Simulink Tutorial

Lecture Overview
What is Simulink?
How to use Simulink
Getting Start with Simulink
Building a model

Example 1 (Differential Equations )

Example 2 (Transfer Function)
Creating Subsystems
Useful Information

What is Simulink? (1)

A software package for modeling,
simulating, and analyzing dynamic
systems.
Supports linear and nonlinear systems,
modeled in continuous time, sample
time, or a hybrid of the two.
Systems can also be multirate (i.e.
different parts that are sampled or
updated at different rates)

What is Simulink? (2)

For modeling, it provides a graphical
user interface (GUI) for building models
as block diagrams (using click-and-drag
mouse operations)
Can build models in hierarchical fashion
(using both top-down and bottom-up
approaches)
You can simulate, analyze the output
results, explore, revise your models and
have FUN!

Lecture Overview
What is Simulink?
How to use Simulink
Getting Start with Simulink
Building a model

Example 1 (Differential Equations )

Example 2 (Transfer Function)
Creating Subsystems
Useful Information

Start a Simulink Session

Click on the SIMULINK icon on toolbar

Type simulink
on Matlab command window

Simulink Library Browser

CREAT NEW MODEL icon

SEARCH window

BLOCK set
for model construction

LIBRARY

Create a New Model

CREAT NEW MODEL icon

Workspace where you

construct your model

Lecture Overview
What is Simulink?
How to use Simulink
Getting Start with Simulink
Building a model

Example 1 (Differential Equations )

Example 2 (Transfer Function)
Creating Subsystems
Useful Information

Building a Model
Simulink Block Diagram pictorial model
of a dynamic system
Each block represents an elementary
dynamic system that produces an output
(either continuous or discrete output)
Lines represent connections of block
inputs to block outputs
u
(Input)

x
(states)

y
(Output)

Building a Model (2)

The following steps will guide you to
construct a system/model:
STEP 1: Creating Blocks
STEP 2: Making connections
STEP 3: Set Parameters
STEP 4: Running Simulation

Building a Model (3)

Step 1: Creating Blocks

Save this model

This is the
Sine Wave block is
from the Sources library

Sources library

Click-Drag-Drop the Sine Wave block to Workspace Window

Building a Model (4)

Step 1: Creating Blocks

The Gain
block is
from the
Math library
The Mux block is from
the Signals &Systems library

These are
from the
Sinks library

Building a Model (5)

Step 2: Making connections
To make connection: left-click while holding down control key (on keyboard)
and drag from source port to a destination port

A connected Model

Building a Model (6)

Step 3: Set Parameters
Double click the Gain block to set the parameter for the Gain block

Name the output

parameter as out1

Gain value = 5

Building a Model (7)

Step 4: Running Simulation
Click here to run the simulation

click simulation parameters to set

up the desired parameters
You can change the stop time and
then click the OK button

Building a Model (8)

View output via Scope block
Output of the scope
To fit graph to frame

Yellow: Input sine wave

Purple: Output (sine wave with gain of 5
Double click on Scope block to display output of the scope
Note: Scope block is similar to oscilloscope!

Building a Model (9)

View output (workspace)

You can plot the output using the plot function

Three outputs show here

Lecture Overview
What is Simulink?
How to use Simulink
Getting Start with Simulink
Building a model

Example 1 (Differential Equations )

Example 2 (Transfer Function)
Creating Subsystems
Useful Information

Example 1:Differential Equations (1)

Example of a dynamic system: A
mass-spring-damper system
f t

The Mathematical model of the system

is describe by:

1
&
x&
Bx& Kx f t

Lets M=2kg; B = 2 Ns/m; K=2 N/m

K

1
&
x& 2 x& 2 x f t
2

Example 1:Differential Equations (2)

Use Simulink to simulate the step
response of the system,
i.e.
f(t), N Unit Step Input
1
&
x& 2 x& 2 x f t
1
2
STEP 1: Creating Blocks

Time, s

Select BLOCK set

Location in Simulink Library

Step

Sources

Sum

Math Operation

Gain

Math Operation

Integrator

Continuous

Scope & To Workspace

Sinks

Example 1:Differential Equations (2)

STEP 2: Making connections

&
x&

x&

Example 1:Differential Equations (3)

STEP 3: Set Parameters
Set Step time =0

&
x&

Note: Assume all initial conditions = 0

x&

Example 1:Differential Equations (4)

STEP 4: Running Simulation
1

Open simulation parameters window

Set Stop time = 30

2
RUN
Simulation

Example 1:Differential Equations (5)

Step Response for the mass-spring-damper
system example

Output from Scope block

Plot system response

Lecture Overview
What is Simulink?
How to use Simulink
Getting Start with Simulink
Building a model

Example 1 (Differential Equations )

Example 2 (Transfer Function)
Creating Subsystems
Useful Information

Example 2: Transfer
Function (1)
Use the same mass-spring-damper
system example and simulate the
response using transfer function
approach 1
&
x&

2 x& 2 x f t

The transfer function of the equation

(assume all initial conditions =0)

X (s)
1
2
F ( s ) 2s 2 s 2

Example 2: Transfer
Function (2)
STEP 1: Creating Blocks
Select BLOCK set

Location in Simulink Library

Step

Sources

Transfer Function

Continuous

Scope & To Workspace

Sinks

Example 2: Transfer
Function (3)
STEP 2: Making connections

Example 2: Transfer
Function (4)
STEP 3: Set Parameters
Set Step time =0

Example 2: Transfer
Function (5)
STEP 4: Running Simulation
1

Open simulation parameters window

Set Stop time = 30

2
RUN
Simulation

Example 2: Transfer
Function (6)
Same output as before (Slide 21)

Output from Scope block

Plot system response

Lecture Overview
What is Simulink?
How to use Simulink
Getting Start with Simulink
Building a model

Example 1 (Differential Equations )

Example 2 (Transfer Function)
Creating Subsystems
Useful Information

Creating Subsystems (1)

Subsystem similar to Subroutine
Advantage of Subsystems:
Reduce the number of blocks display
on the main window (i.e. simplify the
model)
Group related blocks together (i.e.
More organized)
Can create a hierarchical block
diagram (i.e. you can create subsystems
within a subsystem )
Easy to check for mistakes and to
explore different parameters

Creating Subsystems (2)

Create Subsystem using model in Example 1
STEP 1: Creating Blocks (Main window)

This is the Subsystem block is

from the Subsystems library

Creating Subsystems (3)

STEP 2: Double click Subsystem block and
create a model in the Subsystem block

Inport
(named from sum

Outport
(three outports)

Creating Subsystems (4)

STEP 3: Making connections (Main window)

Creating Subsystems (5)

STEP 4: Set Parameter (Main window)
STEP 5: Running Simulation
Then view output response

Output from Scope block

Lecture Overview
What is Simulink?
How to use Simulink
Getting Start with Simulink
Building a model

Example 1 (Differential Equations )

Example 2 (Transfer Function)
Creating Subsystems
Useful Information

Useful Information (1)

Ramp Function

Set Slope
Set Start time for Ramp function
Set initial value

Useful Information (2)

Input(t)

Unit Step Function or Impulse

0
Start at 0 s

Start at 5.01 s

t(s)

Useful Information (3)

To run programs, have to be in the
current active directory or in a
directory in the path (goto File
Set path... )
To copy the SIMULINK Model from
Simulink Workspace and add to
report (Edit Copy model to
clipboard)
Need help on SIMULINK (At Simulink
Library Browser Click Help)