Modeling and Simulation with Simulink: For Engineering and Information Systems

Title Page
Copyright
Contents
Preface
1 Simulink and system simulation
    1.1 An introduction to system simulation techniques
    1.2 Mathematical modeling versus physical modeling
        Example 1.1.
        Example 1.2.
    1.3 Introduction to the development of simulation tools
        1.3.1 Analog and mixed computer simulation
        1.3.2 Simulation languages on digital computers
        1.3.3 Object-oriented simulation language
        1.3.4 The development of MATLAB and Simulink
    1.4 Main structure and comments of the book
        1.4.1 Main structure of the book
        1.4.2 Comments on the typesetting
    1.5 Exercises
2 Commonly used blocks in Simulink
    2.1 Invoke the Simulink environment
        2.1.1 Invoke Simulink with interface
        2.1.2 Invoke Simulink with MATLAB commands
        2.1.3 Signals and ports
    2.2 Input and output groups
        2.2.1 Input signal group
        2.2.2 Signal builder interface
        2.2.3 Output sinks group
        2.2.4 Dashboard group
    2.3 System groups
        2.3.1 Linear continuous group
        2.3.2 Linear discrete group
        2.3.3 Discontinuities group
    2.4 Mathematical operations and manipulating groups
        2.4.1 Mathematical operations group
        2.4.2 User-defined functions group
        2.4.3 Lookup table group
        2.4.4 Logic and bit operations group
    2.5 Signal manipulation groups
        2.5.1 Signal routing group
        2.5.2 Signal attribute group
        2.5.3 Ports and subsystems group
    2.6 Simulink toolboxes and blocksets
    2.7 Exercises
3 Block manipulation and menu systems
    3.1 Simple manipulation and decoration of blocks
        3.1.1 Shortcut menus
        3.1.2 Copying and moving blocks
        3.1.3 Font setting in blocks
        3.1.4 Linking blocks
        3.1.5 Rotating and flipping blocks
        3.1.6 Color and shading setting of blocks
    3.2 Modifying block parameters
        3.2.1 Commonly used controls in dialog boxes
        3.2.2 Filling information in dialog boxes
    3.3 Menu systems in earlier versions of Simulink
        3.3.1 File management menus
        3.3.2 Edit, view and display menus
        3.3.3 Model manipulation menus
        3.3.4 Setting menus for simulation parameters
        3.3.5 Analysis tool menus
    3.4 Toolbar and menu systems in new versions
        3.4.1 Simulation parameters and setting
        3.4.2 Model debugging
        3.4.3 Model creation and parameter setting
        3.4.4 Format setting
        3.4.5 Calling APPs
    3.5 Manipulation interface of model browser
        Example 3.14.
    3.6 Exercises
4 Modeling and simulation of ordinary differential equations
    4.1 Template design in Simulink
        4.1.1 General rules in ODE modeling
        4.1.2 Block diagram model of a simple ODE
        4.1.3 Template design for the new model
        4.1.4 Terminating conditions in simulation
        4.1.5 Zero-crossing detection
    4.2 Modeling of first-order explicit ODEs
        Definition 4.1.
        4.2.1 Defining and generating key signals
        4.2.2 Numerical solution validation and control parameter setting
        4.2.3 Vectorized modeling methods
        4.2.4 A general framework for first-order explicit ODEs
        4.2.5 Model framework for first-order time-varying explicit ODEs
    4.3 Modeling of high-order ODEs
        Definition 4.2.
        4.3.1 Defining key signals
        4.3.2 Modeling of high-order linear ODEs
        4.3.3 Transfer function model for constant linear ODEs
        4.3.4 Modeling of high-order nonlinear ODEs
        4.3.5 Modeling of implicit ODEs
        4.3.6 Modeling of discontinuous ODEs
    4.4 Modeling of high-order ODE sets
        4.4.1 Modeling methodologies of ODEs
        4.4.2 Solutions of ODEs
        4.4.3 Solutions of delay differential equations
        4.4.4 Neutral-type delay differential equations
        4.4.5 Switched ODEs
        4.4.6 ODEs with stochastic inputs
    4.5 Modeling and solving fractional-order ODEs
        4.5.1 An introduction to fractional calculus
        4.5.2 Approximating fractional-order operators
        4.5.3 Solving fractional-order ODEs
    4.6 Model of difference equations
        Definition 4.11.
        Example 4.30.
        Example 4.31.
    4.7 Exercises
5 Simulink modeling of control systems
    5.1 Simulink modeling of linear continuous systems
        5.1.1 Transfer function models
        5.1.2 State space models
        5.1.3 Linear singular state space models
        5.1.4 Transfer functions with nonzero initial conditions
        5.1.5 Simulink modeling of transfer function matrices
        5.1.6 Simulink models with varying parameters
    5.2 Modeling and simulation of linear discrete systems
        5.2.1 Mathematical models of linear discrete systems
        5.2.2 Conversions between continuous and discrete models
        5.2.3 Simulink modeling of discrete systems
        5.2.4 Impact of simulation control parameters
        5.2.5 Impact of discrete parameter precisions
    5.3 Simulink modeling of nonlinear components
        5.3.1 Lookup table blocks
        5.3.2 Construction of single-valued nonlinearities
        5.3.3 Construction of double-valued nonlinearities
        5.3.4 Multidimensional lookup table blocks
    5.4 Automatic sorting of Simulink blocks
        Example 5.19.
        Example 5.20.
    5.5 Approximate analysis of nonlinear control systems
        5.5.1 Padé approximation of delay systems
        5.5.2 Linearization of Simulink models
        5.5.3 Algebraic loop phenomenon and elimination
    5.6 Exercises
6 Subsystems and block masking
    6.1 Subsystem modeling
        6.1.1 Construction and extraction of subsystems
        6.1.2 Setting format in crossing lines
        6.1.3 Embedding Simulink models
    6.2 Complicated flow control subsystems
        6.2.1 Enabled and triggered subsystems
        6.2.2 Conditional subsystems
        6.2.3 Other flow control subsystems
    6.3 Block masking
        Example 6.10.
        6.3.1 Icon design
        6.3.2 Design and decoration of other icon properties
        6.3.3 Parameter dialog box design
        6.3.4 Callback function for controls
        6.3.5 Initialization of mask blocks
        6.3.6 Document and help information
        6.3.7 Block masking examples
        6.3.8 Canceling mask status
    6.4 Drawing Simulink models with commands
        6.4.1 Create a blank Simulink model
        6.4.2 Copying blocks
        6.4.3 Linking blocks
        6.4.4 Filling block parameters
        6.4.5 Modeling examples
        6.4.6 Masking blocks with MATLAB commands
    6.5 Control simulation processes with MATLAB commands
        6.5.1 Invoke simulation process with MATLAB commands
        6.5.2 Setting control parameters
        6.5.3 Input and output data structures in Simulink models
        6.5.4 Parallel simulation
    6.6 Exercises
7 Programming implementations of Simulink blocks
    7.1 M-function blocks and implementation
        7.1.1 Static nonlinearities
        7.1.2 Limitations in M-function blocks
    7.2 Programming of S-functions
        7.2.1 State space models
        7.2.2 Fundamental structures of S-functions
        7.2.3 Response functions in S-functions
        7.2.4 Execution mechanism of S-functions
        7.2.5 Writing S-functions with examples
        7.2.6 Masking S-function blocks
        7.2.7 Level-2 S-functions
    7.3 Programming S-functions with C
        7.3.1 C compiler setting
        7.3.2 Examples in S-functions
    7.4 Programming practice of S-functions – active disturbance rejection controllers
        7.4.1 Modeling of extended state observers
        7.4.2 Modeling of ADRC controllers
        7.4.3 Simulation of ADRC systems
    7.5 Exercises
8 Promising combinations of Simulink and numerical optimization techniques
    8.1 Boundary value problems in ODEs
        8.1.1 Shooting algorithms in boundary value problems
        8.1.2 Converting shooting methods into optimization problems
        8.1.3 Examples of simple boundary value problems
        8.1.4 Fast restart mode of Simulink models
        8.1.5 Boundary value problems with parameters
        8.1.6 Solutions of multiple-point problems
        8.1.7 Boundary value problems of fractional-order ODEs
        8.1.8 Boundary value problems of delay differential equations
        8.1.9 Global optimum solutions
    8.2 APP interface design
        Example 8.9.
        Example 8.10.
    8.3 Design of optimum controllers
        8.3.1 Hidden problems in classical optimal control methods
        8.3.2 Performance indices and optimum design in servo control systems
        8.3.3 Optimal control design interface
        8.3.4 Other applications of OCD interface
        8.3.5 Open framework of the program
        8.3.6 PID-type controllers – the best second-order controller?
    8.4 OptimPID – optimal PID controller design APP
        8.4.1 Low-level simulation model of the control systems
        8.4.2 OptimPID APP examples
        8.4.3 Open frameworks and extensions
    8.5 Exercises
9 Processing and simulation of multimedia information
    9.1 Input and output of audio information
        9.1.1 Introduction to Audio System Toolbox
        9.1.2 Input and output of audio information
        9.1.3 Data structure of audio signals
        9.1.4 Audio input and output with MATLAB commands
    9.2 Audio signals processing
        9.2.1 Audio signal filtering
        9.2.2 Dynamic range control
        9.2.3 Audio effect processing
        9.2.4 Detection of audio information
    9.3 Video information processing and Computer Vision Toolbox
    9.4 Input and output of images and videos
        9.4.1 Reading of images and videos
        9.4.2 Display and output of images and videos
        9.4.3 Video play with commands
    9.5 Simple transformation of images
        9.5.1 Color space representation of images
        9.5.2 Color space conversion
        9.5.3 Geometric transformation of images
        9.5.4 Gamma correction of images
        9.5.5 Frequency domain transform and filters
    9.6 Image Analysis and Enhancement
        9.6.1 Histogram equalization
        9.6.2 Edge detection
        9.6.3 Morphological processing
        9.6.4 Real-time video processing
    9.7 Exercises
10 Modeling and simulation of engineering systems
    10.1 Introduction to physical modeling blockset Simscape
        10.1.1 Limitations in mathematical modeling methods
        10.1.2 Simscape introduction
        10.1.3 Foundation library in Simscape
        10.1.4 Conversions of two types of signals
        10.1.5 Creating simple Simscape models
        10.1.6 Modeling and simulation of complicated electric networks
    10.2 Introduction to electric system blockset
        10.2.1 Electrical sources
        10.2.2 Electrical sensors
        10.2.3 Electric and electronic elements
        10.2.4 Electromechanical blocks
    10.3 Modeling and simulation of electrical systems
        10.3.1 Simulation of electronic circuits
        10.3.2 Simulation of circuits with operational amplifiers
        10.3.3 Simulation examples in digital electronic circuits
    10.4 Modeling and simulation of mechanical systems
        10.4.1 Simulation of simple mechanical systems
        10.4.2 Introduction to Multibody blockset
        10.4.3 Modeling and simulation of four-bar mechanisms
    10.5 Exercises
11 Simulation of nonengineering systems
    11.1 Modeling and simulation in pharmacokinetics
        11.1.1 Introduction to pharmacokinetics
        11.1.2 Compartment models in pharmacokinetics
        11.1.3 Wada models with transport delays
        11.1.4 Pharmacokinetics toolbox and Simulink models
        11.1.5 Mapleson models and code
        11.1.6 Pharmacodynamic modeling
    11.2 Finite state machine simulations with Stateflow
        11.2.1 Introduction of finite state machines
        11.2.2 Introduction to Stateflow
        11.2.3 Commonly used commands in Stateflow
        11.2.4 Stateflow modeling examples
        11.2.5 Draw control flow chart with Stateflow
    11.3 Simulation of discrete event systems with SimEvents
        11.3.1 Fundamental concepts in discrete event dynamical systems
        11.3.2 Introduction to SimEvents blockset
        11.3.3 Simulation demonstration of discrete event systems
    11.4 Exercises
Bibliography
Subject Index
Sachregister
    Notes