17

MATLAB Applications No. (1)

Modeling and Simulation

 Objectives:
The objectives of this application are to:
1. Convert the functions from time domain to Laplace domain (s).
2. Obtain the time domain function from the complex variable
domain (s).
3. Solve the linear ordinary differential equations, and obtain the
output response.
4.Derive the mathematical model of mechanical, electrical, and
fluid control systems.
5.Simulate the derived mathematical model using MATLAB
Simulink.
 Introduction:
To understand and control complex systems, one must obtain
quantitative mathematical models of these systems. It is
necessary therefore to analyze the relationships between the
system variables and to obtain a mathematical model. Because
the systems under consideration are dynamic in nature, the
descriptive equations are usually differential equations.
Furthermore. If these equations can be linearized, then the
Laplace transform can be used to simplify the method of solution.

 Laplace Transform:

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The Laplace transform method substitutes relatively easily solved

algebraic equations for the more difficult differential equations.
This method can only be applied to linear ordinary differential
equations.
Laplace transforming the linear ordinary differential equations in
term of the independent variable (t) converts them into algebraic
equations in the Laplace transform variable (s). This provides a
very convenient representation of system dynamics.
The operation of Laplace transformation will be indicated by the
notation:
∞
L [ f ( t ) ] =∫ f ( t ) e
−st
dt=F ( s ) .

Where:
0

L: Laplace transform operator.

s: Laplace transform variable (this variable is a complex

number).
Example 2.1: Use MATLAB to find the Laplace transform of the
following functions:

1. f ( t )=u ( t ) . 2. f ( t )=t u ( t ) . −at

3. f ( t )=e .

4. f ( t )=sin ⁡(ωt ). 5. f ( t )=cos ⁡( ωt).

Solution:
>> % 1. To determine the Laplace transform for unit step function %
>> syms t
>> ft=heaviside(t);
>> Fs=laplace(ft);
>> pretty(Fs)

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1
------
s
>> % 2. To determine the Laplace transform for unit ramp function %
>> syms t
>> ft=t;
>> Fs=laplace(ft);
>> pretty(Fs)
1
------
s2

>> % 3. To determine the Laplace transform for exponential function %

>> syms t a
>> ft=exp(-a*t);
>> Fs=laplace(ft);
>> pretty(Fs)
1
-------
s+a

>> % 4. To determine the Laplace transform for sine function %

>> syms t w
>> ft=sin(w*t);
>> Fs=laplace(ft);
>> pretty(Fs)
w
----------
s2 + w2

>> % 5. To determine the Laplace transform for cosine function %

>> syms t w
>> ft=cos(w*t);
>> Fs=laplace(ft);
>> pretty(Fs)

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s
----------
s2 + w2

Example 2.2: Use MATLAB to find the Laplace transform of f ( t )

are defined by the following function:

1. f ( t )=5 e−2 t cos (5 t).

2. f ( t )=( t +1 )2 +7 u ( t ) .

3. f ( t )=et + 2 e−2 t + t e−3 t.

Solution:
>> % 1. To find the Laplace transform of f(t)= 5 exp(-2t) cos(5t) %
>> syms t
>> ft=5*exp(-2*t)*cos(5*t);
>> Fs=laplace(ft);
>> pretty(Fs)
5 (s + 2)
------------------
(s + 2)2 + 25

>> % 2. To find the Laplace transform of f(t)=(t+1)^2+7u(t) %

>> syms t
>> ft=(t+1)^2+7;
>> Fs=laplace(ft);
>> Fs=simplify(Fs);
>> pretty(Fs)

2 (4 s2 + s + 1)
----------------------
s3

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>> % 3. To find the Laplace transform of f(t)=exp(t)+2 exp(-2t) + t exp(-3t)

%
>> syms t
>> ft=exp(t)+2*exp(-2*t)+t*exp(-3*t);
>> Fs=laplace(ft);
>> pretty(Fs)
1 2 1
----- + ----- + ----------
s-1 s+2 (s + 3)2

 Inverse Laplace Transform:

After transforming equations into the Laplace domain and
solving for output variables as functions of (s), we sometimes
want transform back into the time domain. This equation is
called inversion of Laplace transforms. The inverse Laplace
transform is written as:
σ+ j∞
1
f ( t )= ∫
2 πj σ− j ∞
st
F ( s ) e ds .

The inverse Laplace transformation is usually obtained by using

partial fraction expansion. The function to be inverted F ( s )is
merely rearranged into a series of simple function:

F ( s )=F1 ( s ) + F 2 ( s ) +…+ F N ( s )

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Then each term is inverted (usually by inspection because they

are simple). The total time dependent function in the sum of the
individual time dependent functions:

f ( t )=L
−1
[ F 1 ( s ) ] + L−1 [ F2 ( s ) ] +…+ L−1 [ F N ( s ) ]
f ( t )=f 1 ( t ) + f 2 ( t ) +…+ f N ( t )

Example 2.3: Find the inverse Laplace transform of the following

functions. First, perform the partial fraction expansion on Y ( s ).
4
1. Y ( s )=
s ( s+2 )( s+3 )
( s+ 5)
2. Y ( s )=
( s +4 )2 ( s+7 )

Solution:

>> % To perform the partial fraction expansion for: y(s)=4/(s(s+2)(s+3))%

>> num=[4];
>> den1=[1 0];den2=[1 2];den3=[1 3];
>> den=conv(den1,conv(den2,den3));
>> [r,p,k]=residue(num,den)
r=
1.3333
-2.0000
0.6667
p=
-3.0000
-2.0000

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0
k=
[]
>> % To find the inverse Laplace transform …%

>> syms s
>> Ys=1.33/(s+3)-2/(s+2)+0.6667/s;
>> yt=ilaplace(Ys)
yt =
1.33 * exp(-3t) - 2 * exp(-2t) +0.6667

>> % To perform the partial fraction expansion for:

y(s)=(s+5)/((s+4)2(s+7))%
>> num=[1 5];
>> den1=[1 4];den2=[1 4];den3=[1 7];
>> den=conv(den1,conv(den2,den3));
>> [r,p,k]=residue(num,den)
r=
-0.2222
0.2222
0.3333
p=
-7.0000

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-4.0000
-4.0000
k=
[]

>> % To find the inverse Laplace transform …%

>> syms s
>> Ys=-0.22/(s+7)+0.22/(s+4)+0.33/(s+4)^2;
>> yt=ilaplace(Ys)
yt =
0.22*exp(-4*t) – 0.22*exp(-7*t) + 0.33*t *exp(-4*t)

Example 2.4: Use MATLAB to find the inverse Laplace transform

directly of the following functions:

1
1. Y ( s )=
( s+ 1 ) ( s 2+ 4 )
2
s + 6 s+ 8
2. Y ( s )= 2
s + 8 s+ 15

Solution:
>> % To find inverse Laplace transform for: y(s)=1/((s+1)(s^2+4))
directly %
>> syms s
>> Ys=1/((s+1)*(s^2+4));
>> yt=ilaplace(Ys)
yt =
1/5*exp(-t) - cos(2*t)/5 + sin(2*t)/10
>> % To find inverse Laplace transform for…%
>> % y(s)=(s^2+6s+8)/(s^2+8s+15) directly %

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>> syms s
>> Ys=(s^2+6*s+8)/(s^2+8*s+15);
>> yt=ilaplace(Ys)
yt =
dirac(t) - 3/2*exp(-5*t) - 1/2*exp(-3*t)

Example 2.5: An RC Lag circuit is shown in Figure 2.1. The

output of the circuit is described by the following expression in
the Laplace domain:
10
V o ( s )=
s ( s +10 )

Figure 2.1: An RC Lag circuit.

1. Use the inverse Laplace transform to find V o ( t ) .
2. Plot the response of the output.
3. Repeat parts (1) and (2) using MATLAB Simulink.

Solution:
>> % 1. To find inverse Laplace transform for: Vo(s)=10/(s(s+10))%
>> syms s;
>> Vs=10/(s*(s+10));
>> vt=ilaplace(Vs)
vt =
1 - exp(-10*t)

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>> % 2. To plot output response of the RC Lag network: v(t)= 1-exp(-10*t)

%
>> t=0:0.01:1;
>> vt=1-exp(-10*t);
>> plot(t,vt)
>> grid
>> title('Output Response of: v(t)= 1-exp(-10*t)')
>> xlabel('Time (sec)')
>> ylabel('Output Vo(Voltage)')

Output Response of: v(t)= 1-exp(-10*t)

1

0.9

0.8

0.7
Output Vo(Voltage)

0.6

0.5

0.4

0.3

0.2

0.1

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

Figure 2.2: Output response of RC Lag network for unit step input.
Time (sec)

3. From Figure 2.1. The equations for RC circuit are:

(2.1)
v ¿ (t)−v o ( t)
i(t)=
R

(2.2)
1
v o (t)= ∫ i(t)dt
From Equations (2.1) and (2.2), we can obtain the elements of
C

the block diagram, as shown in Figure 2.3(a).

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By connecting signals properly, we can construct a block

diagram, as shown in Figure 2.3(b).

Figure 2.3: (a) Elements of the block diagram of the RC network shown in
Figure 2.1, (b) block diagram of the RC network.
The Simulink diagram of the coupled tank system as shown in
Figure 2.4:

Figure 2.4: Simulink diagram of the RC circuit.

The output voltage response that has been obtained from the
simulation is the same as the output response of RC Lag
network for unit step input shown in Figure 2.2.
Example 2.6: Consider the mass m mounted on a massless cart,
as shown in Figure 2.5. The external force f(t) is the input to the
system ( f ( t )=e−3 t ), and the displacement x (t) of the mass is the
output. The force equation of motion in the x direction:

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f ( t )=m ẍ+ b ẋ+ k x

If:m=5 Kg , b=15 (N . sec/m) , k =10 N /m and the initial conditions (

x ( 0 )=0.5 m , ẋ ( 0 ) =3 m/sec ).

Using MATLAB:
1. Solve the differential equation above to determine x (t ).
2. Plot the output response of the system.

Figure 2.5: Mass on cart.

Solution:

>> % 1. To find inverse Laplace transform to solve DE f ( t )=m ẍ+ b ẋ+ kx %

>>% When f(t)=exp(-3*t), and the initial conditions: x(0)=0.5m, ẋ ( 0 )=¿3
m/sec.%

>> xt=dsolve('5*D2x+15*Dx+10*x=exp(-3*t)','x(0)=0.5,Dx(0)=3')
xt =
4.1*exp(-t) – 3.7*exp(-2*t) + 0.1*exp(-3*t)

>> % 2. To plot the output response of …%

>> % x(t)=4.1*exp(-t)-3.7*exp(-2*t)+0.1*exp(-3*t) %
>> t=0:0.1:10;
>> xt=4.1*exp(-t)-3.7*exp(-2*t)+0.1*exp(-3*t);

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>> plot(t,xt)
>> grid
>> title('The Output Response for f(t)=exp(-3t)')
>> xlabel('Time (sec)')
>> ylabel('Diplacement (Meter)')

The Output Response for f(t)=exp(-3t)

1.4

1.2

1
Diplacement (Meter)

0.8

0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10

Figure 2.6: Output response of spring mass damper system for exponential
Time (sec)

input.

Example 2.7: Consider the mechanical system shown in Figure

2.7. The external force f(t) is the input to the system, and the

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displacement y(t) of the mass is the output. This system is a

single-input, single-output system:
m ÿ+ b ẏ +ky=f (t )

Figure 2.7: Mechanical system.

Simulate the system and obtain the output response using MATLAB
Simulink.

Solution:
The simulation of the system using MATLAB Simulink as shown in
Figure 2.8:

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Figure 2.8: Simulation of the mechanical system of Example 2.7 using

MATLAB Simulink.
The step response of the mechanical system in Example 2.7 as
shown in Figure 2.9:

Output Response of Mechanical System

1.5

1
Diplacement(Meter)

0.5

0
0 1 2 3 4 5 6 7 8 9 10
Time(sec)

Figure 2.9: Step response of the mechanical system for Example 2.7.

Example 2.8: A coupled spring – mass – damper system is shown

in Figure 2.10. This system has one input which is u(t )and two
outputs which are the displacement x 1 and x 2 of the first and
second cart respectively.

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Figure 2.10: Two cart mechanical system.

From the Figure 2.10, the systems equations at zero initial conditions
are:
m1 x¨1 +b ( x˙1− x˙2 ) +k 1 x 1+ k 2 ( x 1−x 2 ) =u ( t )
m2 x¨2 +b ( x˙2− x˙1 ) +k 3 x 2+ k 2 ( x 2−x1 ) =0

Use MATLAB Simulink to:

1.Simulate the two cart mechanical system.
2.Obtain the response of x 1 with respect to u(t ).
Solution:
The simulation of the two cart mechanical system using
MATLAB Simulink as shown in Figure 2.11:

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Figure 2.11: Simulink diagram of the two cart mechanical system.

The sinusoidal response of x 1 with respect to u(t ) of the two cart

mechanical system as shown in Figure 2.12:

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Output Response of Mechanical System

0.015

0.01

0.005
Diplacement x1(Meter)

-0.005

-0.01

-0.015
0 5 10 15 20 25 30 35 40 45 50
Time(sec)

Figure 2.12: Sinusoidal response of the two cart mechanical system.

Example 2.9: Consider the system shown in Figure 2.13. In this

system, the two tanks interact. Thus, the transfer function of the
system is not the product of two first-order transfer functions.

Figure 2.13: Coupled tank control system.

Using the symbols as defined in Figure 2.13, we can derive the
following equations for this system:

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(2.3)
h1−h 2
=q1
R1

(2.4)
d h1
C1 =q−q1
dt

(2.5)
h2
=q
R2 2

(2.6)
d h2
C2 =q1−q2
dt

Simulate the system using MATLAB Simulink to obtain the step

response of the outlet flow rate.
Solution:
From Equations (2.3) through (2.6), we can obtain the elements
of the block diagram, as shown in Figure 2.14(a).

By connecting signals properly, we can construct a block

diagram, as shown in Figure 2.14(b).

Figure 2.14: (a) Elements of the block diagram of the system shown in
Figure 2.10; (b) block diagram of the system.

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The Simulink diagram of the coupled tank system as shown in

Figure 2.15:

Figure 2.15: Simulink diagram of the coupled tank system.

The step response of the coupled tank control system as shown
in Figure 2.16:
Output Response of Liquid Flow System

1
Outlet flow rate(m3/sec)

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35 40 45 50
Time(sec)

Figure 2.16: Step response of the coupled tank system.

Homework 2.1: Find the Laplace transform of the following time

functions using MATLAB:
1. f ( t )=π +7 t +t 2+3 δ ( t ) (Whereδ (t): Impulse function).

2. f ( t )=sinh 2 t+ 2 cos 2t +e−2 t sin 2 t

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3. f ( t )=sin 2 t +3 cos2 t
--------------------------------------------------------------------------------------------------
-
Homework 2.2: Use MATLAB to determine the inverse Laplace
transform of the following transfer functions:
−2 s
e
1. Y ( s )= (Directly )
s ( s+ 4 )( s+6 )
4 3 2
2 s +9 s +15 s + s +2
2. Y ( s )= 2 2
(Using ResidueCommand )
s ( s +2 ) ( s+ 1 )
3 2
s + 7 s + 9 s +5
3. Y ( s )= (Using ResidueCommand )

--------------------------------------------------------------------------------------------------
( s +3 ) ( s+ 4)

-
Homework 2.3: A ship has a mass m and resistance c times the
forward velocity u ( t ) . If the thrust from the propeller is k times its
angular velocity ω ( t ) ,where:
d uf
m + c u f (t )=kω(t )

If: m=180 ×10 5 kg , c=150 ×103 N . s /m, k =96 ×10 3 N . s /rad , and ω ( t )=12.5 u ( t ) .
dt

Find the following using MATLAB:

1. Solve the differential equation above to determine u f ( t ) .
2. Plot the output response of a ship system.
3. From part (2), what is the forward velocity after one minute
and after ten minutes?

Homework 2.4: The rotational velocity ω of a satellite shown in

Figure 2.17 is adjusted by changing the length L of a beam (

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L ( s )=1/4 s ). The rotational velocity ω is described by the following

expression in the Laplace domain:

2.5 ( s +2 )
ω ( s )= L (s)
( s+ 5 )( s+1 )2

Figure 2.17: Satellite with adjustable rotational velocity.

1. Perform the partial fraction expansion on ω ( s ) .
2. Use the inverse Laplace transform to find ω ( t ) .
3. Plot the output response rotational velocity of the satellite.
---------------------------------------------------------------------------------------------------
--
Homework 2.5: A load added to a truck results in a force F on the
support spring, and the tire flexes as shown in Figure 2.18(a).
The model for the tire movement is shown in Figure 2.18(b).
Use MATLAB Simulink to:
1.Simulate the truck support mechanical system.
2.Obtain the unit step response of x 1 and x 2 with respect to f (t).

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Figure 2.18: Truck support model.

------------------------------------------------------------------------------------------------
-
Homework 2.6: For a two series tank control system shown in
Figure 2.19. The inlet flow rate q i is manipulated using the
control valve to regulate the outlet flow rate q 0.

Figure 2.19: Series tank control system.

Using MATLAB Simulink:

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1.Simulate the system model.

2. Obtain the step response of the outlet flow rate.

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