MATLAB

() 158

MATLAB
MATLAB

MATLAB

MATLAB

MATLAB, Simulink, Symbolic Toolbox, Optimization Toolbox, Statistics Toolbox, Partial

Differential Equation Toolbox, Signal Processing Toolbox, Splines Toolbox, Fuzzy Logic
Toolbox, Neural Network Toolbox The MathWorks

MATLAB

( 100084)
http://www.tup.tsinghua.edu.cn

787 1092 1/16
645
2004 6 1 2004 6 1
ISBN 7-3020001

MathWorks MATLAB
MATLAB
MathematicaMaple
MATLAB MATLAB

MATLAB MATLAB
MATLAB
MATLAB
MATLAB

MATLAB

MATLAB
MATLAB
MATLAB
MATLAB

MATLAB

MATLAB

CAI
1988 MATLAB

MathWorks

II

MATLAB MATLAB
Rapid Data
MathWorks CtrlLAB

MATLAB
4 MATLAB
1996
MATLAB
MATLAB

IEEE
2002
MATLAB/Simulink
MATLAB 7.0 MATLAB Release 14
MATLAB
MATLAB 6.*
MATLAB 6.*

MATLAB

The MathWorks Noami Fernandez

Courtney Esposito
MATLAB

2004 3 30
emailxue_dy@21cn.com
MATLAB http://www.matlab-world.com
MATLAB http://matlab.netsh.net


1
1.1

1.2

1.3

1.4
1.5

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

1
1

1.1.1

. . . . . . . . . . . . . . . . . . . . . . . .

1.1.2

. . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3

. . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2

. . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2

. . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8
8

2 MATLAB
9
2.1 MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.2

2.3

2.4

2.1.1

MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . .

10

2.1.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10

2.1.3

MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12

2.1.4

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

13

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.2.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14

2.2.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15

2.2.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16

2.2.4

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17

2.2.5

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.3.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20

2.3.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22

2.3.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

23

2.3.4

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

ii

2.5

2.6

2.7
2.8

2.4.1

MATLAB . . . . . . . . . . . . . . . . . . . . . . . .

24

2.4.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

28

2.4.3

inline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.5.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29

2.5.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

32

2.5.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

34

2.5.4

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

34

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.6.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

37

2.6.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

37

2.6.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

41

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

3
46
3.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

3.2

3.3

3.4

3.5

3.6
3.7

3.1.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

46

3.1.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

48

3.1.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

53

. . . . . . . . . . . . . . . . . . . . . . 56
3.2.1

Taylor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

56

3.2.2

Fourier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

59

3.2.3

61

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

3.3.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

63

3.3.2

MATLAB . . . . . . . . . . . . . . . . . . . . . . .

64

3.3.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

66

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
3.4.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

67

3.4.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

69

3.4.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

73

3.4.4

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

75

. . . . . . . . . . . . . . . . . . . . . . . . . . . 76
3.5.1

MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . .

76

3.5.2

MATLAB . . . . . . . . . . . . . . . . . . . . . . . . .

78

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

iii

4
84
4.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

4.2

4.3

4.4

4.5

4.6
4.7

4.1.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

84

4.1.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

89

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4.2.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

91

4.2.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

98

4.2.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.3.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . 107

4.3.2

Cholesky . . . . . . . . . . . . . . . . . . . . . . . . 108

4.3.3

Jordan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

4.3.4

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
4.4.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

4.4.2

Lyapunov . . . . . . . . . . . . . . . . . . . . . . . . . . 122

4.4.3

Sylvester . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

4.4.4

Riccati . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

. . . . . . . . . . . . . . . . . . . . . . . . . . . 127
4.5.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . 127

4.5.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

5
141
5.1 Laplace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

5.2

5.3

5.4

5.1.1

Laplace . . . . . . . . . . . . . . . . . . . . . . . . 141

5.1.2

Laplace . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

Fourier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
5.2.1

Fourier . . . . . . . . . . . . . . . . . . . . . . . . 146

5.2.2

Fourier . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

5.2.3

Fourier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

5.2.4

Fourier . . . . . . . . . . . . . . . . . . . . . . . . . . 151

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

5.3.1

Mellin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

5.3.2

Hankel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

Z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
5.4.1

Z . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

iv
5.4.2

5.5

5.6
5.7

Z . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

5.5.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

5.5.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

5.5.3

Laplace . . . . . . . . . . . . . . . . . . . . . . . 164

5.5.4

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

6
170
6.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

6.2

6.3

6.4

6.5
6.6

6.1.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

6.1.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . 172

6.1.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
6.2.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

6.2.2

MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

6.2.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

6.2.4

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

. . . . . . . . . . . . . . . . . . . . . . . . . 186
6.3.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

6.3.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . 187

6.3.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

6.3.4

. . . . . . . . . . . . . . . . . . . . . . . . . . . 191

. . . . . . . . . . . . . . . . . . . . . . . . . . . 194
6.4.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

6.4.2

6.4.3

0-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

. . . . . . . . . . . . . . . . . . . . . . . . 196

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

7
203
7.1 . . . . . . . . . . . . . . . . . . . . . . . 203

7.2

7.1.1

. . . . . . . . . . . . . . . . . . . . . 203

7.1.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

7.1.3

Laplace . . . . . . . . . . . . . . . . . . . 206

7.1.4

. . . . . . . . . . . . . . . . . . . . . . . . . . 208

7.2.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

7.3

7.4

7.5

7.6

7.7
7.8

7.2.2

Runge-Kutta MATLAB . . . . . . . . . . . . . . . 211

7.2.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

7.2.4

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
7.3.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

7.3.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

7.3.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

7.3.4

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
7.4.1

. . . . . . . . . . . . . . . . . . . . . . . . . . 235

7.4.2

7.4.3

. . . . . . . . . . . . . . . . . . . . . . . . . . 239

. . . . . . . . . . . . . . . . . . . . . . . . 237

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
7.5.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240

7.5.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . 242

7.5.3

. . . . . . . . . . . . . . . . . . . . . . . . 244

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
7.6.1

Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

7.6.2

Simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

7.6.3

Simulink . . . . . . . . . . . . . . . . . . . . . . . . 252

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

8
260
8.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260

8.2

8.3

8.1.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260

8.1.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

8.1.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

8.1.4

. . . . . . . . . . . . . . . . . . . . . . . . . . 267

8.1.5

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
8.2.1

MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

8.2.2

. . . . . . . . . . . . . . . . . . . . . . . . 275

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

8.3.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

8.3.2

8.3.3

Pade . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

8.3.4

. . . . . . . . . . . . . . . . . . . . . . . . . . 284

. . . . . . . . . . . . . . . 280

vi
8.3.5

8.4

8.5
8.6

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

. . . . . . . . . . . . . . . . . . . . . . . . . . 288
8.4.1

8.4.2

Fourier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

8.4.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

9
299
9.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

9.2

9.3

9.4

9.5

9.6
9.7

9.1.1

. . . . . . . . . . . . . . . . . . . . . . . . . . 299

9.1.2

. . . . . . . . . . . . . . . . . . . . . . 300

9.1.3

9.1.4

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
9.2.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309

9.2.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310

9.2.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . 312

9.2.4

. . . . . . . . . . . . . . . . . . 312

. . . . . . . . . . . . . . . . . . . . . . . . . 314
9.3.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314

9.3.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

9.3.3

. . . . . . . . . . . . . . . . . . 318

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
9.4.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . 322

9.4.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
9.5.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326

9.5.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328

9.5.3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333

10
337
10.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
10.1.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
10.1.2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

10.1.3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
10.1.4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344

vii

10.2 . . . . . . . . . . . . . . . . . . . . . . . 347
10.2.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
10.2.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

10.3 . . . . . . . . . . . . . . . . . . . . . . 357
10.3.1 MATLAB . . . . . . . . . . . . . . . . . . 359
10.3.2 . . . . . . . . . . . . . . . . . . . 360
10.3.3 . . . . . . . . . . . . . . . . . . . . . 368

10.4 . . . . . . . . . . . . . . . . . . . . . . . 369
10.4.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
10.4.2 . . . . . . . . . . . . . . . . . . . . . . . 374
10.4.3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

10.5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
10.5.1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

10.5.2 MATLAB . . . . . . . . . . . . . . . . . . . . . 381

10.6

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 384

10.6.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
10.6.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
10.6.3 . . . . . . . . . . . . . . . . . . . . . . . . . . . 396

10.7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
10.8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
A Scilab
405
A.1 Scilab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
A.2 Scilab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
A.2.1 Scilab . . . . . . . . . . . . . . . . . . . . . . . . . . 405
A.2.2 Scilab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406
A.2.3 Scilab . . . . . . . . . . . . . . . . . . . . . . . . . 407
A.2.4 Scilab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408
A.2.5 Scilab MATLAB . . . . . . . . . . . . . . . . . . . . . . . . . . . 408

A.3 Scilab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408

A.3.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
A.3.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409

A.4 Scilab . . . . . . . . . . . . . . . . . . . . . . . . . 410

A.5 Scilab . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
A.5.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411
A.5.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411
A.5.3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
A.5.4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413

viii

A.5.5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
A.5.6

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414

A.5.7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415

A.6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
A.7
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415

417

 10

384

10.6
3 MATLAB
dn y/dxn y x n n = 1/2
300 Guillaume Francois Antoine LHopital
Gattfried Wilhelm Leibnitz [47]
300

10.6.1
10.6.1.1

Cauchy Gr
unwald-Letnikov
Riemann-Liouville Capotu

Cauchy
Z
( + 1)
f ( )
D f (t) =
d
(10-6-1)
2pj
(

t)+1
C
C f (t)
Gr
unwald-Letnikov

a Dt f (t)

1
= lim
h0 h

[(ta)/h]

X
j=0

f (t jh)
(1)
j
j

j
Riemann-Liouville
Z t
1

(t )1 f ( )d
a Dt f (t) =
() a

(10-6-2)

(10-6-3)

0 < < 1 a a = 0
Dt f (t)Riemann-Liouville
D [14]
n 1 < n

Z t

i
dn
f ( )
dn h (n)
1

f (t) =
d
(10-6-4)
a Dt f (t) =
a Dt
dtn
(n ) dtn a (t )n+1

10.6

385

Caputo Caputo
Z t (m+1)
1
y
( )

y(t)
=
D
d
0 t
(1 ) 0 (t )

(10-6-5)

= m + , m 0 < 1Caputo
Z t
1
y( )

d, < 0
0 Dt =
() 0 (t )1+

(10-6-6)

[38] Gr
unwald-Letnikov
Riemann-Liouville Caputo Riemann-Liouville
( 0)
Caputo
Riemann-Liouville Cauchy

[37]
f (t) 0 Dt f (t) t
= n 0 Dt0 f (t) = f (t)
a, b

0 Dt [af (t)

+ bg(t)] = a 0 Dt f (t) + b 0 Dt g(t)

(10-6-7)

h
i
h
i
+

f (t)
0 Dt 0 Dt f (t) = 0 Dt 0 Dt f (t) = 0 Dt

(10-6-8)

10.6.1.2
Laplace
h
i
L Dt f (t) = s L [f (t)]

(10-6-9)

Laplace
h
L

0 Dt f (t)

= s L [f (t)]

n1
X
k=1

sk

k1
f (t)
0 Dt

t=0

(10-6-10)

f (t) L [0 Dt f (t)] = s L [f (t)]

f (t) Fourier
h
i
F Dt f (t) = (j) F [f (t)]
(10-6-11)

 10

386

10.6.2
10.6.2.1 Fourier
Fourier Fourier
2L 3.2.2 Fourier
t [L, L] f (t)
a0 X
np
np
f (t) =
+
an cos t + bn sin t
2
L
L

(10-6-12)

Z
1 L
npt

dt, n = 0, 1, 2,
f (t) cos
an = L
L
L
Z

1 L
npt

f (t) sin
dt, n = 1, 2, 3,
bn =
L L
L

(10-6-13)

n=1

t (a, b) L = (b a)/2 t t = t+ L + a
f (t) (L, L) Fourier y = tLa
t fseries() Fourier Fourier
an , bn

i
i
dk h
kp
kp
dk h
k
k
sin
at
=
a
sin
at
+
cos
at
=
a
cos
at
+
,
(10-6-14)
2
2
dtk
dtk
Cauchy k
[43] Fourier f (t)
(10-6-14) f (t)

a Dt f (t) =

h
np p
np p i
X np
a0
t +
an cos
t+
+bn sin
t+
(1)
L
L
2
L
2

(10-6-15)

n=1

1 m + m 0 < < 1
f (t) m
||
Fourier 0 < < 1

function F=fdiffint(A,B,t,gam,a,b)
a0=A(1); A=A(2:end); n=length(B); L=(b-a)/2;
if gam>=0, F=0; else, F=a0*t^gam/gam; end
for i=1:n
an=i*pi/L; bn=gam*pi/2;

10.6

387

F=F+an^gam*(A(i)*cos(an*t+bn)+B(i)*sin(an*t+bn));
end
if a+b, F=subs(F,t,t-L-a); end
10-31 3-19 y = t(t p)(t 2p), t (0, 2p) Fourier

Fourier 10-43a
Fourier 12
>> syms t; f=t*(t-pi)*(t-2*pi); [A,B,F]=fseries(f,t,12,0,2*pi);
ezplot(f,[0,2*pi]); hold on; ezplot(F,[0,2*pi])

20

=0.75

15

10

=0.5
=0.25

10

=0.75

5
0
0
5

10

10
0

a) Fourier

15

0.5

1.5

2.5

b)

10-43 Fourier
Fourier 10-43b
>> F1=fdiffint(A,B,t,0.25,0,2*pi); ezplot(F1,[0,pi]); hold on
F1=fdiffint(A,B,t,0.5,0,2*pi); ezplot(F1,[0,pi]);
F1=fdiffint(A,B,t,0.75,0,2*pi); ezplot(F1,[0,pi]);
F1=fdiffint(A,B,t,-0.75,0,2*pi); ezplot(F1,[0,pi]);
10-44
>> tt=0:0.1:2*pi; aa=-1:0.2:1; T=[];
for r=aa
F1=fdiffint(A,B,t,r,0,2*pi); T=[T; double(subs(F1,t,tt))];
end
surf(tt,aa,T)
10-32 f (t) = et sin(3t + 1)t (0, p)
Fourier 10-45a

>> syms t; f=exp(-t)*sin(3*t+1); ezplot(f,[0,pi]); hold on

[A1,B1,F1]=fseries(f,t,10,0,pi); ezplot(F1,[0,pi]);

 10

388

20
10
0
10
t

0.5

0.5

10-44
[A2,B2,F2]=fseries(f,t,15,0,pi); ezplot(F2,[0,pi]);
[A3,B3,F3]=fseries(f,t,20,0,pi); ezplot(F3,[0,pi]);
1
0.8

0.8

0.6

0.6
0.4

0.4

0.2

0.2

0.2

0.2

0.4

0.5

1.5

a) (0, p)

2.5

0.4

0.5

1.5

b) (0.5, p + 0.5)

2.5

10-45 Fourier
(0.5, p + 0.5)
(0, p) 10-45b

>> syms t; f=exp(-t)*sin(3*t+1); ezplot(f,[0,pi]); hold on

[A1,B1,F1]=fseries(f,t,10,-0.5,0.5+pi); ezplot(F1,[0,pi]);
[A2,B2,F2]=fseries(f,t,20,-0.5,0.5+pi); ezplot(F2,[0,pi]);
Fourier 10-46a
Fourier
>> F1=fdiffint(A2,B2,t,0.25,-0.5,pi+0.5); ezplot(F1,[0,pi]); hold on
F1=fdiffint(A2,B2,t,0.5,-0.5,pi+0.5); ezplot(F1,[0,pi])
F1=fdiffint(A2,B2,t,0.75,-0.5,pi+0.5); ezplot(F1,[0,pi])
60 Fourier 10-46a

>> [A1,B1,F1]=fseries(f,t,60,-0.5,0.5+pi);

10.6

0.5

0.5

0.5

0.5

0.5

1.5

2.5

0.5

389

a) 20

1.5

2.5

b) 60

10-46
F1=fdiffint(A1,B1,t,0.25,-0.5,pi+0.5); ezplot(F1,[0,pi]); hold on
F1=fdiffint(A1,B1,t,0.5,-0.5,pi+0.5); ezplot(F1,[0,pi])
F1=fdiffint(A1,B1,t,0.75,-0.5,pi+0.5); ezplot(F1,[0,pi])

Fourier Fourier

10.6.2.2 Gr
unwald-Letnikov
Gr
unwald-Letnikov
1
h0 h

[(ta)/h]

a Dt f (t) = lim

(1)j

j=0

f (t jh) '
j
h

[(ta)/h]

()

wj f (t jh)

(10-6-16)

j=0

=
(1 z)
j

+1
()
()
()
w0 = 1, wj = 1
wj1 , j = 1, 2,
(10-6-17)
j

()
wj

(1)j

h (10-6-16)
[38] o(h) Gr
unwald-Letnikov

function dy=glfdiff(y,t,gam)
h=t(2)-t(1); dy(1)=0; y=y(:); t=t(:);
w=1; for j=2:length(t), w(j)=w(j-1)*(1-(gam+1)/(j-1)); end
for i=2:length(t)
dy(i)=w(1:i)*[y(i:-1:1)]/h^gam;
end

 10

390

y, t t gam
dy
10-33 10-32 f (t) = et sin(3t + 1)t (0, p)
T = 0.01 0.001 0.5
10-47a t 0
T = 0.01

2.5
2
1.5
1
0.5

6
5
4
3
2
1
0

0.5
1

1
0.5
0

0.5

1.5

2.5

a)

b)

10-47
>> t=0:0.001:pi; y=exp(-t).*sin(3*t+1); dy=glfdiff(y,t,0.5); plot(t,dy);
t=0:0.01:pi; y=exp(-t).*sin(3*t+1); dy=glfdiff(y,t,0.5); line(t,dy)
10-47b
>> Z=[]; t=0:0.001:pi; y=exp(-t).*sin(3*t+1);
for gam=0:0.1:1, Z=[Z; glfdiff(y,t,gam)]; end
surf(0:0.01:pi,0:0.1:1,Z); axis([0,pi,0,1,-1.2,6])
10-34 f (t) = sin(3t + 1) 0.75
Cauchy
(10-6-14)
0.75

0.75p
0.75
0.75
f (t) = 3
sin 3t+1+
Gr
unwald-Letnikov glfdiff()
0 Dt
2
10-48
>> t=0:0.01:pi; y=sin(3*t+1); y1=3^0.75*sin(3*t+1+0.75*pi/2);
y2=glfdiff(y,t,0.75); plot(t,y1,t,y2)
Cauchy t = 0

t 0 y y = 0 t = 0+ y 0 sin 1
Gr
unwald-Letnikov
Cauchy t 0
y(t) = sin(3t + 1) t = 0+ Cauchy

10.6

391

6
5
4
3
2
1
0
1
2
3

0.5

1.5

2.5

10-48

10.6.2.3 Fourier
Fourier f (t) Fourier
Z
Z
1
jt
F () =
f (t)e
dt, f (t) =
F ()ejt d
(10-6-18)
2p

jt
D f (t) = D
F ()e d
Z 2p
Z

1
1
F ()D ejt d =
(j) F ()ejt d
=
2p
2p

(10-6-19)

(j) F () Fourier
f (k) Fourier
F () =

f (k)ejk

(10-6-20)

k=

1 X
D f (k) =
(j) F ()ejk
2p

(10-6-21)

k=

10.6.2.4
f (t)

Laplace s
Fourier (j)

 10

392

[37] Oustaloup
(b , h )

[35]

Gf (s) = K

N
Y
s + k0
s + k

(10-6-22)

k=N

k0 = b

h
b

k+N + 12 (1)
k+N + 12 (1+)
Y
N
2N +1
2N +1
h
h 2
k
, k = b
, K=
b
b
k0

(10-6-23)

k=N

y(t)
Dt y(t)
function G=ousta_fod(r,N,w_L,w_H)
mu=w_H/w_L; k=-N:N;
w_kp=(mu).^((k+N+0.5-0.5*r)/(2*N+1) )*w_L;
w_k=(mu).^((k+N+0.5+0.5*r)/(2*N+1) )*w_L;
K=(mu)^(-r/2)*prod(w_k)/prod(w_kp);
G=tf(zpk(-w_kp,-w_k,K));

r 2N + 1 w L w H
b h

10-35 b = 0.01, h = 100 rad/sec f (t) = et sin(3t + 1)

0.5

>> G=ousta_fod(0.5,2,0.01,100), bode(G)
Transfer function:
10 s^5 + 298.5 s^4 + 1218 s^3 + 768.5 s^2 + 74.97 s + 1
------------------------------------------------------s^5 + 74.97 s^4 + 768.5 s^3 + 1218 s^2 + 298.5 s + 10
>> t=0:0.001:pi; y=exp(-t).*sin(3*t+1);
y1=lsim(G,y,t); y2=glfdiff(y,t,0.5); plot(t,y1,t,y2)

(104 , 104 ) 10-50

N = 2 N N = 4
>> G=ousta_fod(0.5,2,1e-4,1e4); G1=ousta_fod(0.5,3,1e-4,1e4);
G2=ousta_fod(0.5,4,1e-4,1e4); G3=ousta_fod(0.5,5,1e-4,1e4);
bode(G,-,G1,--,G2,:,G3,-.)

10.6

Bode Diagram

Magnitude (dB)

20

393

10

0
10

Phase (deg)

20
60

1
30

0
3
10

10

10

10

10

10

0.5

10

a)

1.5

2.5

b)

10-49
Bode Diagram

Magnitude (dB)

50

Phase (deg)

50
60

30

0
5
10

10

10

Frequency (rad/sec)

10-50

FIR
[43] IIR [4] filt()
Ivo Petras FIR
function H=dfod2(n,T,r)
if r>0
bc=cumprod([1,1-((r+1)./[1:n])]); H=filt(bc,[T^r],T);
elseif r<0
bc=cumprod([1,1-((-r+1)./[1:n])]); H=filt([T^(-r)],bc,T);
end

n T r
H H r
filter()
10-36 FIR 10-35

MathWorks http://www.matlabcentral.com

 10

394

Bode 10-51a
n = 100 n = 50 Oustaloup
10-51b

>> t=0:0.001:pi; y=exp(-t).*sin(3*t+1); y3=glfdiff(y,t,0.5);

G1=dfod2(50,0.001,0.5); G2=dfod2(100,0.001,0.5); bode(G1,G2)
y1=filter(G1.num{1},G1.den{1},y); y2=filter(G2.num{1},G2.den{1},y);
figure; plot(t,y1,t,y2,t,y3)

Magnitude (dB)

Bode Diagram

30

20

n=50
10

n=100

Phase (deg)

0
60

n=50
n=100

n=100
n=50

30

0
1

10

10

10

0.5

10

a)

1.5

2.5

b)

10-51 (n, a)

FIR IIR
Laplace s

s = w z 1
[4] Simpson
a H(z) = aHS (z)+(1a)HT (s)a
[0, 1] IIR

G z

k0

1 z 2

(1 + bz 1 )2

(10-6-24)

3 + a 2 3a
6b
b =
k0 =
(0, 1)T
3a
T (3 a)
[4]

function H=iir_frac(r0,a,n,T)
syms x r b; aas=((1-x^2)/(1+b*x)^2)^r; n2=2*n; b0=(3+a-2*sqrt(3*a))/(3-a);
aas=char(subs(aas,{r,b},{r0,b0}));
maple(with(numtheory));

maple([cfe:=cfrac( aas ,x,n2)]);

10.6

395

p=collect(maple(nthnumer,cfe,n2),x); n=sym2poly(p);
q=collect(maple(nthdenom,cfe,n2),x); d=sym2poly(q);
H=tf(n(end:-1:1)*(6*b0/T/(3-a))^r0,d(end:-1:1),Variable,z^-1,Ts,T);

r0 a n T
H IIR

10-37 n, a s0.5
Bode
10-52a a = 0.5

>> H1=iir_frac(0.5,0,3,0.01); H2=iir_frac(0.5,0.5,3,0.01);

H3=iir_frac(0.5,0,4,0.01); H4=iir_frac(0.5,0,5,0.01);
bode(H1,-,H2,--,H3,:,H4,-.)

Hn,a z 1

Magnitude (dB)

113.1 56.57z 1 56.57z 2 + 14.14z 3

H3,0 z 1 =
8 + 4z 1 4z 2 z 3
30

20

10

Phase (deg)

45

1
0

0
45
1
10

10

10

10

a) (n, a)

0.5

1.5

2.5

b)

10-52 (n, a)
10-52b

>> t=0:0.01:pi; y=exp(-t).*sin(3*t+1); y0=glfdiff(y,t,0.5);

y1=filter(H1.num{1},H1.den{1},y); y2=filter(H2.num{1},H2.den{1},y);
y3=filter(H3.num{1},H3.den{1},y); y4=filter(H4.num{1},H4.den{1},y);
plot(t,y0,t,y1,:,t,y2,--,t,y3,:)

Maple cfrac() n 6
Pade Taylor

 10

396

function H=iir_pade(r0,a,n,T)
syms x r b; aas=((1-x^2)/(1+b*x)^2)^r; b0=(3+a-2*sqrt(3*a))/(3-a);
aas=subs(aas,{r,b},{r0,b0}); c=taylor(aas,x,2*n);
c=sym2poly(c); c=c(end:-1:1); [n,d]=padefcn(c,n-1,n);
H=tf(n(end:-1:1)*(6*b0/T/(3-a))^r0,d(end:-1:1),Variable,z^-1,Ts,T);
10-38
Maple
Pade Bode 10-53a

>> H1=iir_pade(0.5,0,10,0.01); H2=iir_pade(0.5,0.75,10,0.01);

H2=minreal(H2); bode(H1,:,H2,--)
Magnitude (dB)

30

20
10

0
10

Phase (deg)

20
90

45
0

45
2
10

10

10

10

10

a) a Bode

0.5

1.5

2.5

b)

10-53 n = 10
10-53b a = 0
n = 10, a = 0.5
IIR FIR

>> t=0:0.01:pi; y=exp(-t).*sin(3*t+1); y0=glfdiff(y,t,0.5);

y2=filter(H2.num{1},H2.den{1},y); plot(t,y0,t,y2,:)

10.6.3
10.6.3.1
[38]

an Dtn y(t) + an1 Dt n1 y(t) + + a1 Dt1 y(t) + a0 Dt0 y(t) = u(t)

(10-6-25)

u(t)
n > n1 > > 1 > 0 > 0

10.6

397

i
z(t) = Dt0 y(t) z(t)
y(t) Laplace
G(s) =

1
Y (s)
=

n
n1
U (s)
an s + an1 s
+ + a1 s1 + a0 s0

(10-6-26)

G(s) [38]

(10-6-16) Gr
nwald-Letnikov

[(ta)/h]
[(ta)/h]
X
X
1
1
( )
( )
i
wj i ytjh = yt +
wj i ytjh
(10-6-27)
a Dt y(t) ' i
i
h
h
j=0
j=1
(i )

w0

( )
w0 i

= 1,

( )
wj i

i + 1
1
j

( )

i
wj1
, j = 1, 2,

(10-6-25)

[(ta)/h]
n
X
X
1
a
( )
i
ut
yt = n
wj i ytjh
i
X ai
h
j=1
i=0
i=0

(10-6-28)

(10-6-29)

h i

MATLAB a n
t u
y
function y=glfode(u,t,a,n)
h=t(2)-t(1); D=sum(a./[h.^n]); W=[]; y=zeros(length(t),1); w=y;
for i=1:length(n)
w=1; for j=2:length(t), w(j)=w(j-1)*(1-(n(i)+1)/(j-1)); end
W=[W; w];
end
for i=2:length(t)
for j=1:length(n), A(j)=W(j,2:i)*[y(i-1:-1:1)]; end
y(i)=(u(i)-sum(A.*a./[h.^n]))/D;
end
10-39
Dt3.5 y(t) + 8Dt3.1 y(t) + 26Dt2.3 y(t) + 73Dt1.2 y(t) + 90Dt0.5 y(t) = 90 sin(t2 )

 10

398

a n glfode()
10-54
h h
h = 0.001
>> a=[1,8,26,73,90]; n=[3.5,3.1,2.3,1.2,0.5];
t=0:0.002:10; u=90*sin(t.^2); y=glfode(u,t,a,n);
subplot(211), plot(t,y); subplot(212), plot(t,u)
0.6
y(t)

0.4
0.2
0
100

100

u(t)

10

10-54

[38]
10.6.3.2

Oustaloup

h 10-55a
Oustaloup

Simulink [52] 10-55b

10-55c
Oustaloup

wb=ww(1); wh=ww(2); G=ousta_fod(gam,n,wb,wh);

num=G.num{1}; den=G.den{1}; T=1/wh; str=Fractional\n;
if isnumeric(gam)
if gam>0, str=[str, Der s^ num2str(gam) ];
else, str=[str, Int s^{ num2str(gam) }]; end

10.6

1
In1

num(s)

den(s)

T.s+1

Transfer Fcn

Transfer Fcn1

399

1
Out1

a)

Fractional
Der s^0.9

c10mfode

b)
c)

10-55

else, str=[str, Der s^gam]; end

ode15s ode23tb

10-40 10-39

10-39
z(t) = Dt0.5 y(t)
z(t) = sin(t2 )

1 3
D z(t) + 8Dt2.6 z(t) + 26Dt1.8 z(t) + 73Dt0.7 z(t)
90 t

10-56 Simulink
10-57

90*sin(u[1]^2)
Clock

1/90

Fcn

du/dt

du/dt

du/dt

Derivative

Derivative1

Derivative2
Fractional
Der s^0.6

Fractional
Int s^{0.5}

Gain4

c10mfode1.mdl

Gain
Fractional
Der s^0.8

26
Gain1

Fractional
Der s^0.7

73
Gain2

10-56 Simulink

1
Out1

 10

400
0.8
0.6
0.4
0.2
0
0.2

10

10-57
10-41

1.5 4
3D 0.9 y(t)
+ 2D 0.7 y(t) + y(t) = 5 sin(10t)
0.2
+ 0.9D y(t)
3

0.2D 0.8 y(t)

3+

y(t)

0.7
1.5
3
3D 0.9 y(t)

y(t) =
2D y(t)
5 sin(10t)
4
3 + 0.2D 0.8 y(t) + 0.9D 0.2 y(t)
y(t) 10-58a

1
Out1
y(t)

0.5
Sine Wave

Fractional
Der s^0.9

0.75

Gain4
Product

Gain3

0
0.5

Constant
Fractional
Der s^0.8

c10mfod2.mdl

0.2

Gain
Fractional
Der s^0.2

1.5
0.9
Gain1

Fractional
Der s^0.7

2
Gain2

2
abs(u)^1.5
Fcn

a) Simulink

2.5

0.5

1.5

2.5

3.5

b)

10-58 Simulink

10-58b
b = 0.001, h = 1000, n = 2
n = 4

10.7

401

10.7
MATLAB

MATLAB

10-1

MATLAB

10-1

MATLAB

10-1

setxor()

MATLAB

10-1

unique()

MATLAB

10-1

ismember()

MATLAB

10-1

339

union()
setdiff()
intersect()

gbellmf()

340

gaussmf()

Gauss

341

mfedit()

10-5

sigmf()

Sigmoid

342

newfis()

343

addvar()

344

fuzzy()

344

addrule()

346

evalfis()

347

newff()

349

350

train()

350

351

351

nntool()

10-21

gaopt()

364

GAOT

360

360

plotperf()
sim()

ga()

gaoptimset() gatool()

cwt()

371

dwt()

372

idwt()

372

wavemngr()

373

wavefun()

373

wavedec()

375

 10

402

appcoef()

detcoef()

375

wrcoef()

375

wavemenu()

377

rslower()

rsupper()

380

core()

381

redu()

383

fdiffint()

Fourier

386

glfdiff()

Gr
unwald-Letnikov

389

ousta fod()

Oustaloup

392

393

rsdav3()

dfod2()

Ivo Petr
as FIR

irr frac()

IIR

394

irr pade()

Pad
e IIR

395

gflode()

Gr
unwald-Letnikov

397

10-55

c10mfode.mdl

MATLAB
MATLAB
MATLAB
MATLAB

MATLAB
gaopt()

MATLAB 7.0

Fourier
MATLAB

20
MATLAB

MATLAB

10.8

403

10.8
1 [24] 15% (
) ()

2 (xi , yi ) x (1, 10)

xi

10

yi

244.0

221.0

208.0

208.0

211.5

216.0

219.0

221.0

221.5

220.0

3 (x, y) (0.1, 0.1) (1.1, 1.1)

yi

x1

x2

x3

x4

x5

x6

x7

x8

x9

x10

x11

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1.1

0.1 0.83041 0.82727 0.82406 0.82098 0.81824

0.8161

0.81481 0.81463 0.81579 0.81853 0.82304

0.2 0.83172 0.83249 0.83584 0.84201 0.85125 0.86376 0.87975 0.89935 0.92263 0.94959

0.9801

0.3 0.83587 0.84345 0.85631 0.87466 0.89867

0.9284

0.96377

1.0045

1.0502

1.1

1.1529

0.4 0.84286 0.86013 0.88537 0.91865 0.95985

1.0086

1.0642

1.1253

1.1904

1.257

1.3222

0.5 0.85268 0.88251 0.92286 0.97346

1.0336

1.1019

1.1764

1.254

1.3308

1.4017

1.4605

0.6 0.86532 0.91049 0.96847

1.0383

1.118

1.2046

1.2937

1.3793

1.4539

1.5086

1.5335

0.7 0.88078 0.94396

1.0217

1.1118

1.2102

1.311

1.4063

1.4859

1.5377

1.5484

1.5052

0.8 0.89904 0.98276

1.082

1.1922

1.3061

1.4138

1.5021

1.5555

1.5573

1.4915

1.346

0.9 0.92006

1.0266

1.1482

1.2768

1.4005

1.5034

1.5661

1.5678

1.4889

1.3156

1.0454

0.94381

1.0752

1.2191

1.3624

1.4866

1.5684

1.5821

1.5032

1.315

1.0155

0.62477

1.1 0.97023

1.1279

1.2929

1.4448

1.5564

1.5964

1.5341

1.3473

1.0321

0.61268 0.14763

4 De Jong [5]
J = min xT x = min(x21 + x22 + + x220 )
x

512 xi 512, i = 1, 2, , 20
fminunc()
x1 = x2 = = x20 = 0
5 >> t=0:0.01:50; y=exp(-3*t).*sin(3*t);
r=rand(size(y)); y1=y+r
8
6

 10

404

max

0.003079x31 x32 x5 cos3 x6 0

0.1017x33 x34 x25 cos3 x6 0

2
3 2

0.09939(1+x5 )x1 x2 cos x6 0

x s.t.

1
31.5
x1 x2 (1 + x5 ) + x3 x4 1 +
2 cos x6
x5

0.1076(31.5+x5 )x33 x24 x25 cos2 x6 0

x3 x4 (x5 +31.5)x5 [2(x1 +5) cos x6 +x1 x2 x5 ]0

0.2x1 0.5,14<x2 22,0.35x3 0.6,

16x4 22,5.8x5 6.5,0.14x6 0.2618

7 60 14 c10rsdat.txt
13
13
8 f (t) = e3t sin(t + p/3) + t2 + 3t + 2 0.2
0.7
9

10 10.6.2.4 IIR Bode

11 [38]
0.8Dt2.2 y(t) + 0.5Dt0.9 y(t) + y(t) = 1, y(0) = y 0 (0) = y 00 (0) = 0
2.2 20.9 1

12 10-59 Simulink
y(t)

5*sin(u[1]^2+5)
Clock

Fractional
Der s^0.6

Fcn

Fractional
Int s^{0.2}

u[1]^2*sin(abs(u[2]))+u[3]*3
Fcn1

Fractional
Der s^0.8

c10mfode4.mdl

Fractional
Der s^0.2

10-59 Simulink

1
Out1

Scilab

MATLAB
MATLAB
MATLAB
MATLAB Scilab
Scilab
Scilab [17]
A.1 Scilab A.2
Scilab MATLAB MATLAB

A.3 Scilab A.4

Scicos A.5 Scilab
Scilab

A.1 Scilab
Scilab INRIA MATLAB
1989
Scilab Scicos Simulink

MATLAB

MATLAB Scilab
Scilab 2.7.2
http://www-rocq.inria.fr/scilab http://liama.ia.ac.cn/Scilab

A.2 Scilab
A.2.1 Scilab
Scilab MATLAB Scilab %

p %pi 1 %i MATLAB 2.4*%i

2.4i 2*%i 2.iScilab % //
Scilab MATLAB

 Scilab

406

int32()int8() 150
int8() MATLAB int8(150) 127
int8(150) Scilab 106 150 2 128
Scilab MATLAB
[A,BC,EDF;aaa,abcd,s]
MATLAB
Scilab MATLAB Scilab
size() length() A(:)

Scilab (list) MATLAB

A=list(5,[1 2 ; 3 4],abc) list()
A 2 A(2)
MATLAB A 3
A(3)=list([1 2; 3 4; 5 6],sbc) A(3)(1)(3,2)
A 3 1 (3,2) 6
Scilab
p=poly(A,s) A
q=poly(B,s,c) B
--> p=poly([1 2 3],s)
p

// 1,2,3

=
2

- 6 + 11s - 6s + s
--> q=poly([1 2 3 4 5 6],s,c)
q

//

=
2

1 + 2s + 3s + 4s + 5s + 6s

--> Scilab MATLAB >>

MATLAB
Q=p*q P =p+q

s=poly(0,s) s = 0 s
q
>> s=poly(0,s); q=1+2*s+ 3*s^2+ 4*s^3+ 5*s^4+ 6*s^5;

A.2.2 Scilab
MATLAB Scilab MATLAB

A.2 Scilab

407

-->A=[1 2 3; 2+4*%i 5 6; 7 8 0+6*%i]

A

1.

2.

3.

!
!

2. + 4.i

5.

6.

7.

8.

6.i !

Scilab
inv(A)
-->A*inv(A)
ans

//

1. + 1.110E-16i

1.388E-17 - 2.776E-17i

- 5.551E-17 - 1.388E-17i !

2.220E-16

1. - 1.110E-16i

- 5.551E-17 + 8.327E-17i !

2.220E-16i

1.110E-16 + 2.776E-17i

1. - 1.110E-16i

A.2.3 Scilab

MATLAB Scilab for while

for i=v

while ()

end

while () do then

end

else

end

if ( 1) then
1
elseif ( 2) then
2
.
.
.
else
n + 1

select
case 1 then 1
case 2 then 2
.
.
.
else
n + 1
end

end
while, if, case then
MATLAB

 Scilab

408

A.2.4 Scilab
Scilab function MATLAB
endfunction Scilab
sci Scilab exec()

File Exec sci Scilab

Scilab
sci bin
Scilab
Scilab *.sci
deff()
deff(,)
7-7 lorenzeq() Scilab
deff(dx=lorenzeq(t,x),[dx=[-8*x(1)/3+x(2)*x(3);,... //
-10*x(2)+10*x(3); -x(1)*x(2)+28*x(2)-x(3)];])

deff() clear clear

A.2.5 Scilab MATLAB

MATLAB Scilab mfile2sci
Scilab MATLAB

mfile2sci(MATLAB )
MATLAB mtlb load Scilab

mtlb load
ASCII mtlb load -ascii
Scilab MATLAB
mtlb save
mtlb save
a b c

A.3 Scilab
Scilab
Scilab File
Zoom, UnZoom Rot3D

A.3 Scilab

409

MATLAB Scilab subplot()

A.3.1
Scilab MATLAB plot2d() MATLAB
plot()
plot2d(t,y,)
t, y x y xMATLAB
plot(x,y) Scilab x
Scilab plot()
help plot2d
logflag logflag=ln logflag=nl
n l
Scilab
MATLAB hold on xbasc(
) sbasc() xset()
MATLAB set()
plot2d2() MATLAB stairs() plot2d3()
MATLAB stem()

A.3.2
param3d() MATLAB
plot3() plot3()
plot3d(), plot3d1(), plot3d2()
plot3d3() plot3d(x,y,z)

A-1 Scilab MATLAB 2-30

--> x=-3:.1:3; y=-2:.1:2;

// x,y

deff([z]=f(x,y),...
[z1=0.5457*exp(-0.75*y.^2-3.75*x.^2-1.5*x).*(x+y>1);,...
z2=0.7575*exp(-y.^2-6*x.^2).*((x+y>-1) & (x+y<=1));,...
z3=0.5457*exp(-0.75*y.^2-3.75*x.^2+1.5*x).*(x+y<=-1);,...
z=z1+z2+z3;]);

//

z=eval3d(f,x,y); plot3d(x,y,z);

//

 Scilab

410

A.4 Scilab
Scilab Scicos (Scilab Connected
Object Simulator) Scicos Scilab scicos()
A-1

A-1 Scicos

Edit Pallette A-2a

Simulink
A-2b Scicos
Simulation

a)

b)

A-2 Scicos

A.5 Scilab
MATLAB
MATLAB Maple Maple

A.5 Scilab

411

Scilab
sci2map() maple2sic() Fortran

Scilab

A.5.1

Scilab diff() y=diff(x,n) x n

f (x) y=numdiff(fun,x)
J =derivative(fun,x0 ) Jacobi J

f (x) v=intg(a,b,fun) (a, b) fun
deff() integrate()
v=integrate(fun,x,a,b) fun
(0, p)
integrate(if x==0 then 1,else sin(x)/x,end,x,0,%pi)
v=intsplin(x,y)
(a, b)
x
int2d() int3d()

A.5.2

MATLAB Scilab
d=det(A), t=trace(A), d=cond(A), r=rank(A) A
MATLAB d=norm(A,)
MATLAB MATLAB
v=spec(A) MATLAB eig()

LU Cholesky QR
MATLAB lu()chol()svd()qr() orth()

A B=inv(A)

 Scilab

412

Moore-Penrose B=pinv(A) AX = B
XA = C X=A\B X=B/A
MATLAB
Lyapunov lyap() MATLAB
lyap() dlyap()
Lyapunov AT X + XA = C X=lyap(A,C,c)
Lyapunov AT XA X = C X=lyap(A,C,d)
Sylvester MATLAB lyap() Scilab
sylv() Sylvester
Sylvester AX + XB = C X=sylv(A,B,C,c)
Sylvester AXB X = C X=sylv(A,B,C,d)
Riccati ricc() MATLAB
are() dare() Riccati Scilab
Riccati AT X + XA XBX + C = 0 X=ricc(A,B,C,c)
Riccati X = AT XA AT XB(D + B T XB)1 B T XA + C
F =G*inv(D)*G X=ricc(A,F ,C,d)

A.5.3
Scilab
Scilab
pfss()G1 =pfss(G)
A-2 G = (s + 5)/(s2 + 4s + 3) G = (s + 5)/(s2 + 4s + 4)
Scilab
--> s=poly(0,s);
G1=(s+5)/(s^2+4*s+3); G=pfss(G1)
G

G(1)

G(2)

- 1

-----

-----

1 + s

3 + s

G(1)
5 + s
-----------2
4 + 4s + s

A.5 Scilab

413

A.5.4
Scilab MATLAB

Scilab

Scilab optim()
[f ,xopt ]=optim(obj f,const f,x0 ) obj f() const f()
deff() Scilab const f
MATLAB const f()
x0
xopt f

linpro() xopt =linpro(f ,A,B,xm ,xM ,ne ,x0 )
MATLAB linprog()
A B Ax B ne

quapro() xopt =quapro(H,f ,A,B,xm ,xM ,ne ,x0 )

A.5.5

Scilab ode()
MATLAB ode45(), ode15s()
x=ode(x0 , t0 , t, fun)x0 t0
t

xfun Scilab deff()

odeoptions()

A-3 7-7 Lorenz x0 =[0;0;1e-10]

t=[0:.1:30] Scilab lorenzeq()

--> deff(dx=lorenzeq(t,x),[dx=[-8*x(1)/3+x(2)*x(3);,...
-10*x(2)+10*x(3); -x(1)*x(2)+28*x(2)-x(3)];]);
x0=[0;0;1e-10]; t=0:.05:30;

//

 Scilab

414

x=ode(x0,0,t,lorenzeq);

plot2d([t t t],x)

--> param3d(x(1,:),x(2,:),x(3,:)) //
A-3ab
t
t ode()
MATLAB

a)

b)

A-3 Lorenz Scilab

Scilab M (t, x)x(t)

= f (t, x) dassl()
x=dassl(x0 ,t0 ,t,fun,Mfun) fun Mfun
dasrt() impl()

Scilab bvode()

A.5.6

y=interpln(X,x) X = [x0 , y0 ]T x0
y0 x y

interp() y=interp(x,x0 ,y0 ,d) x0 , y0
x d splin() d=splin(x0 ,y0 )
y

x0 , y0 Y =smooth(X)
X = [x0 , y0 ] Y

A.6

415

MATLAB lsqcurvefit()
fun() [f ,xopt ]=leastsq(fun,x0 )

A.5.7
Scilab MATLAB
MATLAB

v=rand(n,m,uniform) n m (0, 1)
V v=rand(n,m,normal) n m N (0, 1)
V

MATLAB x =mean(x)
s=var(x) s=stdev(x) V =mvvacov(X)
X correl()
m=moment(x,n) x n m=cmoment(x,n)
x n

A.6
MATLAB
Scilab

MATLAB/Maple
Scilab
Scilab MATLAB

A.7

1 Scilab y(x) = sin(1/t) t [p, p]

2
eA eB

7.5 3.5 0
0
5 7
8

7 10
33
4.1
0
, B =
A=
0
6 8
9 103 1.5
0
0
3.7 19.3
5 7

6
8
10
9

5
7

9
10

416

Scilab

3 Sylvester

1 2 3
2 3 6
1
4 5 6 X + X 3 5 2 = 3
7 8 0
3 2 2
5

3
4
2

2
1
1

21 19 20
1
y = 19 21 20 y, y0 = 0
40 40 40
1
5
h
min

2
2
2

x
+x

1
2 +x3 25=0

x s.t.
8x1 +14x2 +7x3 56=0

x1 ,x2 ,x3 0

1000 x21 2x22 x23 x1 x2 x1 x3


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