CHAPTER :1

STUDY: MATLAB, TOOL

BOXES- SP, FDA,DSP
 MATLAB
MATLAB – MATrics LABoratory

MATLAB is a high level technical computing environment. It is suitable for solving

scientific and engineering problems.
 MATLAB software is the most common & industry wide standard software in
the analysis & design of modern control system.
 MATLAB family of programs includes a base program and a variety of
toolboxes are e.g. fuzzy & neutral network, Identification techniques, power
system toolbox, DSP toolbox etc.
 The control system toolbox is built on the MATLAB platform & it has functions
designed for control engineering problem solutions using computer.
 The toolbox is generally written as M files which implements control system
design, analysis and modeling techniques.

In Command Window:

 How to write the command for Row in MATLAB:

>> [1 2 3 4]

ans =

1 2 3 4

 For a Column vector:

>> [1;2;3;4]

ans =

1
2
3
4

 To write (2*2) Matrics:

>> [4 5 ; 6 7]
ans =

4 5
6 7

 To write (3*3) matrics:

>> [1 2 3 ; 4 5 6 ; 7 8 9]

ans =

1 2 3
4 5 6
7 8 9

 different matrix operations:

Multiplication: A*B
Division: A/B
Addition: A+B
Subtraction: A-B
Transpose : trans(A)
Inverse of matrix: inv(A)

 HOW TO WRITE TRANSFER FUNCTION ON MATLAB

>> num=10

num =

10

>> den=[1 7 10 9]

den =

1 7 10 9

>> sys=tf(num,den)

Transfer function:
10
----------------------
s^3 + 7 s^2 + 10 s + 9

 To show pole-zero map of above TF

>> pzmap(sys)

Pole-Zero Map

1.5

0.5
Imaginary Axis

-0.5

-1

-1.5
-6 -5 -4 Real -3
Axis -2 -1 0

 To see step response of above TF

>> step(sys)
 Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

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

 To see Impulse response of above TF

>> impulse(sys)

Impulse Response
0.7

0.6

0.5

0.4
Amplitude

0.3

0.2

0.1

-0.1
0 1 2 3 4 5 6 7 8
Time (sec)
  Determine the TF of a given impulse response

g(t)=e^-t (1-cos2t)

>> f=exp(-t)*(1-cos(2*t))

f=

exp(-t)*(1-cos(2*t))

>> F=laplace(f)

F=

1/(s+1)-1/4*(s+1)/(1/4*(s+1)^2+1)

 For Inverse Laplace

>> F=ilaplace (f)

F=

dirac(x-1)-ilaplace(exp(-t)*cos(2*t),t,x)

 To find Root Locus of TF

>> rlocus(sys)
 Root Locus
15

10

5
Imaginary Axis

-5

-10

-15
-16 -14 -12 -10 -8 -6 -4 -2 0 2 4
Real Axis

 To find Bode Plot of TF

>> bode(sys)

Bode Diagram
50

0
Magnitude (dB)

-50

-100

-150
0

-90
Phase (deg)

-180

-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)
  To find CONTROLLABILITY and RANK of the system
>> A=[1 1;0 -1]

A=

1 1
0 -1

>> B=[1; 0]

B=

1
0

>> p=ctrb(A,B)

p=

1 1
0 0

>> RANK (p)

ans =

1
 CONVERSION OF TF TO STATE SPACE ANALYSIS

>> num=[1]

num =

>> den=[1 2 5 ]

den =

1 2 5

>> [A,B,C,D]=tf2ss(num,den)

A=

-2 -5
1 0
B=

1
0

C=

0 1

D=

 CONVERSION OF STATE SPACE TO TF ANALYSIS

>> [num,den]=ss2tf(A,B,C,D)

num =

0 -0.0000 1.0000

den =

1 2 5

 To find Gain and phase margins and crossover frequencies.

>> num=[2 0.5]

num =

2.0000 0.5000

>> den=[1 1.5 0.5 0 0]

den =

1.0000 1.5000 0.5000 0 0

>> sys=tf(num,den)

Transfer function:
2 s + 0.5
-----------------------
s^4 + 1.5 s^3 + 0.5 s^2
>> margin(sys)
Bode Diagram
Gm = -20.6 dB (at 0.354 rad/sec) , Pm = -36.7 deg (at 1.12 rad/sec)
100

50

Magnitude (dB) 0

-50

-100

-150
-135

-180
Phase (deg)

-225

-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

From the above margin plots the gain margin and phase margin directly
can be displayed as

The Phase Cross over frequency = 0.35355 rad/sec

The Gain Crossover frequency = 1.117 rad/sec
The Gain Margin = -20.561 db
The Phase Margin = -36.665 deg

As both margins are negative, Hence the system is unstable.

 SP TOOLS

SPTool: An Interactive Signal Processing Environment

 Spools is an interactive GUI for digital signal processing that can

be used to

 Analyze signals
 Design filters
 Analyze (view) filters
 Filter signals
 Analyze signal spectra

How to open SP TOOL:-

You can use the Signal Browser to display and analyze
signals listed in the Signals list box in SPTool.

 Using the Signal Browser you can:

 Analyze and compare vector or array (matrix) signals.

 Zoom in on portions of signal data.
 Measure a variety of characteristics of signal data.
 Compare multiple signals.
 Play portions of signal data on audio hardware.
 Print signal plots.

You can use the Filter Visualization Tool (fvtool) to analyze

the following response characteristics of selected filters:
 Magnitude response
 Phase response
 Impulse response
 Step response
 Group delay
 Phase delay
 Pole and zero locations
 Detailed filter information

FVTool also provides features for

 Overlaying filter responses

 Zooming
 Measuring filter responses
 Modifying display parameters such as frequency ranges or magnitude units

You can use the Spectrum Viewer for estimating and analyzing
a signal's power spectral density (PSD). You can use the PSD
estimates to understand a signal's frequency content.

The Spectrum Viewer provides the following functionality.

 Analyze and compare spectral density plots.

 Use different spectral estimation methods to create spectra:
 Burg (pburg)
 Covariance (pcov)
 FFT (fft)
 Modified covariance (pmcov)
 MTM (multitaper method) (pmtm)
  MUSIC (pmusic)
 Welch (pwelch)
 Yule-Walker AR (pyulear)
 Modify power spectral density parameters such as FFT length, window type,
and sample frequency.
 Print spectral plots.

Exporting Signals, Filters, and Spectra

You can export SPTool signals, filters, and spectra as structures to the MATLAB
workspace or to your disk.
In each case you:
 Select the items in SPTool you want to export.
 Select Export from the File menu.

Opening the Export Dialog Box

To save the filter filt1 you just created in this example, open the Export dialog box
with filt1 preselected:
 Select filt1 in the SPTool Filters list.
 Select Export from the File menu.

Importing Filters and Spectra into SPTool

In addition to importing signals into SPTool, you can import filters or spectra into
SPTool from either the workspace or from a file.
The procedures are very similar to those explained in:
Step 1: Importing a Signal into SPTool for loading variables from the workspace
Loading Variables from the Disk for loading variables from your disk

Importing Spectra
When you import a power spectral density (PSD), you specify:

 A variable name or a value for the PSD vector in the PSD field
 A variable name or a value for the frequency vector in the Freq. Vector field

The PSD values in the PSD vector correspond to the frequencies contained in the
Freq. Vector vector; the two vectors must have the same length.
Editing Signals, Filters, or Spectra in SPTool

You can edit selected items in SPTool by:

 Selecting the names of the signals, filters, or spectra you want to edit.
 Selecting the appropriate Edit menu item:
 Duplicate to copy an item in an SPTool list
 Clear to delete an item in an SPTool list
 Name to rename an item in an SPTool list
 Sampling Frequency to modify the sampling frequency associated
with either a signal (and its associated spectra) or filter in an
SPTool list

The pull-down menu next to each menu item shows the names of all selected
items.

You can also edit the following signal characteristics by right-clicking in the display
region of the Signal Browser, the Filter Visualization Tool, or the Spectrum Viewer:

 The signal name

 The sampling frequency
 The line style properties

Loading Variables from the Disk

To import variables representing signals, filters, or spectra from a MAT-file on your
disk;

 Select the From Disk radio button and do either of the following:
 Type the name of the file you want to import into the MAT-file Name
field and press either the Tab or the Enter key on your keyboard.
 Select Browse, and then find and select the file you want to import
using the Select File to Open dialog.

Press OK to close that dialog. In either case, all variables in the MAT-file you
selected are displayed in the File Contents list.

 Select the variables to be imported into SPTool.

You can now import one or more variables from the File Contents list into SPTool,
as long as these variables are scalars, vectors, or matrices.

Setting Preferences

Use Preferences from the SPTool File menu to customize displays and certain
parameters for SPTool and its four component GUIs. The new settings are saved on
disk and are used when you restart SPTool from MATLAB.

In the Preferences regions, you can:

 Select colors and markers for all displays.
 Select colors and line styles for displayed signals.
 Configure labels, and enable/disable markers, panner, and zoom in the
Signal Browser.
 Configure display parameters, and enable/disable markers and zoom in the
Spectrum Viewer.
 Specify FFT length, and enable/disable mouse zoom and grid in the Filter
Designer.
 Enable/disable use of a default session file.
 Export filters for use with the Control System Toolbox.
 Enable/disable search for plug-ins at start-up.

When you first select Preferences, the Preferences dialog box opens with Markers
selected by default.
You can:

 Change the settings for markers from this panel of the Preferences dialog.
 Choose any of the other categories listed to customize its settings.

DSP TOOLS

DSPTool: An Interactive Signal Processing Environment

 Spools is an interactive GUI for digital signal processing that can

be used to

 Analyze signals
 Design filters
 Analyze (view) filters
 Filter signals
 Analyze signal spectra
How to open DSP TOOL:-

You can use the Signal Browser to display and analyze

signals listed in the Signals list box in SPTool.

 Using the Signal Browser you can:

 Analyze and compare vector or array (matrix) signals.

 Zoom in on portions of signal data.
 Measure a variety of characteristics of signal data.
 Compare multiple signals.
 Play portions of signal data on audio hardware.
 Print signal plots.

You can use the Filter Visualization Tool (fvtool) to analyze

the following response characteristics of selected filters:
 Magnitude response
  Phase response
 Impulse response
 Step response
 Group delay
 Phase delay
 Pole and zero locations
 Detailed filter information

FVTool also provides features for

 Overlaying filter responses

 Zooming
 Measuring filter responses
 Modifying display parameters such as frequency ranges or magnitude units

You can use the Spectrum Viewer for estimating and analyzing
a signal's power spectral density (PSD). You can use the PSD
estimates to understand a signal's frequency content.

The Spectrum Viewer provides the following functionality.

 Analyze and compare spectral density plots.

 Use different spectral estimation methods to create spectra:
 Burg (pburg)
 Covariance (pcov)
 FFT (fft)
 Modified covariance (pmcov)
 MTM (multitaper method) (pmtm)
 MUSIC (pmusic)
 Welch (pwelch)
 Yule-Walker AR (pyulear)
 Modify power spectral density parameters such as FFT length, window type,
and sample frequency.
 Print spectral plots.

Exporting Signals, Filters, and Spectra

You can export SPTool signals, filters, and spectra as structures to the MATLAB
workspace or to your disk.
In each case you:
 Select the items in SPTool you want to export.
 Select Export from the File menu.

Opening the Export Dialog Box

To save the filter filt1 you just created in this example, open the Export dialog box
with filt1 preselected:
  Select filt1 in the SPTool Filters list.
 Select Export from the File menu.

Importing Filters and Spectra into SPTool

In addition to importing signals into SPTool, you can import filters or spectra into
SPTool from either the workspace or from a file.

The procedures are very similar to those explained in:

Step 1: Importing a Signal into SPTool for loading variables from the workspace
Loading Variables from the Disk for loading variables from your disk
Importing Spectra
When you import a power spectral density (PSD), you specify:

 A variable name or a value for the PSD vector in the PSD field
 A variable name or a value for the frequency vector in the Freq. Vector field

The PSD values in the PSD vector correspond to the frequencies contained in the
Freq. Vector vector; the two vectors must have the same length.
Editing Signals, Filters, or Spectra in SPTool

You can edit selected items in SPTool by:

 Selecting the names of the signals, filters, or spectra you want to edit.
 Selecting the appropriate Edit menu item:
 Duplicate to copy an item in an SPTool list
 Clear to delete an item in an SPTool list
 Name to rename an item in an SPTool list
 Sampling Frequency to modify the sampling frequency associated
with either a signal (and its associated spectra) or filter in an
SPTool list

The pull-down menu next to each menu item shows the names of all selected
items.

You can also edit the following signal characteristics by right-clicking in the display
region of the Signal Browser, the Filter Visualization Tool, or the Spectrum Viewer:

 The signal name

 The sampling frequency
 The line style properties

Loading Variables from the Disk

To import variables representing signals, filters, or spectra from a MAT-file on your
disk;

 Select the From Disk radio button and do either of the following:
 Type the name of the file you want to import into the MAT-file Name
field and press either the Tab or the Enter key on your keyboard.
 Select Browse, and then find and select the file you want to import
using the Select File to Open dialog.

Press OK to close that dialog. In either case, all variables in the MAT-file you
selected are displayed in the File Contents list.

 Select the variables to be imported into SPTool.

You can now import one or more variables from the File Contents list into SPTool,
as long as these variables are scalars, vectors, or matrices.

Setting Preferences

Use Preferences from the SPTool File menu to customize displays and certain
parameters for SPTool and its four component GUIs. The new settings are saved on
disk and are used when you restart SPTool from MATLAB.

In the Preferences regions, you can:

 Select colors and markers for all displays.
 Select colors and line styles for displayed signals.
 Configure labels, and enable/disable markers, panner, and zoom in the
Signal Browser.
 Configure display parameters, and enable/disable markers and zoom in the
Spectrum Viewer.
 Specify FFT length, and enable/disable mouse zoom and grid in the Filter
Designer.
 Enable/disable use of a default session file.
 Export filters for use with the Control System Toolbox.
 Enable/disable search for plug-ins at start-up.

When you first select Preferences, the Preferences dialog box opens with Markers
selected by default.
You can:

 Change the settings for markers from this panel of the Preferences dialog.
 Choose any of the other categories listed to customize its settings.

FDA TOOLS

Overview

The Filter Design and Analysis Tool (FDATool) is a powerful user interface for
designing and analyzing filters. FDATool enables you to quickly design digital FIR or
IIR filters by setting filter performance specifications, by importing filters from your
MATLAB workspace, by directly specifying filter coefficients, or by adding, moving or
deleting poles and zeros. FDATool also provides tools for analyzing filters, such as
magnitude and phase response plots and pole-zero plots. FVTool, which can be
launched from FDATool, provides a separate window for analyzing filters. You can
use FDATool as a convenient alternative to the command line filter design functions.

Filter Design Methods

The tool gives you access to all of the filter design methods in the Signal Processing
Toolbox.
Analyzing the Filter

Once you've designed the filter, you can view the following filter response
characteristics in the display region or in a separate window

 Magnitude response
 Phase response
 Magnitude and Phase responses
 Group delay response
 Phase delay response
 Impulse response
 Step response
 Pole-zero plot
 Zero-phase response--available from the y-axis context menu in a Magnitude
or Magnitude and Phase response plot.

You can display two responses in the same plot by selecting Overlay Analysis
from the Analysis menu and selecting an available response. A second y-axis is
added to the right side of the response plot. (Note that not all responses can be
overlaid on each other.)

You can also display the filter coefficients and detailed filter information in this
region

For all the analysis methods, except zero-phase response, you can access them
from the Analysis menu, the Analysis Parameters dialog box from the context
menu, or by using the toolbar buttons. For zero-phase, right-click on the y-axis of
the plot and select Zero-phase from the context menu.
Editing the Filter Using the Pole/Zero Editor

You can edit a designed or imported filter's coefficients by moving, deleting, or

adding poles and/or zeros using the Pole/Zero Editor panel. Click the Pole/Zero
Editor button in the sidebar or select Pole/Zero Editor from the Edit menu to
display this panel.

Plot mode buttons. Plot mode buttons are located to the left of the pole/zero
plot. Select one of the buttons to change the mode of the pole/zero plot.

The Pole Zero editor has these buttons from left to right: move pole, add pole,
add zero, and delete pole or zero.

The following plot parameters and controls are located to the left of the pole/zero
plot and below the plot mode buttons
 Filter gain--factor to compensate for the filter's pole(s) and zero(s) gains
Coordinates--units (Polar or Rectangular) of the selected pole or zero
 Magnitude--if polar coordinates is selected, magnitude of the selected pole or
zero
 Angle--if polar coordinates is selected, angle of selected pole(s) or zero(s)
  Real--if rectangular coordinates is selected, real component of selected
pole(s) or zero(s)
 Imaginary--if rectangular coordinates is selected, imaginary component of
selected pole or zero
 Section--for multisection filters, number of the current section
 Conjugate--creates a corresponding conjugate pole or zero or automatically
selects the conjugate pole or zero if it already exists.
 Auto update--immediately updates the displayed magnitude response when
poles or zeros are added, moved, or deleted.
Importing a Filter Design

The Import Filter panel allows you to import a filter. You can access this region by
clicking the Import Filter button in the sidebar.

The imported filter can be in any of the representations listed in the Filter Structure
pull-down menu and described in Filter Structures. You can import a filter as second-
order sections by selecting the check box.

Specify the filter coefficients in Numerator and Denominator, either by entering them
explicitly or by referring to variables in the MATLAB workspace.

Select the frequency units from the following options in the Units menu, and for any
frequency unit other than Normalized, specify the value or MATLAB workspace
variable of the sampling frequency in the Fs field.

To import the filter, click the Import Filter button. The display region is automatically
updated when the new filter has been imported.

Exporting a Filter Design

You can save your filter design by

 Exporting Coefficients or Objects to the Workspace

 Exporting Coefficients to an ASCII File
 Exporting Coefficients or Objects to a MAT-File
 Exporting to SPTool
Exporting Coefficients or Objects to the Workspace

You can save the filter either as filter coefficients variables or as a dfilt or mfilt filter
object variable. (Note that you must have the Filter Design Toolbox installed to save
as an mfilt.) To save the filter to the MATLAB workspace:

 Select Export from the File menu. The Export dialog box appears.
 Select Workspace from the Export To menu.
 Select Coefficients from the Export As menu to save the filter coefficients or
select Objects to save the filter in a filter object.
 For coefficients, assign variable names using the Numerator (for FIR filters)
or Numerator and Denominator (for IIR filters), or SOS Matrix and Scale
Values (for IIR filters in second-order section form) text boxes in the Variable
Names region. For objects, assign the variable name in the Discrete Filter (or
Quantized Filter) text box. If you have variables with the same names in your
workspace and you want to overwrite them, select the Overwrite Variables
check box.
 Click the OK button
Managing Filters in the Current Session

You can store filters designed in the current FDATool session for cascading
together, exporting to FVTool or for recalling later in the same FDATool session.

You store and access saved filters with the Store filter and Filter Manager buttons,
respectively, in the Current Filter Information pane.
Store Filter -- displays the Store Filter dialog box in which you specify the filter name
to use when storing the filter in the Filter Manager. The default name is the type of
the filter.
  The current filter is listed below the listbox. To change the current filter,
hightlight the desired filter. If you select Edit current filter, FDATool displays
the current filter and the stored filter is updated with any changes you make to
the filter in FDATool.
 To cascade two or more filters, highlight the desired filters and press
Cascade. A new cascaded filter is added to the Filter Manager.
 To change the name of a stored filter, press Rename. The Rename filter
dialog box is displayed.
 To remove a stored filter from the Filter Manager, press Delete.
 To export one or more filters to FVTool, highlight the filter(s) and press
FVTool.

Saving and Opening Filter Design Sessions

You can save your filter design session as a MAT-file and return to the same
session another time.

Select the Save session button to save your session as a MAT-file. The first time
you save a session, a Save Filter Design File browser opens, prompting you for a
session name.

For example, save this design session as TestFilter.fda in your current working
directory by typing TestFilter in the File name field.

The .fda extension is added automatically to all filter design sessions you save.