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Control System Toolbox™
Getting Started Guide

R2016a
How to Contact MathWorks

Latest news: www.mathworks.com

Sales and services: www.mathworks.com/sales_and_services

User community: www.mathworks.com/matlabcentral

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Phone: 508-647-7000

The MathWorks, Inc.

3 Apple Hill Drive
Natick, MA 01760-2098
Control System Toolbox™ Getting Started Guide
© COPYRIGHT 2000–2016 by The MathWorks, Inc.
The software described in this document is furnished under a license agreement. The software may be used
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Revision History
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 Contents

Product Overview
1
Control System Toolbox Product Description . . . . . . . . . . . . 1-2
Key Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Building Models
2
Linear (LTI) Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
What Is a Plant? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Linear Model Representations . . . . . . . . . . . . . . . . . . . . . . . . 2-2
SISO Example: The DC Motor . . . . . . . . . . . . . . . . . . . . . . . 2-3
Building SISO Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Constructing Discrete Time Systems . . . . . . . . . . . . . . . . . . . 2-8
Adding Delays to Linear Models . . . . . . . . . . . . . . . . . . . . . . 2-9
LTI Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

MIMO Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

State-Space Model of Jet Transport Aircraft . . . . . . . . . . . . 2-12
Constructing MIMO Transfer Functions . . . . . . . . . . . . . . . 2-14
Accessing I/O Pairs in MIMO Systems . . . . . . . . . . . . . . . . 2-16

Arrays of Linear Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17

Model Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

Interconnecting Linear Models . . . . . . . . . . . . . . . . . . . . . . . 2-20

Arithmetic Operations for Interconnecting Models . . . . . . . 2-20
Feedback Interconnections . . . . . . . . . . . . . . . . . . . . . . . . . 2-21

v
 Converting Between Continuous- and Discrete- Time
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Available Commands for Continuous/Discrete Conversion . . 2-22
Available Methods for Continuous/Discrete Conversion . . . . 2-22
Digitizing the Discrete DC Motor Model . . . . . . . . . . . . . . . 2-22

Reducing Model Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25

Model Order Reduction Commands . . . . . . . . . . . . . . . . . . . 2-25
Techniques for Reducing Model Order . . . . . . . . . . . . . . . . . 2-25
Example: Gasifier Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26

Analyzing Models
3
Linear Analysis Using the Linear System Analyzer . . . . . . . 3-2

Simulate Models with Arbitrary Inputs and Initial

Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
What is the Linear Simulation Tool? . . . . . . . . . . . . . . . . . . . 3-7
Opening the Linear Simulation Tool . . . . . . . . . . . . . . . . . . . 3-7
Working with the Linear Simulation Tool . . . . . . . . . . . . . . . 3-8
Importing Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Example: Loading Inputs from a Microsoft Excel
Spreadsheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
Example: Importing Inputs from the Workspace . . . . . . . . . 3-13
Designing Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Specifying Initial Conditions . . . . . . . . . . . . . . . . . . . . . . . . 3-19

Designing Compensators
4
Choosing a PID Controller Design Tool . . . . . . . . . . . . . . . . . 4-2

Designing PID Controllers with PID Tuner . . . . . . . . . . . . . . 4-4

PID Tuner Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
PID Controller Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
PID Controller Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

vi Contents
Analyze Design in PID Tuner . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Plot System Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
View Numeric Values of System Characteristics . . . . . . . . . 4-15
Refine the Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

PID Controller Design for Fast Reference Tracking . . . . . . 4-18

Tune PID Controller to Favor Reference Tracking or

Disturbance Rejection (PID Tuner) . . . . . . . . . . . . . . . . . . 4-28

Tune PID Controller to Favor Reference Tracking or

Disturbance Rejection (Command Line) . . . . . . . . . . . . . . 4-41

Interactively Estimate Plant Parameters from Response

Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-48

Preprocess Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60

Ways to Preprocess Data . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60
Remove Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-61
Scale Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-61
Extract Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-62
Filter Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-62
Resample Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-63
Replace Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-63

PID Tuning Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-65

System Identification for PID Control . . . . . . . . . . . . . . . . . 4-67

Plant Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-67
Linear Approximation of Nonlinear Systems for PID Control 4-68
Linear Process Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-69
Advanced System Identification Tasks . . . . . . . . . . . . . . . . 4-70

Input/Output Data for Identification . . . . . . . . . . . . . . . . . . 4-71

Data Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-71
Data Preprocessing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-71

Choosing Identified Plant Structure . . . . . . . . . . . . . . . . . . . 4-73

Process Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-74
State-Space Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-77
Existing Plant Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-79
Switching Between Model Structures . . . . . . . . . . . . . . . . . 4-80
Estimating Parameter Values . . . . . . . . . . . . . . . . . . . . . . . 4-81

vii
 Handling Initial Conditions . . . . . . . . . . . . . . . . . . . . . . . . . 4-81

Pole Placement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-83

State-Feedback Gain Selection . . . . . . . . . . . . . . . . . . . . . . 4-83
State Estimator Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-84
Pole Placement Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-85
Caution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-85

Linear-Quadratic-Gaussian (LQG) Design . . . . . . . . . . . . . . 4-87

Linear-Quadratic-Gaussian (LQG) Design for Regulation . . 4-87
Linear-Quadratic-Gaussian (LQG) Design of Servo Controller
with Integral Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-92

Design an LQG Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-98

Design an LQG Servo Controller . . . . . . . . . . . . . . . . . . . . . 4-102

Design an LQR Servo Controller in Simulink . . . . . . . . . . 4-105

State-Space Equations for an Airframe . . . . . . . . . . . . . . . 4-106
Trimming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-107
Problem Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-107
Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-108

State Estimation Using Time-Varying Kalman Filter . . . . 4-111

Kalman Filter Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-125

viii Contents
 1

Product Overview
1 Product Overview

Control System Toolbox Product Description

Design and analyze control systems

Control System Toolbox provides algorithms and apps for systematically analyzing,
designing, and tuning linear control systems. You can specify your system as a transfer
function, state-space, zero-pole-gain, or frequency-response model. Apps and functions,
such as step response plot and Bode plot, let you analyze and visualize system behavior
in the time and frequency domains.

You can tune compensator parameters using interactive techniques such as Bode loop
shaping and the root locus method. The toolbox automatically tunes both SISO and
MIMO compensators, including PID controllers. Compensators can include multiple
tunable blocks spanning several feedback loops. You can tune gain-scheduled controllers
and specify multiple tuning objectives, such as reference tracking, disturbance rejection,
and stability margins. You can validate your design by verifying rise time, overshoot,
settling time, gain and phase margins, and other requirements.

Key Features
• Transfer-function, state-space, zero-pole-gain, and frequency-response models of
linear systems
• Step response, Nyquist plot, and other time-domain and frequency-domain tools for
analyzing stability and performance
• Automatic tuning of PID, gain-scheduled, and arbitrary SISO and MIMO control
systems
• Root locus, Bode diagrams, LQR, LQG, and other classical and state-space design
techniques
• Model representation conversion, continuous-time model discretization, and low-order
approximation of high-order systems

1-2
 2

Building Models

• “Linear (LTI) Models” on page 2-2

• “MIMO Models” on page 2-12
• “Arrays of Linear Models” on page 2-17
• “Model Characteristics” on page 2-19
• “Interconnecting Linear Models” on page 2-20
• “Converting Between Continuous- and Discrete- Time Systems” on page 2-22
• “Reducing Model Order” on page 2-25
2 Building Models

Linear (LTI) Models

In this section...
“What Is a Plant?” on page 2-2
“Linear Model Representations” on page 2-2
“SISO Example: The DC Motor” on page 2-3
“Building SISO Models” on page 2-5
“Constructing Discrete Time Systems” on page 2-8
“Adding Delays to Linear Models” on page 2-9
“LTI Objects” on page 2-10

What Is a Plant?
Typically, control engineers begin by developing a mathematical description of the
dynamic system that they want to control. The system to be controlled is called a plant.
As an example of a plant, this section uses the DC motor. This section develops the
differential equations that describe the electromechanical properties of a DC motor with
an inertial load. It then shows you how to use the Control System Toolbox functions to
build linear models based on these equations.

Linear Model Representations

You can use Control System Toolbox functions to create the following model
representations:

• State-space models (SS) of the form

dx
= Ax + Bu
dt
y = Cx + Du

where A, B, C, and D are matrices of appropriate dimensions, x is the state vector,

and u and y are the input and output vectors.
• Transfer functions (TF), for example,

2-2
 Linear (LTI) Models

s+2
H ( s) =
2
s + s + 10
• Zero-pole-gain (ZPK) models, for example,

( z + 1 + j)( z + 1 - j)
H ( z) = 3
( z + 0.2)( z + 0 .1)
• Frequency response data (FRD) models, which consist of sampled measurements of
a system's frequency response. For example, you can store experimentally collected
frequency response data in an FRD model.

Note The design of FRD models is a specialized subject that this topic does not
address. See “Frequency Response Data (FRD) Models” for a discussion of this topic.

SISO Example: The DC Motor

A simple model of a DC motor driving an inertial load shows the angular rate of the load,
w(t) , as the output and applied voltage, uapp (t) , as the input. The ultimate goal of this
example is to control the angular rate by varying the applied voltage. This figure shows a
simple model of the DC motor.

A Simple Model of a DC Motor Driving an Inertial Load

2-3
2 Building Models

In this model, the dynamics of the motor itself are idealized; for instance, the magnetic
field is assumed to be constant. The resistance of the circuit is denoted by R and the
self-inductance of the armature by L. If you are unfamiliar with the basics of DC motor
modeling, consult any basic text on physical modeling. With this simple model and basic
laws of physics, it is possible to develop differential equations that describe the behavior
of this electromechanical system. In this example, the relationships between electric
potential and mechanical force are Faraday's law of induction and Ampère's law for the
force on a conductor moving through a magnetic field.

Mathematical Derivation

The torque t seen at the shaft of the motor is proportional to the current i induced by the
applied voltage,

t(t) = K m i(t)

where Km, the armature constant, is related to physical properties of the motor, such as
magnetic field strength, the number of turns of wire around the conductor coil, and so
on. The back (induced) electromotive force, uemf , is a voltage proportional to the angular
rate w seen at the shaft,

uemf ( t) = K bw(t)

where Kb, the emf constant, also depends on certain physical properties of the motor.

The mechanical part of the motor equations is derived using Newton's law, which states
that the inertial load J times the derivative of angular rate equals the sum of all the
torques about the motor shaft. The result is this equation,

dw
J = Â ti = - K f w( t) + Km i (t)
dt

where K f w is a linear approximation for viscous friction.

Finally, the electrical part of the motor equations can be described by

di
uapp (t) - uemf ( t) = L + Ri( t)
dt

2-4
 Linear (LTI) Models

or, solving for the applied voltage and substituting for the back emf,

di
uapp (t) = L + Ri(t) + K bw( t)
dt

This sequence of equations leads to a set of two differential equations that describe the
behavior of the motor, the first for the induced current,

di R K 1
= - i( t) - b w( t) + uapp (t)
dt L L L

and the second for the resulting angular rate,

dw 1 1
= - K f w(t) + Km i (t)
dt J J

State-Space Equations for the DC Motor

Given the two differential equations derived in the last section, you can now develop a
state-space representation of the DC motor as a dynamic system. The current i and the
angular rate ω are the two states of the system. The applied voltage, uapp , is the input to
the system, and the angular velocity ω is the output.

È R Kb ˘
- - È1˘
d Èi ˘ Í L L ˙ Èi˘ Í ˙
Í ˙ =Í ˙◊ + L ◊u
K f ˙ ÍÎ w˙˚ Í ˙ app
(t)
dt Îw˚ Í Km
Í - ˙ Í 0
Î ˚ ˙
Î J J ˚

Èi˘
y( t) = [0 1 ] ◊ Í ˙ + [ 0 ] ◊ uapp (t)
Î w˚

State-Space Representation of the DC Motor Example

Building SISO Models

After you develop a set of differential equations that describe your plant, you can
construct SISO models using simple commands. The following sections discuss

• Constructing a state-space model of the DC motor

2-5
2 Building Models

• Converting between model representations

• Creating transfer function and zero/pole/gain models

Constructing a State-Space Model of the DC Motor

Enter the following nominal values for the various parameters of a DC motor.
R= 2.0 % Ohms
L= 0.5 % Henrys
Km = .015 % torque constant
Kb = .015 % emf constant
Kf = 0.2 % Nms
J= 0.02 % kg.m^2

Given these values, you can construct the numerical state-space representation using the
ss function.
A = [-R/L -Kb/L; Km/J -Kf/J]
B = [1/L; 0];
C = [0 1];
D = [0];
sys_dc = ss(A,B,C,D)

These commands return the following result:

a =
x1 x2
x1 -4 -0.03
x2 0.75 -10

b =
u1
x1 2
x2 0

c =
x1 x2
y1 0 1

d =
u1
y1 0

2-6
 Linear (LTI) Models

Converting Between Model Representations

Now that you have a state-space representation of the DC motor, you can convert to other
model representations, including transfer function (TF) and zero/pole/gain (ZPK) models.
Transfer Function Representation

You can use tf to convert from the state-space representation to the transfer function.
For example, use this code to convert to the transfer function representation of the DC
motor.
sys_tf = tf(sys_dc)

Transfer function:
1.5
------------------
s^2 + 14 s + 40.02
Zero/Pole/Gain Representation

Similarly, the zpk function converts from state-space or transfer function

representations to the zero/pole/gain format. Use this code to convert from the state-
space representation to the zero/pole/gain form for the DC motor.
sys_zpk = zpk(sys_dc)

Zero/pole/gain:
1.5
-------------------
(s+4.004) (s+9.996)

Note The state-space representation is best suited for numerical computations. For
highest accuracy, convert to state space prior to combining models and avoid the
transfer function and zero/pole/gain representations, except for model specification and
inspection.

Constructing Transfer Function and Zero/Pole/Gain Models

In the DC motor example, the state-space approach produces a set of matrices that
represents the model. If you choose a different approach, you can construct the
corresponding models using tf, zpk, ss, or frd.

2-7
2 Building Models

sys = tf(num,den) % Transfer function

sys = zpk(z,p,k) % Zero/pole/gain
sys = ss(a,b,c,d) % State-space
sys = frd(response,frequencies) % Frequency response data

For example, you can create the transfer function by specifying the numerator and
denominator with this code.

sys_tf = tf(1.5,[1 14 40.02])

Transfer function:
1.5
------------------
s^2 + 14 s + 40.02

Alternatively, if you want to create the transfer function of the DC motor directly, use
these commands.

s = tf('s');
sys_tf = 1.5/(s^2+14*s+40.02)

These commands result in this transfer function.

Transfer function:
1.5
--------------------
s^2 + 14 s + 40.02

To build the zero/pole/gain model, use this command.

sys_zpk = zpk([],[-9.996 -4.004], 1.5)

This command returns the following zero/pole/gain representation.

Zero/pole/gain:
1.5
-------------------
(s+9.996) (s+4.004)

Constructing Discrete Time Systems

The Control System Toolbox software provides full support for discrete-time systems.
You can create discrete systems in the same way that you create analog systems; the

2-8
 Linear (LTI) Models

only difference is that you must specify a sample time period for any model you build. For
example,

sys_disc = tf(1, [1 1], .01);

creates a SISO model in the transfer function format.

Transfer function:
1
-----
z + 1

Sample time: 0.01

Adding Time Delays to Discrete-Time Models

You can add time delays to discrete-time models by specifying an input delay, output
delay, or I/O delay when building the model. The time delay must be a nonnegative
integer that represents a multiple of the sample time. For example,

sys_delay = tf(1, [1 1], 0.01,'ioDelay',5)

returns a system with an I/O delay of 5 s.

Transfer function:
1
z^(-5) * -----
z + 1

Sample time: 0.01

Adding Delays to Linear Models

You can add time delays to linear models by specifying an input delay, output delay, or
I/O delay when building a model. For example, to add an I/O delay to the DC motor, use
this code.

sys_tfdelay = tf(1.5,[1 14 40.02],'ioDelay',0.05)

This command constructs the DC motor transfer function, but adds a 0.05 second delay.

Transfer function:
1.5

2-9
2 Building Models

exp(-0.05*s) * ------------------
s^2 + 14 s + 40.02

For more information about adding time delays to models, see “Time Delays in Linear
Systems”.

LTI Objects
For convenience, the Control System Toolbox software uses custom data structures called
LTI objects to store model-related data. For example, the variable sys_dc created for
the DC motor example is called an SS object. There are also TF, ZPK, and FRD objects
for transfer function, zero/pole/gain, and frequency data response models respectively.
The four LTI objects encapsulate the model data and enable you to manipulate linear
systems as single entities rather than as collections of vectors or matrices.

To see what LTI objects contain, use the get command. This code describes the contents
of sys_dc from the DC motor example.
get(sys_dc)
a: [2x2 double]
b: [2x1 double]
c: [0 1]
d: 0
e: []
StateName: {2x1 cell}
InternalDelay: [0x1 double]
Ts: 0
InputDelay: 0
OutputDelay: 0
InputName: {''}
OutputName: {''}
InputGroup: [1x1 struct]
OutputGroup: [1x1 struct]
Name: ''
Notes: {}
UserData: []

You can manipulate the data contained in LTI objects using the set command; see the
Control System Toolbox online reference pages for descriptions of set and get.

Another convenient way to set or retrieve LTI model properties is to access them directly
using dot notation. For example, if you want to access the value of the A matrix, instead
of using get, you can type

2-10
 Linear (LTI) Models

sys_dc.a

at the MATLAB® prompt. This notation returns the A matrix.

ans =

-4.0000 -0.0300
0.7500 -10.0000

Similarly, if you want to change the values of the A matrix, you can do so directly, as this
code shows.
A_new = [-4.5 -0.05; 0.8 -12.0];
sys_dc.a = A_new;

See Also
ss | tf | zpk

Related Examples
• “Transfer Functions”
• “State-Space Models”
• “Discrete-Time Numeric Models”

More About
• “Numeric Models”

2-11
2 Building Models

MIMO Models
In this section...
“State-Space Model of Jet Transport Aircraft” on page 2-12
“Constructing MIMO Transfer Functions” on page 2-14
“Accessing I/O Pairs in MIMO Systems” on page 2-16

State-Space Model of Jet Transport Aircraft

This example shows how to build a MIMO model of a jet transport. Because the
development of a physical model for a jet aircraft is lengthy, only the state-space
equations are presented here. See any standard text in aviation for a more complete
discussion of the physics behind aircraft flight.

The jet model during cruise flight at MACH = 0.8 and H = 40,000 ft. is
A = [-0.0558 -0.9968 0.0802 0.0415
0.5980 -0.1150 -0.0318 0
-3.0500 0.3880 -0.4650 0
0 0.0805 1.0000 0];

B = [ 0.0073 0
-0.4750 0.0077
0.1530 0.1430
0 0];

C = [0 1 0 0
0 0 0 1];

D = [0 0
0 0];

Use the following commands to specify this state-space model as an LTI object and attach
names to the states, inputs, and outputs.
states = {'beta' 'yaw' 'roll' 'phi'};
inputs = {'rudder' 'aileron'};
outputs = {'yaw rate' 'bank angle'};

sys_mimo = ss(A,B,C,D,'statename',states,...
'inputname',inputs,...

2-12
 MIMO Models

'outputname',outputs);

You can display the LTI model by typing sys_mimo.

sys_mimo

a =
beta yaw roll phi
beta -0.0558 -0.9968 0.0802 0.0415
yaw 0.598 -0.115 -0.0318 0
roll -3.05 0.388 -0.465 0
phi 0 0.0805 1 0

b =
rudder aileron
beta 0.0073 0
yaw -0.475 0.0077
roll 0.153 0.143
phi 0 0

c =
beta yaw roll phi
yaw rate 0 1 0 0
bank angle 0 0 0 1

d =
rudder aileron
yaw rate 0 0
bank angle 0 0

Continuous-time model.

The model has two inputs and two outputs. The units are radians for beta (sideslip
angle) and phi (bank angle) and radians/sec for yaw (yaw rate) and roll (roll rate). The
rudder and aileron deflections are in degrees.

As in the SISO case, use tf to derive the transfer function representation.

tf(sys_mimo)

Transfer function from input "rudder" to output...

-0.475 s^3 - 0.2479 s^2 - 0.1187 s - 0.05633

2-13
2 Building Models

yaw rate: ---------------------------------------------------

s^4 + 0.6358 s^3 + 0.9389 s^2 + 0.5116 s + 0.003674

0.1148 s^2 - 0.2004 s - 1.373

bank angle: ---------------------------------------------------
s^4 + 0.6358 s^3 + 0.9389 s^2 + 0.5116 s + 0.003674

Transfer function from input "aileron" to output...

0.0077 s^3 - 0.0005372 s^2 + 0.008688 s + 0.004523
yaw rate: ---------------------------------------------------
s^4 + 0.6358 s^3 + 0.9389 s^2 + 0.5116 s + 0.003674

0.1436 s^2 + 0.02737 s + 0.1104

bank angle: ---------------------------------------------------
s^4 + 0.6358 s^3 + 0.9389 s^2 + 0.5116 s + 0.003674

Constructing MIMO Transfer Functions

MIMO transfer functions are two-dimensional arrays of elementary SISO transfer
functions. There are two ways to specify MIMO transfer function models:

• Concatenation of SISO transfer function models

• Using tf with cell array arguments

Concatenation of SISO Models

Consider the following single-input, two-output transfer function.

È s-1 ˘
Í s+1 ˙
H ( s) = Í ˙
Í s+ 2 ˙
ÍÎ s2 + 4 s + 5 ˙˚

You can specify H(s) by concatenation of its SISO entries. For instance,
h11 = tf([1 -1],[1 1]);
h21 = tf([1 2],[1 4 5]);

or, equivalently,
s = tf('s')
h11 = (s-1)/(s+1);

2-14
 MIMO Models

h21 = (s+2)/(s^2+4*s+5);

can be concatenated to form H(s).

H = [h11; h21]

This syntax mimics standard matrix concatenation and tends to be easier and more
readable for MIMO systems with many inputs and/or outputs.

Using the tf Function with Cell Arrays

Alternatively, to define MIMO transfer functions using tf, you need two cell arrays (say,
N and D) to represent the sets of numerator and denominator polynomials, respectively.
See Cell Arrays in the MATLAB documentation for more details on cell arrays.

For example, for the rational transfer matrix H(s), the two cell arrays N and D should
contain the row-vector representations of the polynomial entries of

È s-1 ˘ È s+1 ˘
N ( s) = Í ˙ D( s) = Í ˙
Îs + 2˚ Î s2 + 4 s + 5 ˚

You can specify this MIMO transfer matrix H(s) by typing

N = {[1 -1];[1 2]}; % Cell array for N(s)

D = {[1 1];[1 4 5]}; % Cell array for D(s)
H = tf(N,D)

These commands return the following result:

Transfer function from input to output...

s - 1
#1: -----
s + 1

s + 2
#2: -------------
s^2 + 4 s + 5

Notice that both N and D have the same dimensions as H. For a general MIMO
transfer matrix H(s), the cell array entries N{i,j} and D{i,j} should be row-vector
representations of the numerator and denominator of Hij(s), the ijth entry of the transfer
matrix H(s).

2-15
2 Building Models

Accessing I/O Pairs in MIMO Systems

After you define a MIMO system, you can access and manipulate I/O pairs by specifying
input and output pairs of the system. For instance, if sys_mimo is a MIMO system with
two inputs and three outputs,
sys_mimo(3,1)

extracts the subsystem, mapping the first input to the third output. Row indices select
the outputs and column indices select the inputs. Similarly,
sys_mimo(3,1) = tf(1,[1 0])

redefines the transfer function between the first input and third output as an integrator.

2-16
 Arrays of Linear Models

Arrays of Linear Models

You can specify and manipulate collections of linear models as single entities using LTI
arrays. For example, if you want to vary the Kb and Km parameters for the DC motor and
store the resulting state-space models, use this code.
K = [0.1 0.15 0.2]; % Several values for Km and Kb
A1 = [-R/L -K(1)/L; K(1)/J -Kf/J];
A2 = [-R/L -K(2)/L; K(2)/J -Kf/J];
A3 = [-R/L -K(3)/L; K(3)/J -Kf/J];
sys_lti(:,:,1)= ss(A1,B,C,D);
sys_lti(:,:,2)= ss(A2,B,C,D);
sys_lti(:,:,3)= ss(A3,B,C,D);

The number of inputs and outputs must be the same for all linear models encapsulated
by the LTI array, but the model order (number of states) can vary from model to model
within a single LTI array.

The LTI array sys_lti contains the state-space models for each value of K. Type
sys_lti to see the contents of the LTI array.
Model sys_lti(:,:,1,1)
======================

a =
x1 x2
x1 -4 -0.2
x2 5 -10
.
.
.
Model sys_lti(:,:,2,1)
======================

a =
x1 x2
x1 -4 -0.3
x2 7.5 -10
.
.
.
Model sys_lti(:,:,3,1)
======================

2-17
2 Building Models

a =
x1 x2
x1 -4 -0.4
x2 10 -10
.
.
.
3x1 array of continuous-time state-space models.

You can manipulate the LTI array like any other object. For example,
step(sys_lti)

produces a plot containing step responses for all three state-space models.

Step Responses for an LTI Array Containing Three Models

LTI arrays are useful for performing batch analysis on an entire set of models. For more
information, see “Model Arrays”.

2-18
 Model Characteristics

Model Characteristics
You can use the Control System Toolbox commands to query model characteristics
such as the I/O dimensions, poles, zeros, and DC gain. These commands apply to both
continuous- and discrete-time models. Their LTI-based syntax is summarized in the table
below.

Commands to Query Model Characteristics

Command Description
size(model_name) Number of inputs and outputs
ndims(model_name) Number of dimensions
isct(model_name) Returns 1 for continuous systems
isdt(model_name) Returns 1 for discrete systems
hasdelay(model_name) True if system has delays
pole(model_name) System poles
zero(model_name) System (transmission) zeros
dcgain(model_name) DC gain
norm(model_name) System norms (H2 and L∞)
covar(model_name,W) Covariance of response to white noise
bandwidth(model_name) Frequency response bandwidth
order(model_name) LTI model order
pzmap(model_name) Compute pole-zero map of LTI models
damp(model_name) Natural frequency and damping of system poles
class(model_name) Create object or return class of object
isa(model_name) Determine whether input is object of given class
isempty(model_name) Determine whether LTI model is empty
isproper(model_name) Determine whether LTI model is proper
issiso(model_name) Determine whether LTI model is single-input/single-
output (SISO)
isstable(model_name) Determine whether system is stable
reshape(model_name) Change shape of LTI array

2-19
2 Building Models

Interconnecting Linear Models

In this section...
“Arithmetic Operations for Interconnecting Models” on page 2-20
“Feedback Interconnections” on page 2-21

Arithmetic Operations for Interconnecting Models

You can perform arithmetic on LTI models, such as addition, multiplication, or
concatenation. Addition performs a parallel interconnection. For example, typing

tf(1,[1 0]) + tf([1 1],[1 2]) % 1/s + (s+1)/(s+2)

produces this transfer function.

Transfer function:
s^2 + 2 s + 2
-------------
s^2 + 2 s

Multiplication performs a series interconnection. For example, typing

2 * tf(1,[1 0])*tf([1 1],[1 2]) % 2*1/s*(s+1)/(s+2)

produces this cascaded transfer function.

Transfer function:
2 s + 2
---------
s^2 + 2 s

If the operands are models of different types, the resulting model type is determined by
precedence rules; see “Rules That Determine Model Type” for more information.

For more information about model arithmetic functions, see “Catalog of Model
Interconnections”.

You can also use the series and parallel functions as substitutes for multiplication
and addition, respectively.

2-20
 Interconnecting Linear Models

Equivalent Ways to Interconnect Systems

Operator Function Resulting Transfer Function

sys1 + sys2 parallel(sys1,sys2) Systems in parallel
sys1 - sys2 parallel(sys1,-sys2) Systems in parallel
sys1 * sys2 series(sys2,sys1) Cascaded systems

Feedback Interconnections
You can use the feedback and lft functions to derive closed-loop models. For example,

sys_f = feedback(tf(1,[1 0]), tf([1 1],[1 2])

computes the closed-loop transfer function from r to y for the feedback loop shown below.
The result is
Transfer function:
s + 2
-------------
s^2 + 3 s + 1

This figure shows the interconnected system in block diagram format.

Feedback Interconnection

You can use the lft function to create more complicated feedback structures. This
function constructs the linear fractional transformation of two systems. See the reference
page for more information.

2-21
2 Building Models

Converting Between Continuous- and Discrete- Time Systems

In this section...
“Available Commands for Continuous/Discrete Conversion” on page 2-22
“Available Methods for Continuous/Discrete Conversion” on page 2-22
“Digitizing the Discrete DC Motor Model” on page 2-22

Available Commands for Continuous/Discrete Conversion

The commands c2d, d2c, and d2d perform continuous to discrete, discrete to continuous,
and discrete to discrete (resampling) conversions, respectively.

sysd = c2d(sysc,Ts) % Discretization w/ sample period Ts

sysc = d2c(sysd) % Equivalent continuous-time model
sysd1= d2d(sysd,Ts) % Resampling at the period Ts

Available Methods for Continuous/Discrete Conversion

Various discretization/interpolation methods are available, including zero-order hold
(default), first-order hold, Tustin approximation with or without prewarping, and
matched zero-pole. For example,

sysd = c2d(sysc,Ts,'foh') % Uses first-order hold

sysc = d2c(sysd,'tustin') % Uses Tustin approximation

Digitizing the Discrete DC Motor Model

You can digitize the DC motor plant using the c2d function and selecting an appropriate
sample time. Choosing the right sample time involves many factors, including the
performance you want to achieve, the fastest time constant in your system, and the speed
at which you expect your controller to run. For this example, choose a time constant of
0.01 second. See “SISO Example: The DC Motor” on page 2-3 for the construction of the
SS object sys_dc.

Ts=0.01;
sysd=c2d(sys_dc,Ts)

2-22
 Converting Between Continuous- and Discrete- Time Systems

a =
x1 x2
x1 0.96079 -0.00027976
x2 0.006994 0.90484

b =
u1
x1 0.019605
x2 7.1595e-005

c =
x1 x2
y1 0 1

d =
u1
y1 0

Sample time: 0.01

Discrete-time model.

To see the discrete-time zero-pole gain for the digital DC motor, use zpk to convert the
model.

fd=zpk(sysd)

Zero/pole/gain:
7.1595e-005 (z+0.9544)
------------------------
(z-0.9608) (z-0.9049)

Sample time: 0.01

You can compare the step responses of sys_dc and sysd by typing

step(sys_dc,sysd)
This figure shows the result.

2-23
2 Building Models

Note the step response match. Continuous and FOH-discretized step responses match for
models without internal delays.

2-24
 Reducing Model Order

Reducing Model Order

In this section...
“Model Order Reduction Commands” on page 2-25
“Techniques for Reducing Model Order” on page 2-25
“Example: Gasifier Model” on page 2-26

Model Order Reduction Commands

You can derive reduced-order SISO and MIMO models with the commands shown in the
following table.

Model Order Reduction

Commands
hsvd Compute Hankel singular values of LTI model
balred Reduced-order model approximation
minreal Minimal realization (pole/zero cancellation)
balreal Compute input/output balanced realization
modred State deletion in I/O balanced realization
sminreal Structurally minimal realization

Techniques for Reducing Model Order

To reduce the order of a model, you can perform any of the following actions:

• Eliminate states that are structurally disconnected from the inputs or outputs using
sminreal.

Eliminating structurally disconnected states is a good first step in model reduction

because the process is cheap and does not involve any numerical computation.
• Compute a low-order approximation of your model using balred.
• Eliminate cancelling pole/zero pairs using minreal.

2-25
2 Building Models

Example: Gasifier Model

This example presents a model of a gasifier, a device that converts solid materials into
gases. The original model is nonlinear.

Loading the Model

To load a linearized version of the model, type

load ltiexamples

at the MATLAB prompt; the gasifier example is stored in the variable named gasf. If
you type

size(gasf)

you get in return

State-space model with 4 outputs, 6 inputs, and 25 states.

SISO Model Order Reduction

You can reduce the order of a single I/O pair to understand how the model reduction tools
work before attempting to reduce the full MIMO model as described in “MIMO Model
Order Reduction” on page 2-30.

This example focuses on a single input/output pair of the gasifier, input 5 to output 3.

sys35 = gasf(3,5);

Before attempting model order reduction, inspect the pole and zero locations by typing

pzmap(sys35)

Zoom in near the origin on the resulting plot using the zoom feature or by typing

axis([-0.2 0.05 -0.2 0.2])

The following figure shows the results.

2-26
 Reducing Model Order

Pole-Zero Map of the Gasifier Model (Zoomed In)

Because the model displays near pole-zero cancellations, it is a good candidate for model
reduction.

To find a low-order reduction of this SISO model, perform the following steps:

1 Select an appropriate order for your reduced system by examining the relative
amount of energy per state using a Hankel singular value (HSV) plot. Type the
command

hsvd(sys35)
to create the HSV plot.

Changing to log scale using the right-click menu results in the following plot.

2-27
2 Building Models

Small Hankel singular values indicate that the associated states contribute little to
the I/O behavior. This plot shows that discarding the last 10 states (associated with
the 10 smallest Hankel singular values) has little impact on the approximation error.
2 To remove the last 10 states and create a 15th order approximation, type

rsys35 = balred(sys35,15);
You can type size(rsys35) to see that your reduced system contains only 15
states.
3 Compare the Bode response of the full-order and reduced-order models using the
bode command:

bode(sys35,'b',rsys35,'r--')
This figure shows the result.

2-28
 Reducing Model Order

As the overlap of the curves in the figure shows, the reduced model provides a good
approximation of the original system.

You can try reducing the model order further by repeating this process and removing
more states. Reduce the gasf model to 5th, 10th, and 15th orders all at once by typing
the following command

rsys35 = balred(sys35,[5 10 15]);

Plot a bode diagram of these three reduced systems along with the full order system by
typing

bode(sys35,'b',rsys35,'r--')

2-29
2 Building Models

Observe how the error increases as the order decreases.

MIMO Model Order Reduction

You can approximate MIMO models using the same steps as SISO models as follows:

1 Select an appropriate order for your reduced system by examining the relative
amount of energy per state using a Hankel singular value (HSV) plot.

Type

hsvd(gasf)
to create the HSV plot.

2-30
 Reducing Model Order

Discarding the last 8 states (associated with the 8 smallest Hankel singular values)
should have little impact on the error in the resulting 17th order system.
2 To remove the last 8 states and create a 17th order MIMO system, type

rsys=balred(gasf,17);
You can type size(gasf) to see that your reduced system contains only 17 states.
3 To facilitate visual inspection of the approximation error, use a singular value plot
rather than a MIMO Bode plot. Type

sigma(gasf,'b',gasf-rsys,'r')
to create a singular value plot comparing the original system to the reduction error.

2-31
2 Building Models

The reduction error is small compared to the original system so the reduced order
model provides a good approximation of the original model.

Acknowledgment

MathWorks thanks ALSTOM® Power UK for permitting use of their gasifier model for
this example. This model was issued as part of the ALSTOM Benchmark Challenge on
Gasifier Control. For more details see Dixon, R., (1999), "Advanced Gasifier Control,"
Computing & Control Engineering Journal, IEE, Vol. 10, No. 3, pp. 92–96.

2-32
 3

Analyzing Models

• “Linear Analysis Using the Linear System Analyzer” on page 3-2

• “Simulate Models with Arbitrary Inputs and Initial Conditions” on page 3-7
3 Analyzing Models

Linear Analysis Using the Linear System Analyzer

In this example, you learn how to analyze the time- and frequency-domain responses of
one or more linear models using the Linear System Analyzer app.

Before you can perform the analysis, you must have already created linear models in the
MATLAB workspace. For information on how to create a model, see “Basic Models”.

To perform linear analysis:

1 Open the Linear System Analyzer showing one or more models using the following
syntax:

linearSystemAnalyzer(sys1,sys2,...,sysN)
By default, this syntax opens a step response plot of your models, as shown in the
following figure.

3-2
 Linear Analysis Using the Linear System Analyzer

Note: Alternatively, open Linear System Analyzer from the Apps tab in the
MATLAB desktop. When you do so, select File > Import to load linear models from
the MATLAB workspace or a MAT file.
2 Add more plots to the Linear System Analyzer.

a Select Edit > Plot Configurations.

b In the Plot Configurations dialog box, select the number of plots to open.

3-3
3 Analyzing Models

3-4
 Linear Analysis Using the Linear System Analyzer

3 To view a different type of response on a plot, right-click and select a plot type.

4 Analyze system performance. For example, you can analyze the peak response in the
Bode plot and settling time in the step response plot.

a Right-click to select performance characteristics.

b Click on the dot that appears to view the characteristic value.

3-5
3 Analyzing Models

See Also
linearSystemAnalyzer | lsim

Related Examples
• “Joint Time- and Frequency-Domain Analysis”

More About
• “Linear System Analyzer Overview”

3-6
 Simulate Models with Arbitrary Inputs and Initial Conditions

Simulate Models with Arbitrary Inputs and Initial Conditions

In this section...
“What is the Linear Simulation Tool?” on page 3-7
“Opening the Linear Simulation Tool” on page 3-7
“Working with the Linear Simulation Tool” on page 3-8
“Importing Input Signals” on page 3-10
“Example: Loading Inputs from a Microsoft Excel Spreadsheet” on page 3-12
“Example: Importing Inputs from the Workspace” on page 3-13
“Designing Input Signals” on page 3-17
“Specifying Initial Conditions” on page 3-19

What is the Linear Simulation Tool?

You can use the Linear Simulation Tool to simulate linear models with arbitrary input
signals and initial conditions.

The Linear Simulation Tool lets you do the following:

• Import input signals from the MATLAB workspace.

• Import input signals from a MAT-file, Microsoft® Excel® spreadsheet, ASCII flat-file,
comma-separated variable file (CSV), or text file.
• Generate arbitrary input signals in the form of a sine wave, square wave, step
function, or white noise.
• Specify initial states for state-space models.

Default initial states are zero.

Opening the Linear Simulation Tool

To open the Linear Simulation Tool, do one of the following:

• In the Linear System Analyzer, right-click the plot area and select Plot Types >
Linear Simulation.
• Use the lsim function at the MATLAB prompt:

3-7
3 Analyzing Models

lsim(modelname)
• In the MATLAB Figure window, right-click a response plot and select Input data.

Working with the Linear Simulation Tool

The Linear Simulation Tool contains two tabs, Input signals and Initial states.

After opening the Linear Simulation Tool (as described in “Opening the Linear
Simulation Tool” on page 3-7), follow these steps to simulate your model:

1 Click the Input signals tab, if it is not displayed.

2 In the Timing area, specify the simulation time vector by doing one of the following:

• Import the time vector by clicking Import time.

• Enter the end time and the time interval in seconds. The start time is set to 0
seconds.

3-8
Exploring the Variety of Random
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the practice of his profession in his native town. There he met with good
success, and, for many years, represented the town in the House of
Representatives, of which he was chosen Speaker for the session of
1821 and 1822. He was induced by his brothers, who had become
largely interested in the new town of Lowell, to remove thither; and he
accordingly took up his residence there in 1831, having accepted the
presidency of the bank which had been lately established. In 1838, he
had been elected Mayor of the city, and had given himself up to the
pressing duties incident to the office in a new and growing community.
While holding this office, he, on the 17th of April, 1839, accompanied an
old friend and connection, who was on a visit at Lowell, to inspect the
works of the Middlesex Manufacturing Company, recently erected by his
brothers. In passing rapidly through one of the rooms, he made a
misstep, and was precipitated many feet into a wheel-pit, causing
almost instant death. This sad event was deeply felt by Mr. Lawrence, as
well as by all who knew and appreciated the character of the deceased.
In a letter to his sisters, dated April 22, he says:

"I should have addressed a word of comfort to you before this. That
he should be taken, and I left, is beyond my ken, and is a mystery
which will be cleared up hereafter. I do, however, know now that all
is right, and better ordered than we could have done it. We must
submit, and should be resigned. Brother L.'s death may, perhaps,
be more efficient in instructing us in the path of duty than would
have been his life; and the whole community around is admonished
by this event in a way that I have rarely seen so marked. The
homage to his character is a legacy to his children of more value
than all the gold of the mint. Shall we, then, repine at his
separation from us? Surely not. He has fulfilled his mission, and is
taken home, with all his powers fresh and perfect, and with the
character of having used these powers for the best and highest
good of all around him. We shall all soon be called away, and should
make his departure the signal to be also ready. This is the
anniversary of my birth, and has been marked by many
circumstances of peculiar interest."

On the same date, he writes to a connection, who was about to take

possession of his house on that day for the first time after his marriage:

"I intended speaking a word in your ear before your leaving us for
your own fireside and home, but have concluded to take this mode
of doing it; and it is to say, that you possess a jewel in your wife,
above price, which should be worn in such an atmosphere as will
increase its purity and value the longer you possess it; and that is
around the family altar. That you intend to establish it, I have no
doubt; but, as to the precise time, you may not be fixed. What time
so good as the present time, when the first evening of possession
of this paradise on earth (a house and home of your own with such
a wife), to make that offering to the Father of mercies which
ascends to his throne as sweet incense from his children? It is the
nutriment and efficient producing power of the best principles and
the best fruits of our nature. Be wise in time, and strive to secure
these, that you may go on from one degree to another, until you
shall have reached our Father's house, and shall hear the cheering
'Well done!' promised to such as have used their talents without
abusing them. My blessing attend you!"

(TO HIS DAUGHTER.)

"Monday evening.
"Dear S.: The admonition of the last week comes home to me in a
way not to be neglected, and I hope to keep in mind that, in my
best days, I am as likely to be called off, as in these days of anxious
care, when pressed down with pain and weakness, and surrounded
by those dear ones who look upon every emotion with deep
solicitude. On comparing myself now with myself a year ago, I have
much to animate and cheer in the increased strength of body and
renewed powers, by which I can enjoy life; but I have also much to
speak to the heart, and to tell me to be constantly ready to be
called off without previous note of preparation. May I never lose
sight, for a single hour, of the tenure by which I hold the privilege
of seeing the dear ones settled so happily! It is more than I had
reason to anticipate.
"May you, dear child, never lose sight of the end for which your
privileges are made so ample, nor forego the happiness of doing
the best in your power at every stage of your journey, so that
whenever you may be called hence, you may feel that you are
ready, and that your work is done. It will not do for me to rely upon
my every-day firmness to secure me against attacks of the kind last
 experienced. I do most fervently desire to be kept in mind of my
exposure, and never for an hour forget that it may be my last."

BIRTH PLACE AT GROTON.

Several passages in Mr. Lawrence's letters will show the attachment
which he felt towards the place of his birth, connected as it was with so
many associations and memories of the past. The old house, with the
great elm in front and its welcome shade; the green meadow, stretching
for a mile along a gentle declivity to the river; the range of mountains in
the west, just distant enough to afford that tinge of blue which adds an
indescribable charm to every landscape; the graceful undulations of the
hills on the east, with the quiet village sleeping at their base, all seemed
in his mind so associated with the loved inmates of his early home, that
he ever contemplated the picture with delight.
On June 4, in a letter to his sisters, he writes:

"R. leaves us this morning, on his way to the old homestead, which,
to my mind's eye, has all the charms of the most lovely associations
of early days, with all the real beauty of those splendid descriptions
given by the prophets of the holy city. I would earnestly impress all
 my children with a deep sense of the beauty and benefit of
cherishing and cultivating a respect and affection for this dear spot,
and for those more dear objects that have served to make it what it
really is to all us children."

In a letter to his son, whose visit is alluded to above, he says:

"The beautiful scenery from Gibbet Hill, in Groton, and from the
road from our old mansion south for a mile, towards the Wachusett
and the Monadnock Mountains, comes next, in point of beauty, to
my taste, to these views around the Boston Common. Be careful to
do all things as you will wish you had done, that you may look back
upon this visit with pleasure, and forward to another visit with
increased relish. Remember that in the best performance of all your
duties lies the highest enjoyment of all your pleasures. Those
pleasures that flow from plans and doings that your conscience
condemns are to be shunned as the net of the wicked one. When
once entangled, the desire and effort to be released grow weaker,
till, at length, conscience is put asleep, and the sleep of death
comes over the soul. Be careful, therefore, to avoid evil, and not
only so, but to avoid all appearance of evil. In this way, you will
grow up with principles and fixed habits that will secure you against
the ills of life, and supply a foretaste of the enjoyments of a better
life to come."

During a visit which he made to his early home a few months

subsequent to the date of the preceding extract, he writes to his
daughter:

"I was very tired on arriving here last evening, but a quiet sleep has
brought me into my best state.
"This morning has allowed me to ride for two hours, and I have
enjoyed everything and everybody here to the utmost. Groton is
beautiful beyond any other place I have ever seen; but perhaps I
am in the situation of old Mr. ——, whose opinion of his wife's
beauty, when questioned of its accuracy, was justified by the
declaration that the person must have his eyes to look through.
 "The whole country is full of charms; nothing seems wanting to
impress upon the heart the goodness of that Parent who seeks by
all means to bring us nearer to himself.
"This visit has been full of interest, and it is a source of unfeigned
thanksgiving that it has been permitted to me."

Mr. Lawrence always took great delight in sending to friends and

relatives, little and great, mementoes of his affection; and a great deal
of time was spent in penning and reading the letters and notes which
such transactions called forth. He had a rare faculty of adapting his gift
to the peculiar necessities or tastes of the recipient; and, whether the
matter treated of was a check for thousands or a bouquet of flowers,
equal pleasure seemed to be given and received. In sending a gift of the
former description, he notices the commencement of the year 1840 as
follows:

"January 1.
"Dear S.: W. will prize the enclosed more highly from your hand; for
he will have proof that a good wife brings many blessings, that he
never would know the value of but for you. May you experience
many returns of the 'new year,' and each more happy than the
past!"

In a letter to his second son, then on a visit to Europe, he writes, under

date of March 5, 1840:

"We are all curious to know what impressions your visit to France
and Italy produces, and still more what impressions a careful
overlooking of our fatherland makes upon you. There is much food
for reflection, and abundant material for the exercise of your
powers of observation, in every league of the 'fast-anchored isle,'
especially in the scenes so beautifully portrayed in many of the
books we have access to. In fact, I have an extensive collection of
materials to renew your travels and observations, and shall value
them more highly when you point out this or that seat or castle or
abbey, which has arrested your notice. But the best scenes will be
those in which the living souls of the present day are engaged. The
 habits and tastes of the people of England have doubtless much
changed since the Spectator days; but, in many important
particulars, I should hope they had not. Some thirty years ago, I
had a good specimen of the feelings and principles of a great
variety of people, embracing almost all classes, from the year 1774
to 1776, in a multitude of letters that had accumulated in the post-
office in this town, under Tuthill Hubbart. After his death, his house
was pulled down; and, among the strange things found in it, were
bushels of letters, of which I was permitted to take what I pleased.
These letters showed a deeper religious feeling in the writers of
those days, from England, Ireland, and Scotland, than I have seen
in any miscellaneous collections of a later date. If that deep-toned
piety which pervaded them has not been extinguished by the
Jacobinism and freethinking of later days, happy for the people and
the government! But I fear it has, in some great measure, been
blotted out or obscured, as there seems to be a spirit of reckless
adventure in politics and religion not contemplated seventy years
ago. How far our experience in self-government in this country is
going to advance the cause of good government, and the ultimate
happiness of man, is yet a problem. Our principles are of the most
elevating character; our practices under them, of the most
debasing; and, if we continue in this way another generation, there
will not be virtue enough in active use to save the forms of our
government. We may hope that a better heart may be given us."

In a letter to his son-in-law, the Rev. Charles Mason, who was at that
time in company with his own son on a visit to England, he writes on
June 28th, 1840:

"I intended to defer writing until to-morrow morning; but the

beauty of the western scenery and sunset is so striking, that I am
strongly impelled to tell you that, much as you see, and highly as
you enjoy the scenes of old England, there is nothing there more
beautiful and sublime than this very scene from my chamber
windows. It seems as though nature never was so beautifully
dressed at this time of the year as at present. The season has been
unusually favorable for the foliage, fruits, and flowers; and all
around bears evidence of that goodness that never rests, and in my
 own person I feel that I am enjoying in a month what ought to
content me for a year."

The foregoing extract is selected from among many others of a similar

nature, as an illustration of Mr. Lawrence's appreciation of the beauties
of natural scenery.
Towards the close of the day, his favorite seat was at a window, from
which he could witness the glories of the setting sun, and, still later, the
fading beauties of the twilight. Nature to him was no sealed volume;
and with her, in all her phases, he loved to commune.
The gorgeous hues of the western sky, the changing tints of the
autumnal foliage, and the smiling features of the landscape, were in his
mind typical of the more resplendent beauties of the future world. He
writes:

"To-day is one of those holy spring days which make us feel that,
with right principles and conduct, we may enjoy a foretaste of that
beautiful home we all long for. I have been over the Roxbury and
Dorchester hills, which are a transcript of the beautiful scenery
around Jerusalem. Mount Zion seemed before me, and by
stretching my arms, I could almost fly upon its sides."

He loved to think that the spirits of the departed may be permitted to

hover around, and minister to those whom they have once loved on
earth; and sometimes, as he viewed nature in her softer moods, he
would imagine himself as holding communion with former cherished
objects of affection. He writes to a friend:

"Dear S. and R. speak in words without sounds, through every

breeze and in every flower, and in the fragrance of every perfume
from the field or the trees."

And again:

"Is there anything in Scripture to discourage the belief that the

spirits of departed friends are still ministering spirits to such as are
left here, and that a recognition and reünion will follow when we
 are called off? I believe fully in this happy reünion; and it is, next to
the example of the beloved, the most animating feeling that
prompts me through this wearisome journey."

To a friend who had invited him to pay her a visit at her residence in the
country, he writes:

"N—— says I am like a child in the matter of the visit, and would be
as much disappointed if it should not be accomplished; and I must
admit that I am guilty of this weakness. There are so many loved
ones on the old spot, so many lessons to be reviewed, and so many
friends 'passed on,' whose spirits surround and fill the place with
the peculiar halo and charm of the good angels (those ministering
spirits in whose company we may ever find comfort, if we will think
so). I say, with all these things, can I be blamed for being a child in
this matter? You will all say No, and will love me the better for it."

On the anniversary of his commencing his business, Dec. 17, Mr.

Lawrence, as usual, reviews his past life and mercies, and adds:

"My daily aspirations are for wisdom and integrity to do what is

required of me; but the excuses for omissions, and the hidden
promptings of pride or selfishness in the sins of commission, take
away all confidence that all is done as it should be. I am in the
enjoyment of as much as belongs to our condition here. Wife,
children, and friends, those three little blessings that were spared to
us after the fall, impart enjoyment that makes my home as near a
heaven on earth as is allowed to mortals.
"Dec. 23.—This morning has been clear and beautiful, and I have
enjoyed it highly. Have been sleigh-riding with Chancellor Kent.
Went over to Bunker Hill Monument, and around by the river-side to
Charlestown Neck, and had a regular old-fashioned talk with him.
He gave me an account of the scenes which occurred where he was
studying, in Connecticut, when the news came of the Lexington
fight. As we parted, he promised to come again in the spring, take
another ride, and resume the conversation. He leaves for New York
at three o'clock, and is as bright and lively as a boy, though
 seventy-eight years old. The old gentleman attends to all his own
affairs, had walked around the city this morning some miles, been
to the Providence Railroad Dépôt for his ticket, overlooked divers
bookstores, and so forth. He is very interesting, and has all the
simplicity of a child."

About this time, also, Mr. Lawrence seems to have had pleasant
intercourse with the Chevalier Hulsemann, the Austrian Minister, so well
known by his correspondence with Mr. Webster when the latter was
Secretary of State. The minister was on a visit to Boston, and, from the
correspondence which ensued, seems to have conceived a high regard
for Mr. Lawrence, expressed in very kind and courteous terms; and this
regard seems to have been fully reciprocated.

"April 1, 1841.—S. N., of T., an apprentice on board the United

States ship 'Columbus,' in this harbor, thirteen years old, whom I
picked up intoxicated in Beacon-street a month ago, and to whom I
gave some books, with request to call and see me when on shore,
came to-day, and appears very well. Gave him a Testament and
some good counsel.
"June 6.—G. M. called to sell a lot of sermons called the ——, which
he said he caused to be published to do good; he repeated it so
often that I doubted him. He seems to me a wooden nutmeg fellow,
although he has the Rev. Mr. ——'s certificate."

The preceding entry is given here merely as a sample of many such

which are found in Mr. Lawrence's diary. Few who have not had the like
experience can estimate the annoyance to which his reputation for
benevolence and well-doing subjected him, in the shape of applications
for aid in every imaginable form. His perceptions were naturally acute;
and a long experience and intercourse with men enabled him to form, at
a single glance, a pretty fair estimate of the merits of the applicant. He
may sometimes have judged precipitately, and perhaps harshly; but,
when he discovered that he had done so, no one could have been more
ready to confess his fault and make reparation. A few years after this
time, the annoyance became so serious, from the number and character
of the applicants, that he felt obliged, on account of ill-health, to deny
himself to all, unless personally known to him, or accredited by some
one in whose statement he had confidence. Further than this, he was
confirmed in his decision by actual abuse which had occasionally been
administered to him by disappointed candidates for charitable aid. He
kept upon his table a small memorandum-book, in which he recorded
the names of those who sought aid, with their business, and often their
age, the age and number of their children, sometimes facts in their past
history, and any other information which could enable him to form an
opinion of their claim upon him for assistance. He sometimes indulges
also in somewhat quaint remarks respecting those who apply, or the
manner in which they have presented their application.
To the Rev. Robert Turnbull, a Baptist clergyman then settled in Boston,
and who had sent to Mr. Lawrence a copy of his work entitled "Claims of
Jesus," he writes under date of Nov. 2:

"Rev. and dear Sir: I thank you for the little volume so kindly
presented, and deem it the duty of all the friends of the Saviour to
do what they can to stop the flood of infidelity and atheism that
threatens such waste and devastation among us. However we may
seem to be, I trust many may be found, in the ranks of my
Unitarian friends, who admit the 'claims of Jesus' in their most
elevated character, and who repudiate the doctrine of those who
sink him to the level of a mere human teacher, as subversive of his
authority and as nullifying his teachings. We take the record, and
what is clearly declared; we do not go behind, even though we do
not clearly comprehend it. It gives me pleasure to learn you are so
well recovered from the injury you received from the overturn of
your carriage near my house.
"With great respect, believe me truly yours,
A. L."
"January, 1842.—This year opens with renewed calls upon me to
bless God for his mercies throughout its course. My family circle has
not been broken by the death of any one of our whole number, and
my own health has been better for the last half-year than for five
years before. I have not had occasion to call a physician through
 the year. My brothers A. and W. have been dangerously sick, but
are happily recovered; and both feel, I believe, that their hold on
life is not as firm as they have felt it to be in former years. My dear
children are growing up around me to bless and comfort me; and all
I need is a right understanding of my duties, and a sincere purpose
to fulfil them. I hope to have the will to continue them in as faithful
a manner as heretofore, to say the least."

Among the traits in Mr. Lawrence's character was that enlarged spirit of
Christian feeling which enabled him to appreciate goodness in others,
without reference to sect or denomination. This spirit of universal
brotherhood was not in him a matter of mere theory, but was carried
out in the practice of daily life, and was the means of cementing many
and lasting friendships, especially among the clergy of various
denominations around him. It may not be uninteresting in future years,
for those now in childhood, for whom this volume has been prepared, to
be reminded of the strong feeling of sympathy and affection which their
grandfather entertained for the Rev. John S. Stone, D.D., once the
Rector of St. Paul's Church, in Boston, and now the Rector of St. Paul's,
in Brookline, Mass. The following is an extract from a letter written by
that gentleman from Brooklyn, N. Y., daring the year 1842, with a
memorandum endorsed by Mr. Lawrence, dated October, 1847, in which
he says:

"This letter was very interesting to me when received. I kept it in

my pocket-book with one from Judge Story, which he had requested
me to keep for my children. While son —— was in Europe, I did not
expect to live but a short time, and sent him the two letters, as the
proper person to keep them for the use of his children."

The letter commences by strong expressions of affection and regard,

over which Mr. Lawrence's modesty had induced him to paste a slip of
paper, endorsed as follows: "Personal matters between the writer and
myself, covered up here, and not to be read by any of the friends to
whom I may show this letter." The letter continues as follows:

"Shall I ever forget the happy moments, hours, days, I may say
weeks, which I have spent in riding with you, and chatting, as we
 rode, of all things as we passed them, till I seemed to myself to be
living in the by-gone days of Boston and its neighborhood; and all
its old families, houses, names, and anecdotes, became as familiar
to my mind as the stories of my boyhood? Can I forget it all? I trow
not. These things are all blended in with the beautiful scenery
through which we used to ride, and associated with those graver
lessons and reflections which you used to give me; insomuch that
the picture which my memory retains of nature, society, history, and
feeling, truth, friendship, and religion, and in which Boston and the
living friends there are comprehended, has become imperishable. It
never can fade out of my mind. It is a picture in which man has
done much, friendship more, religion most, and God all; for religion
is his, and friendship is from him, and man is his creature, and the
green earth and glorious heavens are his home. There are many,
very many, objects in this picture, which I contemplate with special
delight; and few which give me pain, or which I would not have had
there, had the whole ordering of its composition been left to me.
Indeed, had this whole ordering been left to me, it may well be
doubted whether, as a whole, it would have contained half of the
beautiful and blessed things which it now contains. Taking it as it is,
therefore, I am well content to receive it, hang it up in the choicest
apartment of my memory, and keep it clean and in good order for
use." * * *

As an illustration of the pleasant intercourse alluded to above, among

Mr. Lawrence's papers is found another most friendly letter from the
Rev. Henry Ware, jun., dated a few days afterwards, with the following
endorsement:

"I went on Friday to Mr. Ware's house, and had a free, full, and
deeply-interesting conversation upon the appointment of his
successor; and was delighted to find him with the same views I
have upon the necessity of removing the theological department
from Cambridge."

Dec. 2, Mr. Lawrence alludes to the probability of his own death taking
place in the manner in which it actually occurred ten years afterwards,
as follows:
"Yesterday I was very well, and have been so for some time past.
Experienced a severe ill turn this morning at five o'clock, more so
than for years. This check brings me back to the reflection that,
when I feel the best, I am most likely to experience one of my ill
turns; some one of which will probably end my journey in this life.
God grant me due preparation for the next!"
 CHAPTER XIX.
REFLECTIONS.—LETTERS.—ACCOUNT OF
EFFORTS TO COMPLETE BUNKER HILL
MONUMENT.
In the memorandum-book of property for 1843 is found the usual
estimate and list of expenditures; after which Mr. Lawrence writes as
follows:

"My outlay for other objects than my own family, for the last
fourteen years, has been —— dollars, which sum I esteem better
invested than if in bond and mortgage in the city; and I have
reason to believe many have been comforted and assisted by it, and
its influence will be good on those who follow me. God grant me
grace to be faithful to my trust!"

To Hon. R. C. Winthrop, Member of Congress, at Washington, enclosing

a letter from a young colored man:

"Boston, Feb. 15, 1843.

"Dear Sir: This young man, as you will observe by his style, is well
educated; and the circumstances he states, I have no doubt, are
true. He applied to me, about two years since, for employment in
writing or other business, to obtain means for further education;
and I interested myself to secure to him what was required. A few
months since, he started from here to go to Jamaica, to commence
the practice of law, and was supplied by those who had taken an
interest in him with a library suited to his wants. He received his
early education in Indiana; and his parents were once slaves. He is
a handsome colored fellow, better-mannered, better-looking, and
more to be respected, than many young gentlemen who move in
the higher walks of life, either in Carolina or Massachusetts. Now, I
should like to know, if he should be admitted as an attorney to
practice in our courts, and should take passage for Jamaica, and
put into Charleston, would he be imprisoned, as is now the practice
in regard to our black sailors? I feel a much stronger desire to see
your report upon this subject of imprisoning our colored people,
after the unfair course taken by the majority of your house to
smother it; and I hope still to see it in print before the adjournment.
I would further remark, that N. T. is a member of Grace Church in
this city, I believe, under the care of Rev. T. M. Clark; and would,
doubtless, bear affliction, if it should ever be his fortune to be
afflicted by being imprisoned because his skin is dark, with a spirit
becoming his profession. With great respect and esteem, believe
me very truly yours,
Amos Lawrence."

(TO HIS SISTER.)

"Boston, April 19, 1843.
"Dear Sister M.: When I heard a gun this morning, I was
immediately transported back in imagination to the 19th of April,
1775, when our grandmother retreated from her house on the
roadside in Concord, with her family, to keep out of the way of the
'regulars;' and that day and its scenes, as described, came back
upon me with a force which kept me awake in considering whether
the gun was fired to recall the facts to the people of this day; and,
if recalled, whether we can profit by the events which followed. I
found, however, on receiving my newspapers, that the gun was not
for commemoration of Lexington and Concord, but to announce the
arrival of the British steamer from Liverpool. The news by this
steamer is of no more than common interest; and the intercourse is
now so easy and rapid, that the interest felt to learn what is passing
in Europe is not much greater than we used to feel on Call's stage-
coach arriving at Groton from Boston once a week, fifty years ago.
The changes within my own recollection are such as almost to make
me distrust my own senses; and many of the changes are at the
cost of much good. The downhill tendency in the standard of
character is a bad sign, and threatens the prostration of our political
fabric. Built as it is on the virtue and intelligence of the people,
every waste of these endangers the stability of the whole
structure."
"April 24.—I resume, though not in the same train of thought,
which is slept off. My birth-day has passed since then; and I am
now in my fifty-eighth year. This is the birth-day of our father, who
would have been eighty-nine if living; and this week on Saturday
will also complete thirty-six years since I left home to spend a few
months in this city, preparatory to my commencing business in
Groton. Here I have continued; and the consequences to our family
seem to have stamped upon us such marks as make us objects of
influence, for good or evil, to a much greater extent than if I had
returned to commence my business career in my native town. I
view in this a hand pointing upward,—'Seek me and ye shall find,'—
and a caution to us to use without abusing the good things
intrusted to us. How hard it is for those in prosperity to bring home
to their feelings their dependence, their abuse of their privileges,
their desires for objects wholly disproportionate to their value, their
anxiety about trifles, while they are so utterly careless and
indifferent about those of the highest moment! How we strive
unceasingly to secure objects that can, at best, give us but a slight
reward, and, in many cases, if attained to the full extent of our
hopes, only serve to sharpen our appetite for more; thus
demonstrating the benevolence of our heavenly Father in removing
these obstacles to our progress in the ways and works of godliness!
How important, then, for us to see a Father's hand in the
disappointments, not less than in the success, of our plans! I now
speak practically of those anxieties which I feel and condemn
myself for, in looking forward to the condition of my family. This is
all wrong; and I pray God to pardon me the want of faith this
feeling implies.
"I have thought much of your account of Mrs. N. going out, on the
Sabbath after her husband's death, with her nine children. I
remember her, and many others of my youthful schoolmates, with
interest and regard. Please say so to her. And now, dear M., as the
 clouds seem thinner, I may hope to secure a little run, and shall
take the post-office in my way; so must bid you adieu."

(TO GENERAL ——.)

"May 5, 1843.
"My dear old General: Our anticipated drive to-day is not to be: the
weather settles it that I must keep house; and, to indemnify myself
for the disappointment, will you allow me to feel that I have not
gone too far in requesting you to receive the enclosed check? I am
spared here for some object, and do not feel that to hoard money is
that object. While I am in the receipt of an income so ample, I find
it sometimes troublesome to invest exactly to my mind. In the
present case, the hope that you may, by using this, add something
to your enjoyment, makes me feel that it is one of my best
investments; and for the reason that your proverbial good-will
cannot refuse me such a boon, I have made this request. My heart
yearns strongly toward the old-fashioned John Jay school in politics
and morals; and, when I have an opportunity to minister in any way
to one of the early members, it is a pleasure that sweetens my days
as they pass."

On the letter written in reply to the above, Mr. Lawrence has endorsed:

"This letter from old General ——, now eighty-eight years old, and
blind, is an acknowledgment of some little kindnesses I was enabled
to render through the hand of Judge Story. It has afforded me more
pleasure than it could have done either the Judge or the General. I
am sure the good old man's feelings were gratified; and I am
thankful that I could comfort him."

On the 17th of June, 1843, took place the celebration in honor of the
completion of the Bunker Hill Monument; an event which was regarded
with no ordinary emotions by Mr. Lawrence, after so many years of
effort and expectation. His only regret was that the whole battle-field
could not have been preserved, and have remained, to use his own
words, "a field-preacher for posterity." Eleven years before this, he had
written to his son in Europe:
 "If we be true to ourselves, our city is destined to be the Athens of
America, and the hallowed spots in our neighborhood to be the
objects of interest throughout all future time. In this view, I would
never permit a foot of the battle-field of Bunker Hill to be alienated;
but keep it for your great-great-grandchildren, as a legacy of
patriotism worth more than their portion of it, if covered with gold
by measure. Until you are older, I do not expect you to feel as I do
on this subject."

This would seem to be the proper place to mention a few facts in regard
to Mr. Lawrence's agency in securing the completion of the monument.
It has already been mentioned that he was one of the earliest friends of
the project to erect a monument, and, in 1825, had been placed upon
the Standing Committee of Directors, with full powers to manage the
affairs of the Association. In September, 1831, in a letter to his friend,
Dr. J. C. Warren, who himself had been one of the warmest and most
efficient advocates of the measure, he proposed to subscribe five
thousand dollars, on condition that fifty thousand dollars should be
raised within one year. The following passage occurs in that letter:

"I think it inexpedient to allude to the sale of the land on Bunker

Hill, as a resource for paying the debt, except in case of extreme
necessity; and, at this time, I should personally sooner vote to sell
ten acres of the Common, in front of my house, to pay the city debt
(of Boston), than vote to sell the ten acres on Bunker Hill, until it
shall appear that our citizens will not contribute the means of
saving it."

The proposition thus made was not responded to by the public.[6] As

early as December, 1830, he had made provision by his will, in case of
his own death, to secure the battle-field, liquidate the debts of the
corporation, and complete the monument. These provisions were
superseded by another will, executed April 1, 1833, after his health had
failed, so as to forbid active participation in affairs. An extract from this
document will show the views of the testator:

"I am of opinion that the land owned by the Bunker Hill Monument
Association, in Charlestown, will be of great value to posterity, if left
 as public ground. The spot is the most interesting in the country;
and it seems to me it is calculated to impress the feelings of those
who come after us with gratitude to the people of this generation, if
we preserve it to them. The whole field contains about fifteen
acres; and, in the hope of preserving it entire, either as the
property of the State, of this city, or of any other competent body,
and with the further view of insuring the completion of the
monument, which now stands as a reproach to us, I have set apart
a larger share of my property than would be necessary, had not the
subject been presented to the public in such a manner as to
discourage future attempts at raising the necessary funds by
voluntary contribution."

The amount thus devised for the monument, in case that amount should
not be raised in other ways, was fifty thousand dollars. In June, 1832,
before the annual meeting of the Bunker Hill Monument Association, the
same offer of five thousand dollars, as first named, was renewed, with
an urgent appeal for the preservation of the land, and completion of the
monument. A movement followed this appeal, but was not successful. In
April, 1833, Mr. Lawrence proposed to the Massachusetts Charitable
Mechanic Association to attempt the raising of fifty thousand dollars, to
be secured within three months, for completing the monument and
preserving the field; accompanying the proposition was an offer of five
thousand dollars, or ten per cent. on any less sum that might be raised,
as a donation to the Association. A public meeting was held in Faneuil
Hall in response to this proposition, at which Hon. Edward Everett made
a most powerful appeal, which produced so great an effect upon his
auditors that the object was considered as accomplished. The effort was
again unsuccessful. Early in 1839, Mr. Lawrence addressed a letter to
George Darracott, Esq., President of the Mechanic Association, in which,
after expressing regret that his feeble and precarious health would not
permit him to make personal application to the citizens of Boston, he
adds:

"The next best thing I can do is to give money. The Monument

Association owes a debt. To discharge the debt, finish the
monument, surround it with a handsome iron fence, and otherwise
ornament the ground as it deserves, will require forty thousand
 dollars more than it now has. If the Association will collect thirty
thousand dollars the present year, and pay off the debt, I will give
to the Charitable Mechanic Association ten thousand dollars to
enable it to complete the work in a manner which our fathers would
have done, had they been here to direct it."

A further donation of ten thousand dollars was made by Judah Touro,

Esq., of New Orleans; five thousand dollars were received from other
sources; and this, with thirty thousand dollars received at the great fair
held in Quincy Hall, September, 1840, afforded the means of completing
the monument according to the original design. Thus was consummated
a work which had been very near to Mr. Lawrence's heart, and which
had cost him many a sleepless night, as well as days of toil and
perplexity. To his associates in this work too much credit cannot be
awarded, discouraged, as they often were, by indifference, and even
censure. Their names will be handed down for centuries, in connection
with a monument, which, while it commemorates a nation's freedom,
teaches also a practical lesson of the perseverance and energy of man.
The following is an extract from a newspaper published about the time
the monument was completed, giving an account of a festival held in
commemoration of the event:

"The president remarked, that, among the benefactors to whom the

Association had been particularly indebted for the means of
completing the monument, two, whose names were written on a
scroll at the other end of the hall, were Amos Lawrence and Judah
Touro, each of whom had made a donation of ten thousand dollars.
He thought it proper they should be remembered at the festive
board, and gave the following:

"Amos and Judah! venerated names!

Patriarch and prophet press their equal claims;
Like generous coursers, running neck and neck,
Each aids the work by giving it a check.
Christian and Jew, they carry out a plan;
For, though of different faith, each is in heart a man."
 CHAPTER XX.
INTEREST IN MOUNT AUBURN.—REV. DR.
SHARP.—LETTER FROM BISHOP McILVAINE.—
LETTER FROM JUDGE STORY.
After the establishment of the cemetery at Mount Auburn, Mr. Lawrence
had taken a deep interest in its progress, as well as in every plan for its
gradual improvement and embellishment. In connection with his
brothers, he had purchased a large space, which had been enclosed by
a permanent granite wall and iron railing. To this spot he habitually
resorted, containing, as it did, the remains of some of the dearest
earthly objects of his affection, and destined, as it was, to be the final
resting-place of not only himself, but of the various branches of his
family. When this enclosure had been finished, it became an object with
him to gather around him in death those whom he had loved and
honored in life. In this way, he had been instrumental in causing to be
removed to a burial-lot adjoining his own the remains of the Rev. J. S.
Buckminster, the former minister of Brattle-street Church; and had also
presented another lot to his friend and pastor, the Rev. Dr. Lothrop.
Another friend, whose grave he wished to have near his own, was the
Rev. Daniel Sharp, D.D., minister of the Charles-street Baptist Church, in
Boston. There were few in Boston who were not familiar with the
appearance of this venerable clergyman, as he daily appeared in the
streets; and fewer still who had not learned to appreciate the truly
catholic and Christian spirit which animated him in his intercourse with
men of all sects and parties. Mr. Lawrence had early entertained a great
esteem for his character; and this esteem had become mutual, and had
ripened into the closest intimacy and friendship. On receiving a deed of
a lot at Mount Auburn, Dr. Sharp writes as follows:

"Boston, August 23, 1843.

 "My dear Sir: I cannot find words with which to express my sense of
your unexpected and considerate kindness, in providing so beautiful
a resting-place in Mount Auburn for me and my loved ones. It is
soothing to me to anticipate that my grave will be so near your
own. May the Almighty, in his infinite mercy, grant, that, when the
trumpet shall sound, and the dead shall awake, we may both rise
together, to be forever with the Lord! If the proximity of my last
place of repose to ministers of another denomination shall teach
candor, charity, and peace, I enjoy the sweet consciousness that
this will be in harmony with the object of my life.
Yours, gratefully,
"Daniel Sharp.
"Amos Lawrence, Esq."

The enlarged Christian spirit which formed so prominent a trait in Mr.

Lawrence's character, and which enabled him to appreciate goodness
wherever it could be found, without reference to nation, sect, or color,
may be further illustrated by the following note of acknowledgment,
received about the same time with the preceding, from Bishop
McIlvaine, of the Protestant Episcopal Church in Ohio, who was then on
a visit to Boston to procure funds in aid of Kenyon College:

"Wednesday evening.
"My dear Sir: I have just received your very kind and grateful letter,
with its cheering enclosure of a hundred dollars towards an object
which engrosses me much just now. Thank you, dear sir, most truly,
for your kindness, and the first fruits of Boston, for I came only to-
day. I trust the ingathering will not dispossess the first ripe sheaf.
Coming from one not of my own church, it is the more kind and
grateful. O, sir! if God shall so bless my present effort as to send
me home with the sum I seek, I shall know a freedom of mind from
care and anxiety such as I have not experienced for many years,
during which our present crisis has been anticipated. I shall have
great pleasure in riding with you, according to your note to Mr. R.
To-morrow will probably be a day of more leisure to me than any
other while I shall be in Boston.
 "Yours, very truly and respectfully,
"Charles P. McIlvaine."

(TO ONE OF HIS PARTNERS.)

"December 18, 1843.
"Dear Mr. Parker: I am puffed up (with ague), but not in a manner
to gratify my pride, as I am housed, and denied the sight of most of
those who call, but not the privilege of reading their papers, and
spending money. In short, I have more use for money when in the
house than when able to be abroad. If you will tell Brother Sharp[7]
his beautiful bills find an exceedingly ready use, I shall be glad of
one hundred in ones and twos, two hundred in fives, and three
hundred in tens and twenties; say six hundred dollars, just to keep
me along till the end of the month. The calls are frequent and
striking. 'Do with thy might what thy hand findeth to do; for the
night cometh, when no man can work.' God grant me the blessing
of being ready to answer the call, whether it be at noon or at
midnight!"

Twelve days after, he writes to the same gentleman for another supply;
the sum already received not having been sufficient apparently to carry
him through the year:

"December 30, 1843.

"'The good there is in riches lieth altogether in their use, like the
woman's box of ointment; if it be not broken and the contents
poured out for the refreshment of Jesus Christ, in his distressed
members, they lose their worth; the covetous man may therefore
truly write upon his rusting heaps, "These are good for nothing." He
is not rich who lays up much, but he who lays out much; for it is all
one not to have, as not to use. I will therefore be the richer by
charitable laying out, while the worldling will be poorer by his
covetous hoarding up.'
"Here is the embodiment of a volume, and whoever wrote it
deserves the thanks of good men. I would fain be rich, according as
 he defines riches; but possession, possession, is the devil, as the
old Frenchman at —— said to George Cabot. This devil I would try
to cast out; you will therefore please send me twelve hundred
dollars, which may do something for the comfort of those who have
seen better days.
Your friend,
A. L.
"To C. H. Parker, Esq."

The following letter from Judge Story was received at about the time the
preceding letter was written; but no memorandum is found by which to
ascertain the occasion which called it forth. It may be that he had been
made the channel, as was the case a few months before, of some
donation to a third person; a mode which Mr. Lawrence often adopted
when he felt a delicacy in proffering direct aid to some one whose
sensitiveness might be wounded in receiving assistance from a
comparative stranger:

"Cambridge, Saturday noon.

"My dear Sir: I have this moment finished reading your letter and its
enclosures, which did not reach me until this noon, and I can
scarcely describe to you how deeply I have been affected by them.
I almost feel that you are too much oppressed by the constant calls
for charitable purposes, and that your liberal and conscientious
spirit is tasked to its utmost extent. 'The poor have ye always with
you' is a Christian truth; and I know not, in the whole circle of my
friends, any one who realizes it so fully, and acts upon it so nobly,
as yourself. God, my dear sir, will reward you for all your goodness;
man never can. And yet the gratitude of the many whom you
relieve, their prayers for your happiness, their consciousness of your
expanded benevolence, is of itself a treasure of inestimable value. It
is a source of consolation, which you would not exchange for any
earthly boon of equal value. Wealth is to you an enlightened trust,
for the benefit of your race. You administer it so gracefully, as well
as so justly, that I can only regret that your means are not ten
times as great. Gracious Heavens! What a contrast is your life to
 that of some wealthy men, who have lived many years, and have
yet to learn how to give, or, as you beautifully expressed it the
other day, who have yet to learn to be their own executors! My
heart is so full of you, and of the whole matter, that I would fain
pour out my thoughts at large to you; for you understand me, and I
can sympathize with you. But just now I am full of all sorts of
business, and without a moment to spare, having many judicial
opinions to prepare in the few remaining days before I go to
Washington; and, withal, having Mrs. S. very ill, in respect to whom
I feel a deep anxiety. But, wherever I am, I pray you to believe that
you are always in my thoughts, with the warmest affection and
dearest remembrance. And, if this hasty scrawl is not too slight for
such a matter, pray preserve it among your papers, that your
children may know what I thought of their father, when you and I
shall be both in our graves.
"I am most truly and faithfully your obliged friend,
"Joseph Story.
"Amos Lawrence, Esq.
"P. S.—I have sent the letter and its accompaniments to Mr. ——.
Think of ——. Think of those rich men in ——, who have never
dreamed of the duties of charity. Cast a view to their own posterity.
How striking a memento is the very case of ——, presented in his
own letters, of the instability of human fortune!"

Mr. Lawrence closes the year 1843 by a review of his temporal affairs,
and by fresh resolutions of fidelity to his trusts. He then gives an
estimate of his income and expenditures, showing a somewhat large
excess of the latter, though, as he says, from the state of the times, not
to the detriment of his property.

(TO THE MECHANIC APPRENTICES' LIBRARY ASSOCIATION.)

"My young Friends: It cheers and comforts me to learn of your well-
doing, and encourages me to offer a word of counsel, as prosperity
is often more dangerous in its time than adversity. Now is your
seed-time. See to it that it is good; for 'whatsoever a man soweth,
that shall he also reap.' The integrity, intelligence, and elevated
bearing, of the Boston mechanics, have been and are a property for
each citizen of great value; inasmuch as the good name of our
beloved city is a common property, that every citizen has an interest
in, and should help to preserve. At your time of life, habits are
formed that grow with your years. Avoid rum and tobacco, in all
forms, unless prescribed as a medicine; and I will promise you
better contracts, heavier purses, happier families, and a more
youthful and vigorous old age, by thus avoiding the beginning of
evil. God speed you, my young friends, in all your good works! With
the enclosed, I pray you to accept the felicitations of the season.
"Amos Lawrence."
 CHAPTER XXI.
ACQUAINTANCE WITH PRESIDENT HOPKINS.—
LETTERS.—AFFECTION FOR BRATTLE-STREET
CHURCH.—DEATH OF MRS. APPLETON.—
LETTERS.—AMESBURY CO.
At the commencement of the year 1844, President Hopkins, of Williams
College, delivered a course of lectures on the "Evidences of Christianity,"
before the Lowell Institute, in Boston. Mr. Lawrence had previously seen
him, and had thought that he detected, in some features of his face, a
resemblance to the family of his first wife. In allusion to this
acquaintance, he writes to his son about this period:

"President H. has the family look of your mother enough to belong

to them; and it was in consequence of that resemblance, when I
was first introduced to him many years ago, that I inquired his
origin, and found him to be of the same stock."

The acquaintance was renewed, and an intimacy ensued, which was not
only the cause of much happiness to Mr. Lawrence through the
remainder of his life, but was also the means of directing his attention to
the wants of Williams College, of which he eventually became the
greatest benefactor. An active and constant correspondence followed
this acquaintance, and was so much prized by Mr. Lawrence that he had
most of the letters copied, thereby filling several volumes, from which
extracts will from time to time be made. In one of his first letters to that
gentleman, dated May 11, he says:

"If, by the consecration of my earthly possessions to some extent, I

can make the Christian character practically more lovely, and
illustrate, in my own case, that the higher enjoyments here are
promoted by the free use of the good things intrusted to me, what
 so good use can I make of them? I feel that my stewardship is a
very imperfect one, and that the use of these good things might be
extended profitably to myself; and, since I have known how much
good the little donation did your college, I feel ashamed of myself it
had not been larger,—at any rate, sufficient to have cleared the
debt."

To the same gentleman, who had informed Mr. Lawrence that an

accident had befallen a plaster bust of himself, he writes, under date of
May 16:

"Dear President: You know the phrase 'Such a man's head is full of
notions' has a meaning that we all understand to be not to his
credit for discretion, whatever else may be said of him. As I propose
throwing in a caveat against this general meaning, I proceed to
state my case. And, firstly, President H. is made debtor to the
Western Railroad Corporation for the transportation of a barrel to
Pittsfield. The bill is receipted, so that you can have the barrel to-
morrow by sending for it; which barrel contains neither biscuit nor
flour, but the clay image of your friend. In the head are divers
notions that my hand fell upon as I was preparing it for the jaunt;
and, when the head was filled with things new and old, I was
careful to secure the region under the shoulders, especially on the
left side, and near the heart, by placing there that part of a lady's
dress which designates a government that we men are unwilling
openly to acknowledge, but is, withal, very conservative. Within its
folds I wrapped up very securely 'Pilgrim's Progress,' and stuffed
the empty space between my shoulders, and near my heart, brim
full, I hope my young friend will find a motive and a moral in the
image and in the book, to cheer him on in his pilgrimage of life."

"July 22, 1844.—Sixty-seven years ago this day, my mother, now

living, was married; and, while standing up for the ceremony, the
alarm-bell rang, calling all soldiers to their posts. My father left her
 within the hour, and repaired to Cambridge; but the colonel, in
consideration of the circumstances, allowed him to return to Groton
to his wife, and to join his regiment within three days at Rhode
Island. This he did, spending but a few hours with his wife; and she
saw nothing more of him until the last day of the year, when he
made her a visit. I have ordered a thousand dollars paid to the
Massachusetts General Hospital, to aid in enlarging its wings, and to
commemorate this event. The girls of this day know nothing of the
privations and trials of their grandmothers."

On the same day with the above entry in his diary occurs another, in
which he alludes to assistance afforded to some young persons in
Brattle-street Church,—"sons of Brattle-street, and, as such, assisted by
me." Mr. Lawrence's early religious associations were connected with
this church, where, it is believed, he attended from the first Sunday
after his coming to Boston. With such associations, and connected as
they were with the most endeared recollections of those who had
worshipped there with him in early days, all that pertained to this
venerable church possessed a strong and abiding interest. In this
connection is quoted the beautiful testimony of his pastor, the Rev. Dr.
Lothrop, furnished in the funeral sermon delivered by him, where he
speaks of Mr. Lawrence's love for the church, as well as of his religious
character:

"The prominent feature in Mr. Lawrence's life and character, its

inspiration and its guide, was religion,—religious faith, affection,
and hope. He loved God, and therefore he loved all God's creatures.
He believed in Christ as the Messiah and Saviour of the world, and
therefore found peace and strength in his soul, amid all the perils,
duties, and sorrows of life. His religious opinions lay distinct and
clear in his own mind. They were the result of careful reading and
of serious reflection, and were marked by a profound reverence for
the Sacred Scriptures, and the divine authority of Jesus Christ. A
constant worshipper here during the forty-six years of his residence
in this city, for more than forty years of this period a communicant,
and for more than ten a deacon of this church,—resigning the
office, at length, because of his invalid state of health,—he had
strong attachments to this house of God. 'Our venerable church,' he
 says in one of his notes to me, 'has in it deeply impressive,
improving, instructive, and interesting associations, going back to
the early days of my worshipping there; and the prayers of my
friends and fellow-worshippers of three generations, in part now
belonging there, come in aid of my weakness in time of need; and
no other spot, but that home where I was first taught my prayers,
and this my domestic fireside, where my children have been taught
theirs, has the same interest as our own old Brattle-square
Church.'"

To an old business friend and acquaintance, Joshua Aubin, Esq., the

agent of the Amesbury Company, who had from the beginning been
associated with him in this first and favorite manufacturing enterprise in
which he had engaged, he writes on September 18, after receiving a
quantity of manufactured articles for distribution among the poor:

"You are brought very near to me on such a day as this (when I am

shut up in the house), by your work as well as by your words.
"Now, as to your last consignment, I have derived, and expect to
derive, as much comfort and enjoyment from it as I ordinarily
should from a cash dividend on my shares. In truth, I am able to
employ these odds and ends to such uses and for such persons as
will make me feel as though I were spared here for some use.
"For instance, I had a call from a most respectable friend (president
of one of the best colleges in the West) last week, who agreed to
come again this week to do some shopping as soon as he got some
money for preaching on Sunday, and look over my stock of goods.
"I intend making him up a good parcel of your work, and, depend
on it, it is good seed, and will take root at the West. He says that
they have no money, but plenty of corn, and beef, and pork. Corn
pays for growing at ten cents a bushel, and will not bring that in
cash; and ten bushels will not pay for a calico gown, or a flannel
petticoat.
"With his large family of children, don't you think these odds and
ends will come as a blessing? Besides, he is an old-fashioned
 Massachusetts Whig; loves the old Bay State as well as ever the
Jews loved their State, and is, through his college exercising an
influence in —— that no body of men in that State can do; and will,
in the end, bring them into regular line, as to education and
elevation of character. Send me some of your flannels to give to
Madam —— for her family of one or two hundred children in the
Children's Friend Society.
"—— will give them over to these poor little destitute, unclad
creatures. They are taken and saved by this interesting society.
"A rainy day like this is the very time for me to work among my
household goods. Many a poor minister and his family, and many a
needy student at school or college, fare the better for your spinning
and weaving.
"I am living in my chamber, and on very close allowance. Every day
to me is a day of glorious anticipations, if I am free from bodily
suffering, and if my mind is free."

On another occasion he writes to the same gentleman:

"I have your letter and package; the cold of this morning will make
the articles doubly acceptable to the shivering and sick poor among
us. J. C.'s case is one for sympathy and relief. Engage to supply him
a hundred dollars, which I will hand to you when you visit me; and
tell the poor fellow to keep in good heart, for our merciful Father
afflicts in love, and thus I trust that this will prove a stepping-stone
to the mansions of bliss. I shall never cease to remember with
interest the veterans of the A. F. Co. How are my friends B. and
others of early days? Also, how is old father F.? Does he need my
warm outside coat, when I get supplied with a better?
"After your call upon me a few weeks since, I went back in memory
to scenes of olden times, which had an interest that you can
sympathize in, and which I intended to express to you before this;
but I have had one of those admonitory ill turns since, that kept me
under the eye of the doctor for a number of days.
 "In reviewing my beginnings in manufacturing, under your
recommendation and care, almost a quarter of a century ago, I can
see the men, the machines, the wheel-pit, and the speed-gauge,
and especially I can see our old friend W. lying on the bottom of the
pit, lamp in hand, with his best coat on, eying the wheels and cogs
as an astronomer makes observations in an observatory. All these
scenes are as fresh in my memory as though seen but yesterday.
"Do you remember C. B., the brother of J. and G. B.? All three of
whom were business men here at the time you were, and all were
unfortunate. C. tried his; hand in ——, and did not succeed there;
returned to this country, and settled on a tract of land in ——,
where he has been hard at work for ten years, and has maintained
his family. His wife died a few months since. One after another of
his family sickened, and he became somewhat straitened, and knew
not what to do. He wrote to an old business friend, who was his
debtor, and who had failed, had paid a part only, and was
discharged thirty years ago, and who has since been prosperous.
He stated his case, and asked me to say a good word for him. That
person sent one half, and I sent the other half, the day before
Thanksgiving. It will reach him on Monday next, and will make his
eyes glisten with joy.
"Remember me to Capt. —— and J. C, and B., and any other of the
veterans."

Sept. 23, Mr. Lawrence receives from an old debtor, once a clerk in his
establishment, a check for five hundred dollars, which a sense of justice
had induced him to send, though the debt of some thousands had been
long since legally discharged. On receiving it, he writes, in a
memorandum at the bottom of the letter received, to his brother and
partner:

"Dear Abbott: I have the money. J. D. was always a person of truth.

I take the statement as true; but I had no recollection of the thing
till recalled by his statement. What say you to putting this money
into the life office, in trust for his sister?
Your affectionate brother,
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