsystems Out1, and Subsystem blocks.
Signal Attributes Modify the attributes of signals using blocks such as
the Data Type Conversion block.
Signal Routing Route signals from one point in a block diagram to
another using blocks such as the Mux and Switch
blocks.
Sinks Display or export output using blocks such as the
Out1 and Scope blocks.

2-8
 Simulink® User Interface

Block Library Description

Sources Generate or import system inputs using blocks such
as the Constant, In1, and Sine Wave blocks.
User-Defined Define custom functions using blocks such as the
Functions MATLAB Function block.
Additional Math Additional libraries for mathematical and discrete
& Discrete function blocks.

2-9
 2 Simulink® Software Basics

Simulink Editor
The Simulink Editor contains a block diagram of your model. You build
models by dragging blocks from the Simulink Library Browser window to
the Simulink Editor model window. In the model window, you build a block
diagram by arranging the blocks logically, connecting the blocks with signal
lines, and setting the parameters for each block.

You also use the Simulink Editor to:

• Set configuration parameters for the model, including the start and stop
time, type of solver to use, and data import/export settings.
• Start and stop a simulation of the model.
• Save the model.
• Print the block diagram.

2-10
 3

Create a Simulink Model

 3 Create a Simulink® Model

Create a Simple Model

In this section...
“Overview of the Simple Model” on page 3-2
“Create the Simple Model” on page 3-3
“Connect Blocks in the Simple Model” on page 3-8
“Simulate the Simple Model” on page 3-12

Overview of the Simple Model

You can use Simulink software to model dynamic systems and simulate the
behavior of your models. The basic techniques you use to create a simple
model are the same techniques that you use for more complex models.

To create this simple model, you need four blocks:

• Sine Wave — Generates an input signal for the model.

• Integrator — Processes the input signal.
• Mux — Combines the input signal and processed signal into one signal.
• Scope — Visualizes the signals.

After you connect the blocks, simulating the model integrates a sine wave
signal and displays the result, along with the original signal.

3-2
 Create a Simple Model

You can build this simple model yourself, starting with “Create a New Model”
on page 3-3.

Create the Simple Model

• “Create a New Model” on page 3-3
• “Add Blocks to a Model” on page 3-4
• “Move Blocks in the Model” on page 3-7

Create a New Model

Before creating a model, you need to start MATLAB and then start Simulink.

1 Start the Simulink software. In the MATLAB Command Window, enter:

simulink

The Simulink Library Browser opens.

2 From the Simulink Library Browser menu, select File > New > Model.

3-3
 3 Create a Simulink® Model

A Simulink Editor window opens with an empty canvas

3 Select File > Save as. The Save As dialog box opens.

4 In the File name box, enter a name for your model. For example, enter
simple_model. Then click Save.

Your model is saved with the file name simple_model.

Add Blocks to a Model

To create a model, begin by copying blocks from the Simulink Library Browser
to the Simulink Editor model window. For a description of the blocks in this
example, see “Overview of the Simple Model” on page 3-2.

1 In the Simulink Library Browser, select the Sources library.

The Simulink Library Browser displays blocks from the Sources library in
the right-hand pane.

3-4
 Create a Simple Model

2 Select the Sine Wave block.

Drag the Sine Wave block to the model window.

A copy of the Sine Wave block appears in your model.

3-5
 3 Create a Simulink® Model

3 Add the following blocks to your model, using the same approach that you
used to add the Sine Wave block.

Library Block
Sinks Scope
Continuous Integrator
Signal Routing Mux

3-6
 Create a Simple Model

Your model now has the blocks you need for the simple model.

Move Blocks in the Model

Before you connect the blocks in your model, you should arrange them
logically to make the signal connections as straightforward as possible.

1 Move the Scope block after the Mux block output. To move a block in a
model, use one of these approaches:

• Click and drag the block.

• Select the block, and then press the arrow keys on the keyboard.

2 Move the Sine Wave and Integrator blocks before the Mux block.

Your model should look similar to the following figure.

3-7
 3 Create a Simulink® Model

Your next task is to connect the blocks with signal lines.

Connect Blocks in the Simple Model

• “Block Connections in a Model” on page 3-8
• “Draw Lines Between Blocks” on page 3-9
• “Draw a Branch Line” on page 3-11

Block Connections in a Model

After you add blocks to your model, you need to connect them. The connecting
lines represent the signals within a model.

Most blocks have angle brackets on one or both sides. These angle brackets
represent input and output ports:

• The > symbol pointing into a block is an input port.

• The > symbol pointing out of a block is an output port.

3-8
 Create a Simple Model

Input port Output port

Draw Lines Between Blocks

Connect the blocks by drawing lines between output ports and input ports.
For information about how to add blocks to the model in this example, see
“Add Blocks to a Model” on page 3-4.

1 Position the mouse pointer over the output port on the right side of the
Sine Wave block.

The pointer changes to a cross hairs (+) shape while over the port.

2 Click and drag a line from the output port to the top input port of the
Mux block.

While you hold the mouse button down, .

3 Release the mouse button over the output port.

3-9
 3 Create a Simulink® Model

Simulink connects the blocks with an arrow indicating the direction of

signal flow.

4 Connect the output port of the Integrator block to the bottom input port on
the Mux block:
a Select the Integrator block.

b Press and hold the Ctrl key.

c Select the Mux block.

The Integrator block automatically connects to the Mux block with a signal
line.

Note The Ctrl+click shortcut is useful when you are connecting widely
separated blocks, or when working with complex models.

5 Connect the Mux block output port to the Scope block.

3-10
 Create a Simple Model

Draw a Branch Line

The simple model is almost complete, except for one connection. To finish the
model, you need to connect the Sine Wave block to the Integrator block.

This final connection is different from the other three connections, which all
connect output ports to input ports. Because the output port of the Sine Wave
block is already connected, you must connect this existing line to the input
port of the Integrator block. The new line, called a branch line, carries the
same signal that passes from the Sine Wave block to the Mux block.

1 Position the mouse pointer on the line between the Sine Wave and the Mux
block. Click the left mouse button.

2 Hold down the Ctrl key and drag the cursor to form a vertical line segment
that aligns with input port of the Integrator block.

3 With the cursor at the end of the dotted red line, move the cursor so that it
lines up with the light blue guide arrow that points in the direction of the
Integrator input port. The cursor turns into a hollow arrow.

Drag the cursor to the Integrator input port and release the mouse button.

3-11
 3 Create a Simulink® Model

4 If necessary, smooth out the line segment that connects to the Integrator
block. Select the unaligned line segment and drag it until the line is
straight.

5 Your model diagram is now complete. Select File > Save.

After you finish building a model, you can simulate the dynamic behavior of
the model. See “Simulate the Simple Model” on page 3-12.

Simulate the Simple Model

• “Set Simulation Options” on page 3-12
• “Run a Simulation and Observe Results” on page 3-13

Set Simulation Options

Before you simulate a model, you have to set simulation options. Specify
options, such as the stop time and solver, using the Model Configuration
Parameters dialog box. For how to build the model in this example, see
“Create the Simple Model” on page 3-3.

1 In the Stop time field, enter 20. In the Max step size field, enter 0.2.

3-12
 Create a Simple Model

2 Click OK.

The Simulink software updates the parameter values with your changes
and closes the Configuration Parameters dialog box.

Run a Simulation and Observe Results

After you enter your configuration parameter changes, you are ready to
simulate the simple model and visualize the simulation results.

1 In the Simulink Editor, select Simulation > Start.

The simulation runs. The simulation stops when it reaches the stop time
specified in the Configuration Parameters dialog box.

Tip Alternatively, you can control a simulation by clicking the Start

simulation button and Pause simulation button on the

Simulink Editor toolbar.

2 Double-click the Scope block.

The Scope window opens and displays the simulation results. The plot
shows a sine wave signal with the resulting cosine wave signal from the
Integrator block.

3-13
 3 Create a Simulink® Model

3 From the Scope block toolbar, click the Parameters button . Select the
Style tab. The Scope Parameters dialog box displays figure editing options.

4 Change the appearance of the figure. For example, select white for the
Figure color and Axes background color (the icon with a pitcher). Change
the signal line colors for signal 1 to blue and for signal 2 to green. To see
your changes, click Apply.

3-14
 Create a Simple Model

5 Select File > Close.

The Simulink Editor closes with changes to your model and model
configuration parameters.

3-15
 3 Create a Simulink® Model

3-16
 4

Modeling a Dynamic
Control System

• “Dynamic Control System Model” on page 4-2

• “Anatomy of the Control System Model” on page 4-3
• “Simulate the Control System Model” on page 4-14
• “Move Data Between MATLAB and Simulink Model” on page 4-21
 4 Modeling a Dynamic Control System

Dynamic Control System Model

This tutorial uses the sldemo_househeat model to illustrate how you can use
Simulink software to model a dynamic control system. The model defines a
heating system and the thermodynamics of a house. It includes the outdoor
environment, the thermal characteristics of a house, and the house heating
system.

Use this tutorial to explore common Simulink modeling tasks, such as:

• Simplify a block diagram by grouping multiple blocks into a single

subsystem block.
See “Anatomy of the Control System Model” on page 4-3.
• Simulate a model, observe results, and change input parameters to
investigate how the system responds.
See “Simulate the Control System Model” on page 4-14.
• Import data from the MATLAB workspace to the model, and export
runtime data back to MATLAB.
See “Move Data Between MATLAB and Simulink Model” on page 4-21.

4-2
 Anatomy of the Control System Model

Anatomy of the Control System Model

In this section...
“Open the Example Model” on page 4-3
“Overview of the Example Model” on page 4-4
“Subsystems in the Example Model” on page 4-6
“Subsystems and Masks” on page 4-10
“Creating a Subsystem” on page 4-11
“Create a Subsystem Mask” on page 4-12

Open the Example Model

The model for this example is called sldemo_househeat. It models the
heating system and thermodynamics of a house.

1 Start MATLAB, and then in the MATLAB Command Window, enter

sldemo_househeat

The Simulink Editor opens with the example model.

4-3
 4 Modeling a Dynamic Control System

Overview of the Example Model

The sldemo_househeat model defines the dynamics of the outdoor
environment, the thermal characteristics of the house, and the house heating
system. It allows you to simulate how the thermostat setting and outdoor
environment affect the indoor temperature and cumulative heating costs.

The example model includes many of the same blocks you used to create the
simple model in “Create a Simple Model” on page 3-2. These blocks include:

• A Scope block (labeled PlotResults) on the far right — displays the

simulation results.
• A Mux block at the bottom right — combines the indoor and outdoor
temperature signals for the Scope.

4-4
 Anatomy of the Control System Model

• A Sine Wave block (labeled Daily Temp Variation) at the bottom left —
provides one of three data sources for the model.

In the model, the thermostat is set to 70 degrees Fahrenheit. Fluctuations in

outdoor temperature are modeled by applying a sine wave with amplitude of
15 degrees to a base temperature of 50 degrees.

The three data inputs (sources) are provided by two Constant blocks (labeled
Set Point and Avg Outdoor Temp), and the Sine Wave block (labeled Daily
Temp Variation). The Scope block labeled PlotResults is the one output
(sink).

4-5
 4 Modeling a Dynamic Control System

Subsystems in the Example Model

A subsystem is a hierarchical grouping of blocks encapsulated by a single
Subsystem block. The sldemo_househeat model uses subsystems to:

• Simplify the appearance of the block diagram

• Create reusable components
• Customize the appearance of blocks

The example model uses the following subsystems: Thermostat, Heater,

House, Fahrenheit to Celsius, and Celsius to Fahrenheit.

1 In the MATLAB Command Window, enter

sldemo_househeat

The example model opens in the Simulink Editor model window.

4-6
 Anatomy of the Control System Model

2 Subsystems can be complex and contain many blocks that might otherwise
clutter a diagram. For example, to open the House subsystem, double-click
the House Subsystem block.

4-7
 4 Modeling a Dynamic Control System

The House subsystem receives heat flow and external temperature as

inputs, which it uses to compute the current room temperature. You could
leave each of these blocks at the top level of the main sldemo_househeat
model, but combining them as a subsystem helps to simplify the block
diagram.

4-8
 Anatomy of the Control System Model

3 A subsystem can also be simple and contain only a few blocks. For example,
to open the Thermostat subsystem:
a Display the sldemo_househeat top model. To do so, in the breadcrumb

at the top of the model window, ( ), click

sldemo_househeat. The sldemo_househeat model appears in the model
window.
b Double-click the Thermostat Subsystem block.

This subsystem models the operation of a thermostat, determining when

the heating system is on or off. It contains only one Relay block, but
logically represents the thermostat in the block diagram.

4-9
 4 Modeling a Dynamic Control System

Subsystems and Masks

The sldemo_househeat model contains two instances of identical subsystems
named Fahrenheit to Celsius. These subsystems convert the inside and
outside temperatures from degrees Fahrenheit to degrees Celsius.

1 Display the sldemo_househeat model, by selecting sldemo_househeat in

the breadcrumb at the top of the Simulink Editor model window.

2 Double-click the Fahrenheit to Celsius masked Subsystem block.

The custom dialog box for the F2C block opens.

3 To view the underlying blocks in the Fahrenheit to Celsius conversion

subsystem, select the Fahrenheit to Celsius Subsystem block and then
select Diagram > Mask > Look Under Mask.

The Simulink Editor displays the blocks behind the mask.

4-10
 Anatomy of the Control System Model

Creating a Subsystem
Subsystems allow you to group related blocks into one block. They are also
reusable, enabling you to implement an algorithm once and use it multiple
times.

To create a subsystem:

1 Display the sldemo_househeat model, by selecting sldemo_househeat in

the breadcrumb at the top of the Simulink Editor model window.

2 In the model window, click and drag a bounding box around the Set Point
and Fahrenheit to Celsius blocks.

4-11
 4 Modeling a Dynamic Control System

3 From the Simulink Editor menu, select .

The blocks are combined into one subsystem block.

For more information about working with subsystems, see “Create a

Subsystem”.

Create a Subsystem Mask

You can customize the appearance of a subsystem by using a process known
as masking. Masking a subsystem allows you to specify a unique icon and
dialog box for the Subsystem block. For example, the House and Thermostat
subsystems display custom icons that depict physical objects, while the
conversion subsystems display custom dialog boxes when you double-click
the blocks.

4-12
 Anatomy of the Control System Model

To mask a subsystem:

1 In the model window, right-click the new subsystem block (as described in
“Creating a Subsystem” on page 4-11). In the context menu, select Mask >
Create Mask. The Mask Editor dialog box opens.

2 At the bottom of the Mask Editor dialog box, expand the Command list.
Select disp (show text in center of block). The dialog box displays
the syntax for this command below the list.

3 In the Icon Drawing commands field, enter disp('Select

Temperature').

4 Click OK. The subsystem block displays the text that you entered.

To see the full text in the block icon, select a corner of the block and drag to
expand the size of the block.

For more information about masking subsystems, see “Masking”.

4-13
 4 Modeling a Dynamic Control System

Simulate the Control System Model

In this section...
“Run the Simulation” on page 4-14
“Change the Thermostat Setting” on page 4-15
“Change the Average Outdoor Temperature” on page 4-17
“Change the Daily Temperature Variation” on page 4-19

Run the Simulation

Simulating the sldemo_househeat model allows you to observe how the
thermostat setting and outdoor environment affect the indoor temperature
and the cumulative heating cost.

1 In the sldemo_househeat model window, double-click the Scope block

named PlotResults. A Scope window opens with two axes labeled
HeatCost and Temperatures.

2 In the Simulink Editor, select Simulation > Run.

The software simulates the model dynamics, and as the simulation runs,
it displays the results in a Scope window. The cumulative heating cost
is drawn on the HeatCost graph. The indoor and outdoor temperatures
appear on the Temperatures graph.

4-14
 Simulate the Control System Model

Change the Thermostat Setting

One of the most powerful benefits of modeling a system with Simulink is
the ability to interactively define the system inputs and observe changes in
the behavior of your model. This allows you to quickly evaluate your model
and validate the simulation results.

Change the thermostat setting to 68 degrees Fahrenheit and observe how

the model responds.

1 In the sldemo_househeat model window, open the masked Subsystem

block (the block icon that displays the text Select Temperature).

2 In the Subsystem model window, double-click the Set Point block. The
Source Block Parameters dialog box opens.

3 In the Constant value field, enter 68.

4-15
 4 Modeling a Dynamic Control System

4 Click OK. The software applies your changes and closes the dialog box.

5 To rerun the simulation, you can either select Simulation > Run, or from

the toolbar, you can use the Run button ( ).

The software simulates the model dynamics. Notice that a lower thermostat
setting reduces the cumulative heating cost.

4-16
 Simulate the Control System Model

Change the Average Outdoor Temperature

Change the average outdoor temperature to 45 degrees Fahrenheit and
observe how the model responds.

1 In the sldemo_househeat model window, double-click the Avg Outdoor

Temp block. The Source Block Parameters dialog box opens.

2 In the Constant value field, enter 45.

4-17
 4 Modeling a Dynamic Control System

3 Click OK. The software applies your changes.

4 Rerun the simulation.

The software simulates the model dynamics. Notice that a colder outdoor
temperature increases the cumulative heating cost.

4-18
 Simulate the Control System Model

Change the Daily Temperature Variation

Decrease the temperature variation to see how the model responds.

1 In the sldemo_househeat model window, double-click the Daily Temp

Variation block. The Source Block Parameters dialog box opens.

2 In the Amplitude field, enter 5.

3 Click OK. The software applies your changes.

4 Rerun the simulation.

The software simulates the model dynamics. Notice that a more stable
outdoor temperature alters the frequency with which the heater operates.

4-19
 4 Modeling a Dynamic Control System

4-20
 Move Data Between MATLAB® and Simulink® Model

Move Data Between MATLAB and Simulink Model

In this section...
“Import Data from the MATLAB Workspace” on page 4-21
“Export Simulation Data to the MATLAB Workspace” on page 4-25

Import Data from the MATLAB Workspace

You can import data from the MATLAB workspace to the Simulink model
input ports. This allows you to import actual physical data into your model.
For information about other data import capabilities, see “Import Data”.

In this example, you create a vector of temperature data in MATLAB and use
that data as an input to the Simulink model.

To import data from the MATLAB workspace:

1 In the MATLAB Command Window, create time and temperature data by

entering the following commands:

x = (0:0.01:4*pi)';
y = 32 + (5*sin(x));
z = linspace(0,48,1257)';

y is a vector of outdoor temperatures that varies from 27 to 37 degrees

Fahrenheit. z is a time vector from 0 to 48. Both vectors contain 1257
values.

2 In the Simulink Editor model window, select the Avg Outdoor Temp block,
and then press the Delete key to remove it from the model.

3 Delete the following items from the model in the same way:

• Daily Temp Variation block

• Two input signal lines to the Sum1 block
• Sum1 block

4-21
 4 Modeling a Dynamic Control System

The model should now look similar to the following figure. Notice that the
output signal from the Sum1 block changes to a red, dotted line, indicating
that it is not connected to a block.

4 In the model window, select View > Library Browser. The Simulink
Library Browser window opens.

5 In the Library Browser, in the Libraries pane, select the Sources library.

6 From the Sources library in the right pane, select the In1 block, and then
drag it to the Simulink Editor model window.

An instance of the In1 block appears in the model window.

7 Connect the dotted line (originally connected to the Sum1 block) to the In1
block.

4-22
 Move Data Between MATLAB® and Simulink® Model

8 In the Simulink Editor, select Simulation > Model Configuration

Parameters.

9 From the menu on the left side of the Configuration Parameters dialog
box, select Data Import/Export.

10 On the Data Import/Export pane, select the Input check box. In the
Input field, enter [z,y].

4-23
 4 Modeling a Dynamic Control System

11 Click OK. The software applies your changes and closes the dialog box.

12 Rerun the simulation.

The software simulates the model. Notice that the model ran using the
imported data, showing colder outdoor temperatures and higher heat use.

4-24
 Move Data Between MATLAB® and Simulink® Model

Export Simulation Data to the MATLAB Workspace

Once you complete a model, you may want to export your simulation results
to the MATLAB workspace for further data analysis or visualization. For
information about additional data export capabilities, see “Export Runtime
Information”.

To export the HeatCost data from the model to the MATLAB workspace:

1 In the Simulink Library Browser, select the Sinks library.

2 From the Sinks library, select the Out1 block, and then drag it to the top
right of the Simulink Editor model window.

An instance of the Out1 block appears in the model window.

3 Draw a branch line from the HeatCost signal line to the Out1 block. For
more information, see “Draw a Branch Line” on page 3-11.

4-25
 4 Modeling a Dynamic Control System

4 Select Simulation > Model Configuration Parameters.

5 From the menu on the left side of the Configuration Parameters dialog
box, select Data Import/Export.

6 On the Data Import/Export pane, select the Time and Output check
boxes.

4-26
 Move Data Between MATLAB® and Simulink® Model

7 Click OK. The software applies your changes and closes the dialog box.

8 Rerun the simulation.

The software simulates the model and saves the time and HeatCost data to
the MATLAB workspace in the variables tout and yout.

4-27
 4 Modeling a Dynamic Control System

4-28
 5

Basic Simulation Workflow

 5 Basic Simulation Workflow

Simulation with Data Import and Signal Inspection

In this section...
“Data Import and Logging Workflow” on page 5-2
“Example Used in this Tutorial” on page 5-2
“Import Signal Data” on page 5-4
“Simulate Model” on page 5-10
“Compare Signals” on page 5-14
“Create, Save, and Print a Figure” on page 5-16

Data Import and Logging Workflow

Simulink provides two features to import data and view simulation results:
the Signal Builder block and the Simulation Data Inspector. Use the Signal
Builder block to import input signals into your model. The Simulation Data
Inspector allows you to view model output signals and compare them.

A typical workflow includes the following steps:

1 Import signal data from a Microsoft® Excel® spreadsheet into a Signal

Builder block. See “Import Signal Data” on page 5-4.

2 Simulate the model after enabling the logging of output signals during
simulation. See “Simulate Model” on page 5-10.

3 View and compare the output signals in the Simulation Data Inspector.
See “Compare Signals” on page 5-14.

4 Create, print, and save a plot from the Simulation Data Inspector.
See “Create, Save, and Print a Figure” on page 5-16.

Example Used in this Tutorial

sldemo_2counters is a Simulink model that includes a Signal Builder block
and two subsystems. Each subsystem is a counter circuit.

5-2
 Simulation with Data Import and Signal Inspection

• Enabled Subsystem — Increments the counter when the subsystem is

enabled and subsequently retains its output while the subsystem is
disabled. Because the Enable port is configured to reset states when
enabling, the counter returns to zero when the subsystem is re-enabled.
• Triggered Subsystem — Increments the counter for each rising edge of
the control signal.

ex_signaldata.xls is a Microsoft Excel file. It contains two sets of input

data on two sheets. The first set of input data is a square wave to test the
model response to an impulse. The second set of input data is a triangular
wave to test the model response to a ramp signal.

5-3
 5 Basic Simulation Workflow

Import Signal Data

• “Preparing Signal Builder Block” on page 5-4
• “Importing Data from Excel Spreadsheets” on page 5-6
• “Displaying Input Data” on page 5-8

Preparing Signal Builder Block

The example Excel spreadsheet contains two sets of input data on two
separate sheets. Because the Signal Builder block imports separate sheets
into separate groups, you need to create a second group.

1 In the MATLAB Command Window, enter:

5-4
 Simulation with Data Import and Signal Inspection

sldemo_2counters

The example model with a Signal Builder block opens in a Simulink editor
window.

2 Double-click the Signal Builder block. A Signal Builder window opens and
displays one data group with an Amplitude signal.

3 From the Signal Builder menu, select Group > Copy. A second group
named Group 2 appears in the Active Group drop-down list.

4 Select Group > Rename, and enter more meaningful names that describes
the input data. For example, rename Group 1 and Group 2 to Impulse
Input and Ramp Input.

5-5
 5 Basic Simulation Workflow

Importing Data from Excel Spreadsheets

Simulink saves data imported from an Excel file using a Signal Builder block
with the model and loads the data into memory when you open the model. If
you have large sets of data, consider using a MAT-file with the Inport block.

1 From the Signal Builder menu, select File > Import from File.
In the Import File dialog box, click the Browse button, find the
folder matlabroot\help\toolbox\simulink\examples, and select
ex_signaldata.xls.

The Data to Import section of the Import File dialog box displays the
Excel file name with a list of sheets in the file.

2 Select the Select All check box.

3 From the Placement for Selected Data list, select Append selected
signals to different groups (in order). Signal Builder converts
the data on each sheet into a group.

4 Click the Confirm Selection button.

5-6
 Simulation with Data Import and Signal Inspection

5 Review the Status History pane.

The Status History section includes the following information:

• The data import is successful.
• The Signal Builder block recognizes one signal per sheet.
• The Signal Builder block recognizes the signal name, Amplitude, from
the Excel spreadsheet.

6 Click OK.

5-7
 5 Basic Simulation Workflow

Displaying Input Data

After you import data from the Excel file, you can view the input signals in
the Signal Builder window.

1 In the Signal Builder window, display the Ramp Input group.

2 Select the signal labeled Amplitude, then press the Delete key. The
original Amplitude signals are removed from both the Impulse Input
and Ramp Input groups.

3 From the menu, select Axes > Set T Display Limits. In the Set time
range dialog box, enter 2.5 for the maximum time.

4 Repeat Step 3 to set the time range for the other input group.

5 Select File > Save.

Your signal groups should look like the following. Keep this window open.

5-8
Simulation with Data Import and Signal Inspection

5-9
 5 Basic Simulation Workflow

If you don’t see the wave in either group, click Amplitude1 in the lower
right box.

Note After deleting the original Amplitude signal from the Signal Builder,
you may need to reconnect the Input Signal line to the Signal Builder
block in your model.

You can now set up the model to log output signals and simulate. See
“Simulate Model” on page 5-10.

Simulate Model
• “Configuring the Model to Log Output Signals” on page 5-11

5-10
 Simulation with Data Import and Signal Inspection

• “Running the Simulation” on page 5-13

Configuring the Model to Log Output Signals

To log and display your output, you must configure the data import and
export parameters of the model.

1 In the model window, select Simulation > Model Configuration

Parameters. The Configuration Parameters dialog box opens to the
Solver pane.

2 In the left pane, select Data Import/Export.

3 Select the following check boxes:

• Time
• Output
• Signal logging
• Record and inspect simulation output

4 From the Format list, select Structure with time.

5-11
 5 Basic Simulation Workflow

5 Click OK.

5-12
 Simulation with Data Import and Signal Inspection

Running the Simulation

You can run simulations from the Signal Builder window. Select the input
you want to run with this model or run separate simulations with each of
the defined inputs.

1 In the Signal Builder toolbar, click the Run all button.

Simulink runs the model simulation from 0.0 s to 2.00 s for the Impulse
Input data and then runs again for the Ramp Input amplitude data.

2 Open the Simulation Data Inspector.

3 Select the signals that you want to display.

If you select the Input Signal and the Triggered Counter signal for Run
1, two line plots appear in the right pane of the Simulation Data Inspector
window.

5-13
 5 Basic Simulation Workflow

Note If you do not see data in the Simulation Data Inspector window, you
may need to reconnect the Input Signal line to the Signal Builder block in
your model, and run the simulation again.

Now, you can inspect the results further. See “Compare Signals” on page 5-14.

Compare Signals
The Simulation Data Inspector allows you to quickly compare two signals
from the same or different runs.

1 In the Simulation Data Inspector window, click the Compare Signals tab.
By default, five columns are displayed, including Sig 1 and Sig 2.

2 In the Sig 1 column, for Run 1, select the Enable Counter signal. Likewise,
in the Sig 2 column, for Run 2, select the Enable Counter signal.

5-14
 Simulation with Data Import and Signal Inspection

3 Inspect the signals. In the top pane, the plot contains the two individual
signals. In the bottom pane, a single plot represents the difference of these
two signals.

5-15
 5 Basic Simulation Workflow

To work with your plots as figures, see “Create, Save, and Print a Figure”
on page 5-16.

Create, Save, and Print a Figure

• “Creating a Figure from a Plot” on page 5-16
• “Saving and Printing a Figure” on page 5-18

Creating a Figure from a Plot

You can create a figure from your Data Inspector plot, to print or save to
your computer.

1 In the Simulation Data Inspector window, select the Plot options button
in the upper right of a signal plot. From the submenu, select Plot data
in new figure.

A MATLAB figure window opens with the selected signals.

5-16
Simulation with Data Import and Signal Inspection

5-17
 5 Basic Simulation Workflow

Saving and Printing a Figure

To save your figure to your computer:

1 In the Figures window, select File > Save as. A Save as dialog box opens.

2 Navigate to the folder where you want to save your figure.

3 In the File name field, enter the name of your figure.

4 From the Save as type menu, select a file format. If you keep the default,
MATLAB Figure (*.fig), then when you reopen the figure, the model
also opens.

5 Click the Save button.

6 To print the figure, select File > Print.

5-18
 Index

A
Index E
adding blocks to a model 3-4 editor window
overview 2-10
example model 3-2
B
opening 4-3
basics overview 4-4
Simulink 2-1 running 4-14
block libraries examples
descriptions 2-7 accessing 1-10
blocks exporting
connecting 3-8 data from Simulink to MATLAB 4-25
copying 3-4
masking 4-10
moving 3-7 H
ports 3-8 help
subsystems 4-6 Simulink 1-9
browser house model
library 2-6 overview 4-4

C I
closing import data
model 3-15 Excel spreadsheet 5-4
Configuration Parameters dialog box 3-12 Signal Builder block 5-4
connecting importing
blocks 3-8 MATLAB data to Simulink 4-21
lines to input ports 3-8 input data
control system importing from MATLAB 4-21
model overview 4-4 input port 3-8
modeling 4-2
copying blocks to a model 3-4
L
creating
new model 2-4 3-3 library
subsystem mask 4-12 descriptions 2-7
searching 2-7
selecting 2-7
D viewing 2-7
data Library Browser
exporting to MATLAB 4-25 opening 2-2
importing from MATLAB 4-21 overview 2-6

Index-1
 Index

using 3-4 accessing 1-9

lines Simulink 1-9
carrying the same signal 3-8 opening
connecting to input ports 3-8 example model 4-3
existing model 2-5
model 2-4
M
Simulink 2-2
masking output data
creating a mask 4-12 exporting to MATLAB 4-25
overview 4-10 output port 3-8
MATLAB overview
exporting data from Simulink 4-25 example model 4-4
importing data to Simulink 4-21
Simulink interaction 1-4
model configuration R
logging output 5-11 running
model window example model 4-14
moving blocks 3-7 simulation 3-12
Model-Based Design Simulink 2-2
overview 1-5
process 1-6
S
modeling
control system 4-2 sample
process 1-6 model 3-2
models simulating models
closing 3-15 exercise 3-12
control system example 4-4 simulation
creating new 2-4 running 4-14
creating simple 3-3 specifying options 3-12
empty 3-3 starting 3-13
opening 2-4 stopping 3-13
opening existing 2-5 Simulink
simple example 3-2 basics 2-1
simulating 3-12 editor window 2-10
moving examples 1-10
blocks in the model window 3-7 getting help 1-9
Library Browser 2-6
MATLAB interaction 1-4
O online help 1-9
online help opening 2-2

Index-2
 Index

starting 2-2 overview 4-4

user interface 2-6
web resources 1-10
U
starting
simulation 3-13 user interface
Simulink 2-2 Simulink 2-6
stopping
simulation 3-13 W
subsystems
web resources
masking 4-10
Simulink 1-10
overview 4-6
workflow
overview 5-2
T
thermo model

Index-3