├── .DS_Store ├── Eg10_1.m ├── Eg10_2.m ├── Eg10_3.m ├── Eg11_1.slx ├── Eg11_2.m ├── Eg11_2_test.m ├── Eg12_1.m ├── Eg13_1.m ├── Eg13_2.m ├── Eg3_1.slx ├── Eg3_2.slx ├── Eg3_3.slx ├── Eg3_4.slx ├── Eg3_5.slx ├── Eg3_6.slx ├── Eg3_7.slx ├── Eg3_7_SFunction.m ├── Eg4_10.m ├── Eg4_11.m ├── Eg4_12.m ├── Eg4_12.slx ├── Eg4_2.m ├── Eg4_2_rlcsys.m ├── Eg4_3.m ├── Eg4_4.m ├── Eg4_5.m ├── Eg4_6.m ├── Eg4_7.m ├── Eg4_8.m ├── Eg4_9.m ├── Eg4_9.slx ├── Eg5_1.m ├── Eg5_10.m ├── Eg5_11.slx ├── Eg5_16.slx ├── Eg5_17.m ├── Eg5_18.m ├── Eg5_2.m ├── Eg5_3.slx ├── Eg5_4.slx ├── Eg5_5.m ├── Eg5_6.m ├── Eg5_7.m ├── Eg5_8.m ├── Eg5_9.m ├── Eg6_1.m ├── Eg6_2.m ├── Eg6_3.m ├── Eg7_1.m ├── Eg7_2.m ├── Eg7_3.m ├── Eg7_4.m ├── Eg7_5.m ├── Eg7_6.m ├── Eg7_7.m ├── Eg7_8.m ├── Eg7_9.m ├── Eg7_9.slx ├── Eg8_1.m ├── Eg8_2.m ├── Eg8_3.m ├── Eg8_4.slx ├── Eg8_5.slx ├── Eg9_10.m ├── Eg9_11.m ├── Eg9_12.m ├── Eg9_2.m ├── Eg9_3.m ├── Eg9_4.m ├── Eg9_5.m ├── Eg9_6.m ├── Eg9_7.m ├── Eg9_8.m ├── Eg9_9.m ├── LICENSE └── 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person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | @[TOC](《Matlab/Simulink与控制系统仿真》程序指令总结) 2 | # Matlab_Simulink_BookExample 3 | 4 | 图书：《Matlab/Simulink与控制系统仿真》 5 | 6 | # 2. Matlab 计算基础 7 | 8 | ## 表2.1 Matlab 常用文件管理命令 9 | 10 | |命令|功能|命令|功能| 11 | |-|-|-|-| 12 | |what|显示当前目录下所有与Matlab有关的文件及路径|type filename|在命令窗口中显示文件 filename| 13 | |dir|显示当前目录下所有文件|delete filename|删除文件 filename| 14 | |which|显示某个文件的路径|cd ..|返回上一级目录| 15 | |cd path|进入 path 目录|cd|显示当前目录| 16 | 17 | ## 表2.2 Matlab 常用帮助命令 18 | 19 | |命令|功能|命令|功能| 20 | |-|-|-|-| 21 | |help matfun|矩阵函数-数值线性代数|help datafun|数据分析和傅立叶变换函数| 22 | |help general|通用命令|help ops|操作符和特殊字符| 23 | |help graphics|通用图形函数|help polyfun|多项式和内插函数| 24 | |help elfun|基本的数学函数|help lang|语言结构和调试| 25 | |help elmat|基本矩阵和矩阵操作|help strfun|字符串函数| 26 | |help control|控制系统工具箱函数||| 27 | 28 | ## 表2.3 Matlab 默认常量 29 | 30 | |名称|说明|名称|说明| 31 | |-|-|-|-| 32 | |pi|圆周率|eps|浮点数的相对误差| 33 | |INF (或inf)|无穷大|i(或j)|虚数单位，定义为$\sqrt{-1}$| 34 | |NaN (或nan)|代表不定值 (即0/0)|nargin|函数实际输入参数个数| 35 | |realman|最大的正实数|nargout|函数实际输出参数个数| 36 | |realmix|最小的正实数|ANS (或ans)|默认变量名，以应答最近一次操作运算结果| 37 | 38 | ## 表2.4 Matlab 的数据显示格式 39 | 40 | |格式|含义|格式|含义| 41 | |-|-|-|-| 42 | |format (short)|短格式 (5位定点数)|format long e|长格式 e 方式| 43 | |format long|长格式 (15位定点数)|format bank|2位十进制格式| 44 | |format short e|短格式 e 方式|format hex|十六进制格式| 45 | 46 | ## 表2.5 Matlab 常用特殊矩阵生成函数 47 | 48 | |函数|功能说明|函数|功能说明| 49 | |-|-|-|-| 50 | |zeros( )|生成元素全为 0 的矩阵|tril( )|生成下三角矩阵| 51 | |ones( )|生成元素全为 1 的矩阵|eye( )|生成单位矩阵| 52 | |rand( )|生成均匀分布随机矩阵|company( )|生成伴随矩阵| 53 | |randn( )|生成正态分布随机矩阵|hilb( )|生成 Hilbert 矩阵| 54 | |magic( )|生成魔方矩阵|vander( )|生成 vander 矩阵| 55 | |diag( )|生成对角矩阵|hankel( )|生成 hankel 矩阵| 56 | |triu( )|生成上三角矩阵|hadamard( )|生成 hadamard 矩阵| 57 | 58 | ## 表2.6 矩阵基本运算 59 | 60 | |操作符号|功能说明|操作符号|功能说明| 61 | |-|-|-|-| 62 | |+|矩阵加法|/|矩阵的左除| 63 | |-|矩阵减法|'|矩阵转置| 64 | |*|矩阵乘法|logm( )|矩阵对数运算| 65 | |^|矩阵的幂|expm( )|矩阵指数运算| 66 | |\\|矩阵的右除|inv( )|矩阵求逆| 67 | 68 | ## 表2.7 常用矩阵函数运算 69 | 70 | |操作符号|功能说明|操作符号|功能说明| 71 | |-|-|-|-| 72 | |rot90( )|矩阵逆时针旋转 90 度|eig( )|矩阵的特征值和特征向量| 73 | |flipud( )|矩阵上下翻转|rank( )|计算矩阵的秩| 74 | |fliplr( )|矩阵左右反转|trace( )|计算矩阵的迹| 75 | |flipdim( )|矩阵的某维元素翻转|norm( )|计算矩阵的范数| 76 | |shiftdim( )|矩阵的元素移位|poly( )|计算矩阵的特征方程的根| 77 | 78 | ## 表2.8 常用矩阵分解运算函数 79 | 80 | |函数名|功能说明|函数名|功能说明| 81 | |-|-|-|-| 82 | |eig( )|矩阵的特征值分解|svd( )|矩阵的奇异值分解| 83 | |qr( )|矩阵的 QR 分解|chol( )|矩阵的 Cholesky 分解| 84 | |schur( )|矩阵的 Schur 分解|lu( )|矩阵的 LU 分解| 85 | 86 | ## 表2.9 关系运算符 87 | 88 | |符号|功能| 89 | |-|-| 90 | |<|小于| 91 | |<=|小于等于| 92 | |>|大于| 93 | |>=|大于等于| 94 | |==|等于| 95 | |~=|不等于| 96 | 97 | ## 表2.10 逻辑运算符 98 | 99 | |符号|功能| 100 | |-|-| 101 | |&|逻辑与| 102 | |\||逻辑或| 103 | |~|逻辑非| 104 | 105 | ## 表2.11 关系运算函数 106 | 107 | |函数名|功能|函数名|功能| 108 | |-|-|-|-| 109 | |all|所有向量为非零元素时为真|xor|逻辑异或运算| 110 | |any|任意向量为非零元素时为真||| 111 | 112 | ## 表2.12 逻辑运算函数 113 | 114 | |函数名|功能|函数名|功能| 115 | |-|-|-|-| 116 | |Bitand|位方式的逻辑与运算|Bitcmp|位比较运算| 117 | |Bitor|位方式的逻辑或运算|Bitmax|最大无符号浮点整数| 118 | |Bitxor|位方式的逻辑异或运算|Bitshift|将二进制移位运算| 119 | 120 | ## 2.6 符号运算 121 | 122 | `sym (syms)` 定义符号变量（表达式） 123 | 124 | `diff(f,x,n)` 表示 f 关于 x 求 n 阶导数 125 | 126 | `int(f, r, x0, x1)` 表示 f 关于 r 求从 x0 到 x1 的定积分 127 | 128 | ## 2.7 复数运算基础 129 | 130 | `subs` 对符号函数中自变量进行赋值 131 | e.g. subs(f, {x,y}, {-1,2}) 对函数 f 中自变量 x 和 y 分别赋值 -1 和 2 132 | 133 | `polar()` 绘制极坐标图 134 | 135 | ## 表2.13 复数的结构操作函数 136 | 137 | |函数名|功能|函数名|功能| 138 | |-|-|-|-| 139 | |real(A)|求复数或复数矩阵 A 的实部|abs(A)|求复数或复数矩阵 A 的模| 140 | |image(A)|求虚部|angle(A)|求相角，单位位弧度| 141 | |conj(A)|求共轭||| 142 | 143 | `residue()` 求有理式的留数 144 | 145 | `laplace` 拉氏变换 146 | `ilaplace` 拉氏反变换 147 | 148 | `ztrans()` Z变换 149 | `iztrans()` Z反变换 150 | 151 | ## 2.8 Matlab 常用绘图命令 152 | 153 | `help graph2d` 所有画二维图形的命令 154 | `help graph3d` 所有画三维图形的命令 155 | 156 | `plot(x1, y1, option1, x2, y2, option2, ...)` 157 | `figure()` 图形窗口 158 | `subplot()` 分割图形 159 | 160 | ## 2.9 Matlab 程序设计 161 | 162 | `function[out1, out2] = filename(in1, in2, ...)` 163 | 164 | # 3. Simulink 仿真 165 | 166 | # 4. 控制系统数学模型 167 | 168 | `ode23` 微分方程求解 169 | `ode45` 微分方程求解 170 | 171 | `num` 分子多项式 172 | `den` 分母多项式 173 | 174 | `conv()` 多项式乘法函数 175 | 176 | `roots()` 多项式求根函数 177 | 178 | `poly()` 由根创建多项式函数 179 | 180 | `polyval()` 求多项式在给定点的值函数 181 | 182 | `tf()` 建立传递函数模型的函数 183 | 184 | `tfdata()` 提取模型中分子分母多项式系数的函数 185 | 186 | `zpk()` 建立零极点形式的数学模型 187 | 188 | `zpkdata()` 提取模型中零极点和增益向量的函数 189 | 190 | `residue()` 传递函数模型部分分式展开的函数 191 | 192 | `ss()` 建立状态空间模型的函数 193 | 194 | `ssdata()` 提取模型中状态空间矩阵的函数 195 | 196 | ## 表4.4 模型转换函数 197 | 198 | |函数名|功能|函数名|功能| 199 | |-|-|-|-| 200 | |ss2tf|状态空间模型转换为传递函数模型|tf2ss|传递函数模型转换为状态空间模型| 201 | |ss2zp|状态空间模型转换为零极点模型|zp2ss|零极点模型转换为状态空间模型| 202 | |tf2zp|传递函数模型转换为零极点模型|zp2tf|零极点模型转换传递函数模型| 203 | 204 | 205 | `series(num1, den1, num2, den2)` 串联连接函数 206 | 207 | `parallel(num1, den1, num2, den2)` 并联连接函数 208 | 209 | `feedback(num1, den1, num2, den2, sign)` 反馈连接函数 210 | 211 | `cloop(num, den, sign)` 闭环连接函数 212 | 213 | # 5. Matlab/Simulink 在时域分析中的应用 214 | 215 | `step()` 单位阶跃响应函数 216 | 217 | `impulse()` 单位脉冲响应函数 218 | 219 | `initial()` 零输入响应函数 220 | 221 | `lsim()` 任意输入响应函数 222 | 223 | `pzmap()` 绘制系统的零极点图 224 | 225 | # 6. 根轨迹分析法 226 | 227 | `pzmap()` 绘制零极点的函数 228 | 229 | `rlocus()` 绘制根轨迹的函数 230 | 231 | `rlocfind()` 计算给定一组根的根轨迹增益的函数 232 | 233 | `sgrid()` 在连续系统根轨迹图上加等阻尼线和等自然振荡角频率线的函数 234 | 235 | `zgrid()` 在离散系统根轨迹图上加等阻尼线和等自然振荡角频率线的函数 236 | 237 | # 7. 频域分析法 238 | 239 | `nyquist()` Nyquist 曲线绘制函数 240 | 241 | `bode()` Bode 图绘制函数 242 | 243 | `nichols()` Nichols 曲线绘制函数 244 | 245 | `ngrid()` 绘制等 M 圆和等 N 圆的函数 246 | 247 | `margin` 计算系统稳定裕度的函数 248 | 249 | # 8. 控制系统校正与综合 250 | 251 | # 9. 线性系统状态空间分析 252 | 253 | `canon()` 将系统直接转化为对角型的函数 254 | 255 | `ss2ss()` 进行状态空间表达式的线性变换的函数 256 | 257 | `ctrb()` 求取系统可控判别矩阵的函数 258 | 259 | `obsv()` 求取系统可观判别矩阵的函数 260 | 261 | `ctrbf()` 系统进行能控性分解的函数 262 | 263 | `obsvf()` 系统进行能观测性分解的函数 264 | 265 | `lyap()` `lyap2()` `dlyap()` 求解李亚普诺夫方程函数 266 | 267 | # 10. 线性系统状态空间设计 268 | 269 | # 11. 非线性系统 270 | 271 | `ode45()` 求解微分方程 272 | `odefun` `tspan` `t0` `tfinal` 273 | 274 | # 12. 离散控制系统 275 | 276 | ## 表12.11 离散系统时域响应函数 277 | 278 | |函数名|调用格式|功能说明| 279 | |-|-|-| 280 | |dstep|dstep(dnum, dden, n)|求离散系统单位阶跃响应| 281 | |dimpulse|dimpulse(dnum, dden, n)|求离散系统单位脉冲响应| 282 | |dlsim|dlsim(dnum, dden, u)|求离散系统在输入 u 下的响应| 283 | 284 | # 13. 最优控制系统 285 | 286 | `lqr()` `lqr2()` `lqry()` 求解连续系统线性二次型最优控制问题的函数 287 | 288 | `dlqr()` `dlqry()` 求解离散系统线性二次型最优控制 289 | --------------------------------------------------------------------------------