自动控制原理（双语教学）：05.simulink reference

Modeling Simulation Implementation SIMULINK Model-Based and System-Based Design ? Simulink Reference Version 5 slref.book Page 1 Friday, June 21, 2002 5:58 PM How to Contact The MathWorks: www.mathworks.com Web comp.soft-sys.matlab Newsgroup support@mathworks.com Technical support suggest@mathworks.com Product enhancement suggestions bugs@mathworks.com Bug reports doc@mathworks.com Documentation error reports service@mathworks.com Order status, license renewals, passcodes info@mathworks.com Sales, pricing, and general information 508-647-7000 Phone 508-647-7001 Fax The MathWorks, Inc. Mail 3 Apple Hill Drive Natick, MA 01760-2098 For contact information about worldwide offices, see the MathWorks Web site. Simulink ? Reference ? COPYRIGHT 2002 by The MathWorks, Inc. The software described in this document is furnished under a license agreement. The software may be used or copied only under the terms of the license agreement. No part of this manual may be photocopied or repro- duced in any form without prior written consent from The MathWorks, Inc. FEDERAL ACQUISITION: This provision applies to all acquisitions of the Program and Documentation by or for the federal government of the United States. By accepting delivery of the Program, the government hereby agrees that this software qualifies as "commercial" computer software within the meaning of FAR Part 12.212, DFARS Part 227.7202-1, DFARS Part 227.7202-3, DFARS Part 252.227-7013, and DFARS Part 252.227-7014. The terms and conditions of The MathWorks, Inc. Software License Agreement shall pertain to the government’s use and disclosure of the Program and Documentation, and shall supersede any conflicting contractual terms or conditions. If this license fails to meet the government’s minimum needs or is inconsistent in any respect with federal procurement law, the government agrees to return the Program and Documentation, unused, to MathWorks. MATLAB, Simulink, Stateflow, Handle Graphics, and Real-Time Workshop are registered trademarks, and TargetBox is a trademark of The MathWorks, Inc. Other product or brand names are trademarks or registered trademarks of their respective holders. Printing History: July 2002 Online only New for Simulink 5 (Release 13) slref.book Page 2 Friday, June 21, 2002 5:58 PM Contents slref.book Page i Friday, June 21, 2002 5:58 PM 1 Block Libraries Continuous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Discontinuities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 Discrete . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 Look-Up Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5 Math Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 Model Verification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8 Model-Wide Utilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10 Ports & Subsystems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11 Signal Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13 Signal Routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14 Sinks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15 Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16 User-Defined Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18 Blocksets and Toolboxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19 Demos Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20 i ii Contents Simulink Blocks slref.book Page ii Friday, June 21, 2002 5:58 PM 2 Abs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 Action Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5 Algebraic Constraint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 Assertion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10 Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12 Backlash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17 Band-Limited White Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21 Bitwise Logical Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23 Bus Creator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27 Bus Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31 Check Discrete Gradient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-33 Check Dynamic Gap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-36 Check Dynamic Lower Bound . . . . . . . . . . . . . . . . . . . . . . . . . . 2-39 Check Dynamic Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-42 Check Dynamic Upper Bound . . . . . . . . . . . . . . . . . . . . . . . . . . 2-44 Check Input Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-46 Check Static Gap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-48 Check Static Lower Bound . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-51 Check Static Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-54 Check Static Upper Bound . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-57 Chirp Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-60 Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-62 Combinatorial Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-64 Complex to Magnitude-Angle . . . . . . . . . . . . . . . . . . . . . . . . . . 2-68 Complex to Real-Imag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-69 Configurable Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-70 Constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-74 Coulomb and Viscous Friction . . . . . . . . . . . . . . . . . . . . . . . . . . 2-77 Data Store Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-79 Data Store Read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-82 Data Store Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-84 Data Type Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-86 Dead Zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-88 Demux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-90 Derivative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-96 Digital Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-98 Direct Look-Up Table (n-D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-99 Discrete Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-105 Discrete State-Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-107 slref.book Page iii Friday, June 21, 2002 5:58 PM Discrete-Time Integrator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-109 Discrete Transfer Fcn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-116 Discrete Zero-Pole . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-118 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-120 DocBlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-123 Dot Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-124 Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-126 Enabled and Triggered Subsystem . . . . . . . . . . . . . . . . . . . . . 2-128 Enabled Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-129 Fcn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-130 First-Order Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-133 For Iterator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-135 For Iterator Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-140 From . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-141 From File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-143 From Workspace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-146 Function-Call Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-150 Function-Call Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-152 Gain, Matrix Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-153 Goto . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-159 Goto Tag Visibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-162 Ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-163 Hit Crossing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-164 IC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-166 If . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-168 If Action Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-173 Inport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-174 Integrator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-179 Interpolation (n-D) Using PreLook-Up . . . . . . . . . . . . . . . . . . 2-189 Logical Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-192 Look-Up Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-196 Look-Up Table (2-D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-202 Look-Up Table (n-D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-207 Magnitude-Angle to Complex . . . . . . . . . . . . . . . . . . . . . . . . . 2-213 Manual Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-215 Math Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-216 MATLAB Fcn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-218 Matrix Concatenation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-220 Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-222 iii iv Contents Merge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-224 slref.book Page iv Friday, June 21, 2002 5:58 PM MinMax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-228 Model Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-230 Multi-Port Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-233 Mux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-236 Outport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-238 Polynomial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-242 Prelook-Up Index Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-244 Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-247 Probe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-252 Pulse Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-254 Quantizer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-258 Ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-260 Random Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-262 Rate Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-264 Rate Transition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-266 Real-Imag to Complex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-269 Relational Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-271 Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-275 Repeating Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-279 Reshape . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-281 Rounding Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-284 Saturation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-286 Scope, Floating Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-288 Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-302 S-Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-306 S-Function Builder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-308 Sign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-309 Signal Builder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-310 Signal Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-311 Signal Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-314 Sine Wave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-317 Slider Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-322 State-Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-324 Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-327 Stop Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-329 Subsystem, Atomic Subsystem . . . . . . . . . . . . . . . . . . . . . . . . 2-330 Sum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-334 Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-338 Switch Case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-341 Switch Case Action Subsystem . . . . . . . . . . . . . . . . . . . . . . . . 2-345 slref.book Page v Friday, June 21, 2002 5:58 PM Terminator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-346 Time-Based Linearization . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-347 To File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-349 To Workspace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-351 Transfer Fcn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-355 Transport Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-358 Trigger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-361 Trigger-Based Linearization . . . . . . . . . . . . . . . . . . . . . . . . . . 2-363 Triggered Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-365 Trigonometric Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-366 Uniform Random Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-368 Unit Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-370 Variable Transport Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-372 While Iterator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-375 While Iterator Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-381 Width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-382 XY Graph . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-383 Zero-Order Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-385 Zero-Pole . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-387 3 Linearization and Trimming Commands linmod, dlinmod, linmod2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 trim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5 4 Model Construction Commands add_block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6 add_line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 add_param . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9 bdclose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10 bdroot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11 close_system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12 compare_model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14 v vi Contents delete_block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15 slref.book Page vi Friday, June 21, 2002 5:58 PM delete_line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16 delete_param . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17 find_system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18 gcb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23 gcbh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24 gcs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25 get_param . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26 new_system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28 open_system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29 replace_block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30 save_system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32 set_param . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33 simulink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35 sldiscmdl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36 slmdldiscui . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40 5 Simulation Commands model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5 sim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7 simplot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10 simset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12 simget . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16 6 Mask Icon Drawing Commands disp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5 dpoly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6 fprintf . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8 image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9 patch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10 plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11 port_label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12 text . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13 Simulink Debugger Commands slref.book Page vii Friday, June 21, 2002 5:58 PM 7 ashow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1 atrace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2 bafter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3 break . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4 bshow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5 clear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6 continue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7 disp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8 help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9 emode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10 ishow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11 minor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12 nanbreak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13 next . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14 probe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-15 quit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-16 run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17 slist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18 states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19 status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20 step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21 stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22 systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-23 tbreak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24 trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25 undisp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-26 untrace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27 xbreak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28 zcbreak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29 zclist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30 vii viii Contents Model and Block Parameters slref.book Page viii Friday, June 21, 2002 5:58 PM 8 Model Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2 Common Block Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7 Block-Specific Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10 Mask Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-26 9 Model File Format Model File Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2 Model Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3 BlockDefaults Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3 AnnotationDefaults Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3 System Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3 1 slref.book Page 1 Friday, June 21, 2002 5:58 PM Block Libraries The following sections describe the usage and contents of the Simulink block libraries. You can use either the Simulink Library Browser on Windows or the MATLAB command simulink on UNIX to display and browse the libraries. 1 Block Libraries 1-2 slref.book Page 2 Friday, June 21, 2002 5:58 PM Continuous The Continuous library contains blocks that model linear functions. Block Name Purpose Derivative Output the time derivative of the input. Integrator Integrate a signal. State-Space Implement a linear state-space system. Transfer Fcn Implement a linear transfer function. Transport Delay Delay the input by a given amount of time. Variable Transport Delay Delay the input by a variable amount of time. Zero-Pole Implement a transfer function specified in terms of poles and zeros. Discontinuities slref.book Page 3 Friday, June 21, 2002 5:58 PM Discontinuities The Discontinuities library contains blocks whose outputs are discontinuous functions of their inputs. Block Name Purpose Backlash Model the behavior of a system with play. Coulomb and Viscous Friction Model discontinuity at zero, with linear gain elsewhere. Dead Zone Provide a region of zero output. Hit Crossing Detect crossing point. Quantizer Discretize input at a specified interval. Rate Limiter Limit the rate of change of a signal. Relay Switch output between two constants. Saturation Limit the range of a signal. 1-3 1 Block Libraries 1-4 slref.book Page 4 Friday, June 21, 2002 5:58 PM Discrete The Discrete library contains blocks that represent discrete-time functions. Block Name Purpose Discrete Filter Implement IIR and FIR filters. Discrete State-Space Implement a discrete state-space system. Discrete Transfer Fcn Implement a discrete transfer function. Discrete Zero-Pole Implement a discrete transfer function specified in terms of poles and zeros. Discrete-Time Integrator Perform discrete-time integration of a signal. First-Order Hold Implement a first-order sample-and-hold. Memory Output the block input from the previous time step. Unit Delay Delay a signal one sample period. Zero-Order Hold Implement zero-order hold of one sample period. Look-Up Tables slref.book Page 5 Friday, June 21, 2002 5:58 PM Look-Up Tables The Look-Up Tables library contains blocks that use lookup tables to determine outputs from inputs. Block Name Purpose Direct Look-Up Table (n-D) Index into an N-dimensional table to retrieve a scalar, vector or 2-D matrix. Interpolation (n-D) Using PreLook-Up Perform high-performance constant or linear interpolation. Look-Up Table Perform piecewise linear mapping of the input. Look-Up Table (2-D) Perform piecewise linear mapping of two inputs. Look-Up Table (n-D) Perform piecewise linear or spline mapping of two or more inputs. Prelook-Up Index Search Perform index search and interval fraction calculation for input on a breakpoint set. 1-5 1 Block Libraries 1-6 slref.book Page 6 Friday, June 21, 2002 5:58 PM Math Operations The Math Operations library contains blocks that model general mathematical functions. Block Name Purpose Abs Output the absolute value of the input. Algebraic Constraint Constrain the input signal to zero. Assignment Assign values to specified elements of a signal Bitwise Logical Operator Logically mask, invert, or shift the bits of an unsigned integer signal. Combinatorial Logic Implement a truth table. Complex to Magnitude-Angle Output the phase and magnitude of a complex input signal. Complex to Real-Imag Output the real and imaginary parts of a complex input signal. Dot Product Generate the dot product. Gain, Matrix Gain Multiply block input by a specified value. Logical Operator Perform the specified logical operation on the input. Magnitude-Angle to Complex Output a complex signal from magnitude and phase inputs. Math Function Perform a mathematical function. Matrix Concatenation Concatenate inputs horizontally or vertically MinMax Output the minimum or maximum input value. Math Operations slref.book Page 7 Friday, June 21, 2002 5:58 PM Polynomial Perform evaluation of polynomial coefficients on input values. Product Generate the product or quotient of block inputs. Real-Imag to Complex Output a complex signal from real and imaginary inputs. Relational Operator Perform the specified relational operation on the input. Reshape Change the dimensionality of a signal. Rounding Function Perform a rounding function. Sign Indicate the sign of the input. Slider Gain Vary a scalar gain using a slider. Sum Generate the sum of inputs. Trigonometric Function Perform a trigonometric function. Block Name Purpose 1-7 1 Block Libraries 1-8 slref.book Page 8 Friday, June 21, 2002 5:58 PM Model Verification Acknowledgment. The Model Verification blocks were developed in conjunction with the Control System Design team of the Advanced Chassis SystemDevelopment group of DaimlerChrysler AG, Stuttgart, Germany. The Model Verification library contains blocks that enable you to create self-validating models. Block Name Purpose Assertion Assert that the input signal is nonzero. Check Discrete Gradient Check that the absolute value of the difference between successive samples of a discrete signal is less than an upper bound. Check Dynamic Gap Check that a gap of varying width occurs in the range of a signal’s amplitudes. Check Dynamic Lower Bound Check that a signal is always greater than a value that can vary at each time step. Check Dynamic Range Check that a signal alway lies in a varying range of amplitudes. Check Dynamic Upper Bound Check that a signal is always less than a value that can vary at each time step. Check Input Resolution Check that a signal has a specified resolution. Check Static Gap Check that a fixed-width gap occurs in the range of a signal’s amplitudes Check Static Lower Bound Check that a signal is greater than (or optionally equal to) a lower bound that does not vary with time. Check Static Range Check that the input signal falls in a fixed range of amplitudes. Model Verification slref.book Page 9 Friday, June 21, 2002 5:58 PM Check Static Upper Bound Check that a signal is less than (or optionally equal to) an upper bound that does not vary with time. Block Name Purpose 1-9 1 Block Libraries 1-10 slref.book Page 10 Friday, June 21, 2002 5:58 PM Model-Wide Utilities The Model-Wide Utilities library contains various utility blocks. Block Name Purpose DocBlock Create text that documents the model and save the text with the model. Model Info Display revision control information in a model. Time-Based Linearization Generate linear models in the base workspace at specific times. Trigger-Based Linearization Generate linear models in the base workspace when triggered. Ports & Subsystems slref.book Page 11 Friday, June 21, 2002 5:58 PM Ports & Subsystems The Ports & Subsystems library contains blocks for creating various types of subsystems. Block Name Purpose Action Port Repository for conditionally executed logic for If and Switch-Case blocks. Note: this block resides inside the If Action Subsystem and Switch-Case Action Subsystem blocks in the Subsystems library. Configurable Subsystem Represent any block selected from a specified library. Enable Add an enabling port to a subsystem. Note that this block resides inside the Enabled Subsystem and the Enabled and Triggered Subsystem in the Subsystems library. Enabled and Triggered Subsystem Skeleton enabled and triggered subsystem. Enabled Subsystem Skeleton enabled subsystem. For Iterator Implements C-like for statement logic. For Iterator Subsystem Implements a C-like for loop. Function-Call Subsystem Skeleton function call subsystem. If Implements C-like if-else statement logic. Inport Create an input port for a subsystem or an external input. Note that this block resides inside the Subsystem block and inside other subsystem blocks in the Subsystems library. 1-11 1 Block Libraries 1-12 slref.book Page 12 Friday, June 21, 2002 5:58 PM Outport Create an output port for a subsystem or an external output. Note that this block resides inside the Subsystem block and inside other subsystem blocks in the Subsystems library. Subsystem, Atomic Subsystem Represent a system within another system. Switch Case Implements C-like switch statement logic. Switch Case Action Subsystem Represent a subsystem whose execution is triggered by a Switch Case block. Trigger Add a trigger port to a subsystem. Note this block resides inside the Triggered Subsystem and the Enabled and Triggered Subsystem in the Subsystems library. Triggered Subsystem Skeleton triggered subsystem. While Iterator Implement a C-like while or do-while control flow statement as a While subsystem. While Iterator Subsystem Represent a subsystem that executes repeatedly while a condition is satisfied during a simulation time step. Block Name Purpose Signal Attributes slref.book Page 13 Friday, June 21, 2002 5:58 PM Signal Attributes The Signal Attributes library contains blocks that modify or output attributes of signals. Block Name Purpose Data Type Conversion Convert a signal to another data type. IC Set the initial value of a signal. Rate Transition Specify the data transfer mechanism between the data rates of a multirate system. Probe Output a signal’s attributes, including width, sample time, and/or signal type. Signal Specification Specify attributes of a signal. Width Output the width of the input vector. 1-13 1 Block Libraries 1-14 slref.book Page 14 Friday, June 21, 2002 5:58 PM Signal Routing The Signal Routing library contains blocks that route signals from one point in a block diagram to another. Block Name Purpose Bus Creator Create a signal bus. Bus Selector Output signals selected from an input bus. Data Store Memory Define a shared data store. Data Store Read Read data from a shared data store. Data Store Write Write data to a shared data store. Demux Separate a vector signal into output signals. From Accept input from a Goto block. Goto Pass block input to From blocks. Goto Tag Visibility Define the scope of a Goto block tag. Manual Switch Switch between two inputs. Merge Combine several input lines into a scalar line. Multi-Port Switch Choose between block inputs. Mux Combine several input lines into a vector line. Selector Select or reorder the elements of the input vector. Switch Switch between two inputs. Sinks slref.book Page 15 Friday, June 21, 2002 5:58 PM Sinks The Sinks library contains blocks that display or write block output. Block Name Purpose Display Show the value of the input. Outport Create an output port for a subsystem or an external output. Scope, Floating Scope Display signals generated during a simulation. Stop Simulation Stop the simulation when the input is nonzero. Terminator Terminate an unconnected output port. To File Write data to a file. To Workspace Write data to a variable in the workspace. XY Graph Display an X-Y plot of signals using a MATLAB figure window. 1-15 1 Block Libraries 1-16 slref.book Page 16 Friday, June 21, 2002 5:58 PM Sources The Sources library contains blocks that generate signals. Block Name Purpose Band-Limited White Noise Introduce white noise into a continuous system. Chirp Signal Generate a sine wave with increasing frequency. Clock Display and provide the simulation time. Constant Generate a constant value. Digital Clock Generate simulation time at the specified sampling interval. From File Read data from a file. From Workspace Read data from a variable defined in the workspace. Ground Ground an unconnected input port. Inport Create an input port for a subsystem or an external input. Pulse Generator Generate pulses at regular intervals. Ramp Generate a constantly increasing or decreasing signal. Random Number Generate normally distributed random numbers. Repeating Sequence Generate a repeatable arbitrary signal. Signal Builder Generate an arbitrary piecewise linear signal. Signal Generator Generate various waveforms. Sources slref.book Page 17 Friday, June 21, 2002 5:58 PM Sine Wave Generate a sine wave. Step Generate a step function. Uniform Random Number Generate uniformly distributed random numbers. Block Name Purpose 1-17 1 Block Libraries 1-18 slref.book Page 18 Friday, June 21, 2002 5:58 PM User-Defined Functions The User-Defined Functions library contains blocks that allow you to define the function that relates inputs to outputs. Block Name Purpose Fcn Apply a specified expression to the input. MATLAB Fcn Apply a MATLAB function or expression to the input. S-Function Access an S-function. S-Function Builder Builds a C MEX S-function from specifications and code that you supply. Blocksets and Toolboxes slref.book Page 19 Friday, June 21, 2002 5:58 PM Blocksets and Toolboxes The Blocksets and Toolboxes library contains the Extras block library of specialized blocks. 1-19 1 Block Libraries 1-20 slref.book Page 20 Friday, June 21, 2002 5:58 PM Demos Library The Demos library contains useful MATLAB and Simulink demos. 2 - States – the number of discrete and continuous states. slref.book Page 1 Friday, June 21, 2002 5:58 PM Simulink Blocks What Each Block Reference Page Contains Blocks appear in alphabetical order and contain some or all of this information: ? The block name, icon, and block library that contains the block The purpose of the block A description of the block’s use The data types and numeric type (complex or real) accepted and generated by the block The block dialog box and parameters The rules for some or all of these topics, as they apply to blocks with fixed-point capabilities: - Converting block parameters from double-precision numbers to Fixed-Point Blockset data types - Converting the input data type(s) to the output data type - Performing block operations between inputs and parameters The block characteristics, including some or all of these, as they apply to the block: - Direct Feedthrough – Whether the block or any of its ports has direct feedthrough. For more information, see Algebraic Loops. - Sample Time – How the block’s sample time is determined, whether by the block itself (as is the case with discrete and continuous blocks) or inherited from the block that drives it or is driven by it. For more information, see Sample Time. - Scalar Expansion – Whether or not scalar values are expanded to arrays. Some blocks expand scalar inputs and/or parameters as appropriate. For more information, see Scalar Expansion of Inputs and Parameters. 2 Simulink Blocks 2-2 slref.book Page 2 Friday, June 21, 2002 5:58 PM - Dimensionalized– whether the block accepts and/or generates multidimensional signal arrays. For more information, see Signal Basics. - Zero Crossings – whether the block detects zero-crossing events. For more information, see Zero Crossing Detection. To view a table that summarizes the data types supported by the blocks in the Simulink and Fixed-Point block libraries, execute the following command at the MATLAB command line: showblockdatatypetable Abs slref.book Page 3 Friday, June 21, 2002 5:58 PM 2Abs Purpose Output the absolute value of the input Library Simulink Math Operations and Fixed-Point Blockset Math Description The Abs block outputs the absolute value of the input. For signed data types, the absolute value of the most negative value is problematic since it is not representable by the data type. In this case, the behavior of the block is controlled by the Saturate on integer overflow check box. If checked, the absolute value of the data type saturates to the most positive representable value. If not checked, the absolute value of the most negative value represented by the data type has no effect. For example, suppose the block input is an 8-bit signed integer. The range of this data type is from -128 to 127, and the absolute value of -128 is not representable. If the Saturate on integer overflow check box is selected, then the absolute value of -128 is 127. If it is not selected, then the absolute value of -128 remains at -128. Data Type Support An Abs block accepts a real- or complex-valued input of any data type except int64 and uint64 and outputs a real value of the same data type as the input. Dialog Box Saturate on integer overflow When selected, the block maps signed integer input elements corresponding to the most negative value of that data type to the most positive value of that data type. For 8-bit integers, -128 is mapped to 127. For 16-bit integers, -32768 maps to 32767. |u| Abs 2-3 Abs slref.book Page 4 Friday, June 21, 2002 5:58 PM For 32-bit integers, -2147483648 maps to 2147483647. When not selected, the block does not act on signed integer input elements corresponding to the most negative value of that data type. For 8-bit integers, -128 remains -128. For 16-bit integers, -32768 remains -32768. For 32-bit integers, -2147483648 remains -2147483648. Enable zero crossing detection Select to enable zero crossing detection. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Characteristics Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from driving block Zero Crossing No, unless Enable zero crossing detection is selected 2-4 Action Port slref.book Page 5 Friday, June 21, 2002 5:58 PM 2Action Port Purpose Implement the Action subsystems used by if and switch control flow statements in Simulink Library Ports & Subsystems Description Action Port blocks implement Action subsystems used in if and switch control flow statements. See the references for the If and Switch Case blocks for examples using Action Port blocks. Use Action Port blocks to create Action subsystems as follows: 1 Place a subsystem in the system containing the If or Switch Case block. You can use an ordinary subsystem or an atomic subsystem. In either case, the resulting Action subsystem is atomic. 2 Add an Action Port to the new subsystem. This adds an input port named Action to the subsystem, which is now an Action subsystem. Action subsystems execute their programming in response to the conditional outputs of an If or Switch Case block. Use Action subsystems as follows: 1 Create an Action subsystem for each output port configured for an If or Switch Case block. 2 Connect each output port (if, else, or elseif ports for the If block; case or default ports for the Switch Case block) to the Action port on an Action subsystem. When the connection is made, the icon for the subsystem and the Action Port block it contains are changed to the name of the output port for the If or Switch Case block (i.e., if{ }, else{ }, elseif{ }, case{ }, or default{ }). 3 Open the new subsystem and add the diagram that you want to execute in response to the condition this subsystem covers. The Action Port block has only the States when execution is resumed parameter in its parameters dialog. If you set this field to held (the default value) for an Action Port block, the states of its Action subsystem are retained between calls even if other member Action subsystems of an if-else or switch control flow statement are called. If you set the States when execution is resumed field to reset, the states of a member Action subsystem are reset to 2-5 Action Port slref.book Page 6 Friday, June 21, 2002 5:58 PM initial values when it is reenabled. See the “Parameters and Dialog Box” section following for more details. Note All blocks in an Action subsystem driven by an If or Switch Case block must run at the same rate as the driving block. Data Type Support There are no data inputs or outputs for Action Port blocks. Parameters and Dialog Box States when execution is resumed Specifies how to handle internal states when the subsystem of this Action Port block is reenabled. Set this field to held (the default value) to make sure that the Action subsystem states retain their previous values when the subsystem is reenabled. Otherwise, set this field to reset if you want the states of the Action subsystem to be reinitialized when the subsystem is reenabled. Reenablement of a subsystem occurs when it is called and the condition of the call is true after having been previously false. In the following example, the Action Port blocks for both Action subsystems A and B have the States when execution is resumed parameter set to reset. 2-6 Action Port slref.book Page 7 Friday, June 21, 2002 5:58 PM If case[1] is true, Action subsystem A is called. This implies that the default condition is false. When B is later called for the default condition, its states are reset. In the same way, Action subsystem A’s states are reset when it is called right after Action subsystem B is called. Repeated calls to a case’s Action subsystem do not reset its states. If A is called again right after a previous call to A, this does not reset A’s states because its condition, case[1], was not previously false. The same applies to B. Characteristics Sample Time Inherited from driving If or Switch Case block. 2-7 Algebraic Constraint slref.book Page 8 Friday, June 21, 2002 5:58 PM 2Algebraic Constraint Purpose Constrain the input signal to zero Library Math Operations Description The Algebraic Constraint block constrains the input signal f(z) to zero and outputs an algebraic state z. The block outputs the value necessary to produce a zero at the input. The output must affect the input through some feedback path. This enables you to specify algebraic equations for index 1 differential/ algebraic systems (DAEs). By default, the Initial guess parameter is zero. You can improve the efficiency of the algebraic loop solver by providing an Initial guess for the algebraic state z that is close to the solution value. For example, the following model solves these equations. z2 + z1 = 1 z2 – z1 = 1 The solution is z2 = 1, z1 = 0, as the Display blocks show. Data Type Support An Algebraic Constraint block accepts and outputs real values of type double. 2-8 Algebraic Constraint slref.book Page 9 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Initial guess An initial guess for the solution value. The default is 0. Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-9 Assertion slref.book Page 10 Friday, June 21, 2002 5:58 PM 2Assertion Purpose Check whether a signal is nonzero Library Model Verification Description The Assertion block checks whether any of the elements of the signal at its input is nonzero. If any element is nonzero, the block does nothing. If any element is zero, the block halts the simulation, by default, and displays an error message. The block’s parameter dialog box allows you to specify that the block should display an error message when the assertion fails but allow the simulation to continue. specify an M-expression to be evaluated when the assertion fails enable or disable the assertion You can also use the Advanced Pane of the Simulation Parameters dialog box to enable or disable all Assertion blocks in a model. The Assertion block and its companion blocks in the Model Verification library are intended to facilitate creation of self-validating models. For example, you can use model verification blocks to test that signals do not exceed specified limits during simulation. When you are satisfied that a model is correct, you can turn error-checking off by disabling the verification blocks. You do not have to physically remove them from the model. If you need to modify a model, you can temporarily turn the verification blocks back on to ensure that your changes do not break the model. Data Type Support The Assertion block accepts input signals of any dimensions and any data type, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box 2-10 Assertion slref.book Page 11 Friday, June 21, 2002 5:58 PM Enable Assertion Unchecking this option disables the Assertion block, that is, causes the model to behave as if the Assertion block did not exist. The Advanced Pane of the Simulation Parameters dialog box allows you to enable or disable all Assertion blocks in a model regardless of the setting of this option. Simulation callback when assertion fails An M-expression to be evaluated when the assertion fails. Stop simulation when assertion fails If checked, this option causes the Assertion block to halt the simulation when the block’s input is zero and display an error message in Simulink’s Simulation Diagnostics viewer. Otherwise, the block displays a warning message in the MATLAB command window and continues the simulation. Characteristics Direct Feedthrough No Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-11 Assignment slref.book Page 12 Friday, June 21, 2002 5:58 PM 2Assignment Purpose Assign values to specified elements of a signal Library Math Operations Description The Assignment block assigns values to specified elements of the signal connected to its U1 port. You can specify the indices of the elements to be assigned values either by entering the indices in the block’s dialog box or by connecting an external indices source or sources to the block. You specify the values to be assigned to the signal at U1 by connecting a values signal to the Assignment block’s U2 port. The block replaces the specified elements of U1 with elements from U2, leaving unassigned elements unchanged, and outputs the result. You can use the block to assign values to scalar, vector, or matrix signals. Assigning Values to a Vector Signal To assign values to a scalar or vector signal, set the block's Input Type parameter to Vector. The block’s dialog box displays a Source of element indices parameter. You can specify the indices source as Internal or External. If you select Internal, the block dialog box displays an Elements field. Use this field to enter the element indices. If you specify External as the source of element indices, the block displays an input port named E. Connect an external index source to this port. The index source can specify any of the following values as indices: -1 (internal source only) Replaces every element of U1 with the corresponding element of U2. Index of a single element specified as a positive integer Assigns a value to the specified element of U1, leaving the values of all the other elements unchanged. A set of indices specified as a vector Replaces the specified set of elements of U1 with elements of U2. The width of the values signal connected to U2 must be the same as the width of the indices vector. For example, if the indices vector contains two indices, U2 must be a two-element vector of values. The block assigns the first element of U2 to the element of U1 specified by the first index, the second element of U2 to the U1 element specified by the second index, and so on. 2-12 Assignment slref.book Page 13 Friday, June 21, 2002 5:58 PM Assigning Values to a Matrix Signal To assign values to a matrix signal, set the Input Type parameter to Matrix. If you specify the Input Type of the Assignment block as Matrix, the block’s dialog box displays a Source of row indices parameter and a Source of column indices parameter. You can specify either or both of these parameters as Internal or External. If you specify the row and/or column index source as internal, the block displays a Rows and/or Columns field. Enter the row or column indices of the elements of U1 to be assigned values into the corresponding field. If you specify the row and/or column index source as External, the block displays an input port labeled R and/or an input port labeled C. Connect an external source of indices to each indices port. A row or column indices source can have any of the following values: -1 (internal source only) Specifies all rows or columns of U1. Single row or index value Specifies a single row or column of U1. Vector of row or column indices Specifies a set of rows or columns of U1. The block assigns values from U2 to the specified elements of U1 in column-major order. In particular, the block assigns the first element of the first row of U2 to the first specified element in the first specified row in U1. It assigns the second element of the first row of U2 to the second specified element of the first specified row of U1, and so on. To enable all specified elements to be assigned values, U2 must be an N-by-M matrix where N is the width of the row indices vector and M is the width of the column indices vector. For example, suppose that you specify a vector of row indices of size 2 and a vector of column indices of size 4. Then U2 must be a 2-by-4 matrix signal. When determining the dimensions of U2, count a single row or column index as a vector of size 1 and -1 as equivalent to a vector of indices of the same width as the row or dimension size of U1. For example, suppose your row and column index sources specify a single row index and two column indices. Then U2 must by a 1-by-2 matrix. 2-13 Assignment slref.book Page 14 Friday, June 21, 2002 5:58 PM Note An Assignment block whose Input type is Matrix accepts only matrix signals at its U1 and U2 ports. Simulink displays an error dialog box if you update or simulate a model that connects a vector signal to either the U1 or U2 port of an Assignment block whose Input type is Matrix. Iterated Assignment You can use the Assignment block to assign values computed in an iterator (For or While) loop to a vector or matrix signal. To do this, use an iterator block to generate the indices required by the Assignment block (or two iterator blocks if you need to compute row and column indices separately). For example, the following model uses a For block to a create a vector signal each of whose elements equals 3*i where i is the index of the element. Data Type Support The Assignment block accepts signals of any data type, including fixed-point data types. 2-14 Assignment slref.book Page 15 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Input Type You can select either Vector or Matrix input. If you select Vector, the Source of element indices field appears. If you select Matrix, the Source of row indices and Source of column indices fields appear. Source of element indices You can specify either Internal (the default) or External as the source for the indices of the elements to be assigned values. If you select Internal, the block dialog box displays an Elements field (see following). Use this field to enter the element indices. If you select External, the block displays an input port labeled E. Connect the external index source to this port. Elements This field appears only if you selected Internal for the Source of element indices field. It specifies the indices of elements in U1 to be replaced by elements in U2. The value of this parameter can be -1, a positive integer specifying a single index, or a vector of positive integers specifying a set of indices (e.g., [1,3,5,6]). Source of row indices Either Internal (the default) or External. If you select Internal, the Rows field appears. Enter the indices of the rows to be assigned values in this field. If you select External, the block displays an input port labeled R. Connect an external source of row indices to this port. Rows This field appears only if you select Internal for the Source of row indices field. Valid values are -1 (all rows), a single row index, or a vector of row indices (e.g., [1,3,5,6]). 2-15 Assignment slref.book Page 16 Friday, June 21, 2002 5:58 PM Source of column indices Either Internal (the default) or External. If you select Internal, the Columns field appears. Enter the indices of the columns to be assigned values in this field. If you select External, the block displays an input port labeled C. Connect an external source of column indices to this port. Columns This field appears only if you selected internal for the Source of column indices field. Valid values are -1 (all columns), a single column index, or a vector of column indices (e.g., [1,3,5,6]). Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-16 Backlash slref.book Page 17 Friday, June 21, 2002 5:58 PM 2Backlash Purpose Model the behavior of a system with play Library Discontinuities Description The Backlash block implements a system in which a change in input causes an equal change in output. However, when the input changes direction, an initial change in input has no effect on the output. The amount of side-to-side play in the system is referred to as the deadband. The deadband is centered about the output. This figure shows the block’s initial state, with the default deadband width of 1 and initial output of 0. A system with play can be in one of three modes: Disengaged – In this mode, the input does not drive the output and the output remains constant. Engaged in a positive direction – In this mode, the input is increasing (has a positive slope) and the output is equal to the input minus half the deadband width. Engaged in a negative direction – In this mode, the input is decreasing (has a negative slope) and the output is equal to the input plus half the deadband width. If the initial input is outside the deadband, the Initial output parameter value determines whether the block is engaged in a positive or negative direction, and the output at the start of the simulation is the input plus or minus half the deadband width. For example, the Backlash block can be used to model the meshing of two gears. The input and output are both shafts with a gear on one end, and the output shaft is driven by the input shaft. Extra space between the gear teeth introduces play. The width of this spacing is the Deadband width parameter. If the system is disengaged initially, the output (the position of the driven gear) is defined by the Initial output parameter. deadband 00.51.0-0.5-1.0 Output 2-17 Backlash slref.book Page 18 Friday, June 21, 2002 5:58 PM The following figures illustrate the block’s operation when the initial input is within the deadband. The first figure shows the relationship between the input and the output while the system is in disengaged mode (and the default parameter values are not changed). The next figure shows the state of the block when the input has reached the end of the deadband and engaged the output. The output remains at its previous value. The final figure shows how a change in input affects the output while they are engaged. If the input reverses its direction, it disengages from the output. The output remains constant until the input either reaches the opposite end of the deadband or reverses its direction again and engages at the same end of the deadband. Now, as before, movement in the input causes equal movement in the output. For example, if the deadband width is 2 and the initial output is 5, the output, y, at the start of the simulation is as follows: 5 if the input, u, is between 4 and 6 u + 1 if u < 4 u - 1 if u > 6 00.51.0-0.5-1.0 Input within deadband 00.51.0-0.5-1.0 Input reaches end of deadband (engaged) 00.51.0-0.5-1.0 Input moves in positive direction. Output = Input - (deadband width/2) 2-18 Backlash slref.book Page 19 Friday, June 21, 2002 5:58 PM This sample model and the plot that follows it show the effect of a sine wave passing through a Backlash block. The Backlash block parameters are unchanged from their default values (the deadband width is 1 and the initial output is 0). Notice in the plotted output following that the Backlash block output is zero until the input reaches the end of the deadband (at 0.5). Now the input and output are engaged and the output moves as the input does until the input changes direction (at 1.0). When the input reaches 0, it again engages the output at the opposite end of the deadband. Data Type Support A Backlash block accepts and outputs real values of type double. Input engages in positive direction. Change Input disengages. Change in input does not affect output. Input engages in negative direction. Change in input causes equal change in output. Input disengages. Change in input does not affect output. A B C D A B C D Input Output 2-19 Backlash slref.book Page 20 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Deadband width The width of the deadband. The default is 1. Initial output The initial output value. The default is 0. Enable zero crossing detection Select to enable use of zero crossing detection to detect engagement with lower and upper thresholds. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Yes Dimensionalized Yes Zero Crossing Yes, if Enable zero crossing detection is selected. 2-20 Band-Limited White Noise slref.book Page 21 Friday, June 21, 2002 5:58 PM 2Band-Limited White Noise Purpose Introduce white noise into a continuous system Library Sources Description The Band-Limited White Noise block generates normally distributed random numbers that are suitable for use in continuous or hybrid systems. The primary difference between this block and the Random Number block is that the Band-Limited White Noise block produces output at a specific sample rate, which is related to the correlation time of the noise. Theoretically, continuous white noise has a correlation time of 0, a flat power spectral density (PSD), and a covariance of infinity. In practice, physical systems are never disturbed by white noise, although white noise is a useful theoretical approximation when the noise disturbance has a correlation time that is very small relative to the natural bandwidth of the system. In Simulink, you can simulate the effect of white noise by using a random sequence with a correlation time much smaller than the shortest time constant of the system. The Band-Limited White Noise block produces such a sequence. The correlation time of the noise is the sample rate of the block. For accurate simulations, use a correlation time much smaller than the fastest dynamics of the system. You can get good results by specifying where f max is the bandwidth of the system in rad/sec. The Algorithm Used in the Block Implementation To produce the correct intensity of this noise, the covariance of the noise is scaled to reflect the implicit conversion from a continuous PSD to a discrete noise covariance. The appropriate scale factor is 1/tc, where tc is the correlation time of the noise. This scaling ensures that the response of a continuous system to the approximate white noise has the same covariance as the system would have to true white noise. Because of this scaling, the covariance of the signal from the Band-Limited White Noise block is not the same as the Noise power (intensity) dialog box parameter. This parameter is actually the height of the PSD of the white noise. While the covariance of true t c 1 100 --------- 2π f max -----------≈ 2-21 Band-Limited White Noise slref.book Page 22 Friday, June 21, 2002 5:58 PM white noise is infinite, the approximation used in this block has the property that the covariance of the block output is the Noise Power divided by tc. Data Type Support A Band-Limited White Noise block outputs real values of type double. Parameters and Dialog Box Noise power The height of the PSD of the white noise. The default value is 0.1. Sample time The correlation time of the noise. The default value is 0.1. See “Specifying Sample Time” in the online documentation for more information. Seed The starting seed for the random number generator. The default value is 23341. Characteristics Sample Time Discrete Scalar Expansion Of Noise power and Seed parameters and output Dimensionalized Yes Zero Crossing No 2-22 Bitwise Logical Operator slref.book Page 23 Friday, June 21, 2002 5:58 PM 2Bitwise Logical Operator Purpose Logically mask, invert, or shift the bits of an unsigned integer signal Library Math Operations Description The Bitwise Logical Operator performs any of a set of logical masking (AND, OR, XOR), inversion (NOT), and shifting (SHIFT_LEFT, SHIFT_RIGHT) operations on the bits of an unsigned integer signal. The block’s parameter dialog lets you choose the operation to perform. You can use the Bitwise Logical Operator block to perform bitwise operations on arrays of unsigned integer signals. Masking Operations The Bitwise Logical Operator’s masking operations (AND, OR, XOR) logically combine each bit of the input signal with the corresponding bit of a constant operand called the mask. You specify the mask’s value and the logical operation via the block’s parameter dialog. The mask and the logical operation determine the value of each bit of the output signal as follows. Operation Mask Bit Input Bit Output Bit AND 111 100 010 000 OR 111 011 101 000 XOR 110 101 011 000 2-23 Bitwise Logical Operator slref.book Page 24 Friday, June 21, 2002 5:58 PM A Bitwise Operator block accepts arrays for both signals and masks. In general, the mask must have the same dimensionality as the input signal, i.e., a 5-by-4 input signal requires a 5-by-4 mask. The block applies each element of the mask to the corresponding input element. The following exceptions exist to the general rule that the input and the mask must have the same dimensionality: If the input is scalar and the mask is an array, the block outputs an array consisting of the result of applying each mask element to the input. If the input is an array and the mask is a scalar, the block outputs an array consisting of the result of applying the mask to each element of the input. If the input is a 1-D array (i.e., a vector), the mask can be a row or a column vector. When selecting a masking operation, use the Second operand field of the block’s parameter dialog to specify the mask or masks. You can enter any MATLAB expression that evaluates to a scalar, matrix, or cell array. Use strings in your mask expression to specify hexadecimal values (e.g., 'FFFF'). If necessary, the block truncates the high-order bits of the mask value to fit the word size of the input signal’s data type. For example, suppose you specify the mask value as 'FF00' and the input signal is of type uint8. The block truncates the specified value to '00'. You can use matrices to specify hexadecimal masks, but beware of the pitfalls of such an approach. For example, the MATLAB expression['00' 'FF'] represents a single string 'FF00' rather than two strings. Similarly, the expression ['FFFF'; '0000'] represents two strings but the expression ['FFFF'; '00'] is invalid and hence causes MATLAB to signal an error. You can avoid these pitfalls by always using cell arrays to specify hexadecimal values, or to mix decimal and hexadecimal values, for masks. For example, the following model 2-24 Bitwise Logical Operator slref.book Page 25 Friday, June 21, 2002 5:58 PM uses a cell array ({'F0' '0F'}) to specify hexadecimal values for the masks for a two-element input vector. Inversion Operation The Bitwise Logical Operator’s NOT operation inverts the bits of the input signal. In particular, it performs a one’s complement operation on the input signal to produce an output signal each of whose bits is 1 if the corresponding input bit is 0 and vice versa. Shift Operations The Bitwise Logical Operator’s shift operations, SHIFT_LEFT and SHIFT_RIGHT, shift the bits of the input signal left or right to produce the output signal. You specify the amount of the shift in the Second operand field of the block’s parameter dialog. If you specify a shift amount that is greater than the word size of the input signal, the block uses the input word size as the shift amount, resulting in a zero output signal. The dimensionality rules that apply to masks and inputs also apply to shift factors and inputs. Data Type Support The Bitwise Logical Operator accepts real-valued inputs of any of the unsigned integer data types: uint8, uint16, uint32. All the elements of a vector input must be of the same data type. The output signal is of the same data type as the input. Parameters and Dialog Box Bitwise operator Specifies the bitwise operator applied to the input signal. 2-25 Bitwise Logical Operator slref.book Page 26 Friday, June 21, 2002 5:58 PM Second operand Specifies the mask operand for masking operations and the shift amount for shift operations. You can enter any MATLAB expression that evaluates to a scalar, matrix, or cell array. If the block input is an array, the block applies each parameter value to the corresponding element of the input. If the input is a scalar, the block outputs an array, each of whose elements is the result of applying the corresponding parameter value to the input. (If the Bitwise operator is NOT, this parameter does not appear.) Characteristics Sample Time Inherited from driving block Scalar Expansion Of inputs and Second operand parameter Dimensionalized Yes States None Zero Crossing No Direct Feedthrough Yes 2-26 Bus Creator slref.book Page 27 Friday, June 21, 2002 5:58 PM 2Bus Creator Purpose Create a signal bus Library Signal Routing Description The Bus Creator block combines a set of signals into a bus, i.e., a group of signals represented by a single line in a block diagram. The Bus Creator block, when used in conjunction with the Bus Selector block, allows you to reduce the number of lines required to route signals from one part of a diagram to another. This makes your diagram easier to understand. To bundle a group of signals with a Bus Creator block, set the block’s Number of inputs ports parameter to the number of signals in the group. The block displays the number of ports that you specify. Connect the signals to be grouped to the resulting input ports. You can connect any type of signal to the inputs, including other bus signals. To ungroup the signals, connect the block’s output port to a Bus Selector port. Naming Signals The Bus Creator block assigns a name to each signal on the bus that it creates. This allows you to refer to signals by name when searching for their sources (see “Browsing Bus Signals” on page 2-28) or selecting signals for connection to other blocks. The block offers two bus signal naming options. You can specify that each signal on the bus inherit the name of the signal connected to the bus (the default) or that each input signal must have a specific name. To specify that bus signals inherit their names from input ports, select Inherit bus signal names from input ports from the list box on the block’s parameter dialog box. The names of the inherited bus signals appear in the Signals in bus list box. 2-27 Bus Creator slref.book Page 28 Friday, June 21, 2002 5:58 PM The Bus Creator block generates names for bus signals whose corresponding inputs do not have names. The names are of the form signaln where n is the number of the port to which the input signal is connected. You can change the name of any signal by editing its name on the block diagram or in Simulink’s Signal Properties dialog box. If you change a name in this way while the Bus Creator block’s dialog box is open, you must close and reopen the dialog box or click the Refresh button next to the Signals in bus list to update the name in the dialog box. To specify that the bus inputs must have specific names, select Require input signal names to match signals below from the list box on the block’s parameter dialog box. The block’s parameter dialog box displays the names of the signals currently connected to its inputs or a generated name (for example, signal2) for an anonymous input. You can now use the parameter dialog box to change the required names of the block’s inputs. To change the required signal name, select the signal in the Signals in bus list. The selected signal’s name appears in the Rename selected signal field. Edit the name in the field and select the parameter dialog box’s Apply button to apply your edits or the OK button to apply the edits and close the dialog box. Browsing Bus Signals The Signals in bus list on a Bus Creator block’s parameter dialog displays a list of the signals entering the block. A plus sign (+) sign next to a signal indicates that the signal is itself a bus. You can display its contents by clicking the plus sign. If the expanded input includes bus signals, plus signs appear next to the names of those bus signals. You can expand them as well. In this way, you can view all signals entering the block, including those entering via buses. To find the source of any signal entering the block, select the signal in the Signals in bus list and click the adjacent Find button. Simulink opens the subsystem containing the signal source, if necessary, and highlights the source’s icon. Note Simulink hides the name of a Bus Creator block when you copy it from the Simulink library to a model. 2-28 Bus Creator slref.book Page 29 Friday, June 21, 2002 5:58 PM Data Type Support A Bus Creator block accepts and outputs real or complex values of any data type, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box Signal naming options Select Inherit bus signal names from input ports to assign input signal names to the corresponding bus signals. Select Require input signal names to match signals below to specify that inputs must have the names listed in the Signals in bus list. Selecting this option enables the Rename selected signal field. Number of inputs Specifies the number of input ports on this block. Signals in bus The Signals in bus list box shows the signals in the output bus. A plus sign (+) next to a signal name indicates that the signal is itself a bus. Click the plus sign to display the subsidiary bus signals. Click the Refresh button to update the list after editing the name of an input signal. Click the Find button to highlight the source of the currently selected signal. 2-29 Bus Creator slref.book Page 30 Friday, June 21, 2002 5:58 PM Rename selected signal Lists the name of the signal currently selected in the Signals in bus list when the Require input signal names to match signals below option is selected. Edit this field to change the name of the currently selected signal. 2-30 Bus Selector slref.book Page 31 Friday, June 21, 2002 5:58 PM 2Bus Selector Purpose Select signals from an incoming bus Library Signal Routing Description The Bus Selector block accepts input from a Bus Creator block or another Bus Selector block. This block has one input port. The number of output ports depends on the state of the Muxed output check box. If you select Muxed output, the signals are combined at the output port and there is only one output port; otherwise, there is one output port for each selected signal. Note Simulink hides the name of a Bus Selector block when you copy it from the Simulink library to a model. Data Type Support A Bus Selector block accepts and outputs real or complex values of any data type, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box 2-31 Bus Selector slref.book Page 32 Friday, June 21, 2002 5:58 PM Signals in the bus The Signals in the bus list shows the signals in the input bus. Use the Select>> button to select output signals. To find the source of any signal entering the block, select the signal in the Signals in the bus list and click the adjacent Find button. Simulink opens the subsystem containing the signal source, if necessary, and highlights the source’s icon. Selected signals The Selected signals list box shows the output signals. You can order the signals by using the Up, Down, and Remove buttons. Port connectivity is maintained when the signal order is changed. If an output signal listed in the Selected signals list box is not an input to the Bus Selector block, the signal name is preceded by three question marks (???). The signal label at the output port is automatically set by the block except when you select the Muxed output check box. If you try to change this label, you get an error message stating that you cannot change the signal label of a line connected to the output of a Bus Selector block. 2-32 Check Discrete Gradient slref.book Page 33 Friday, June 21, 2002 5:58 PM 2Check Discrete Gradient Purpose Check that the absolute value of the difference between successive samples of a discrete signal is less than an upper bound Library Model Verification Description The Check Discrete Gradient block checks each signal element at its input to determine whether the absolute value of the difference between successive samples of the element is less than an upper bound. The block’s parameter dialog box allows you to specify the value of the upper bound (1 by default). If the verification condition is true, the block does nothing. Otherwise the block halts the simulation, by default, and displays an error message in Simulink’s Diagnostic Viewer. You can also use the Advanced Pane of the Simulation Parameters dialog box to enable or disable all model verification blocks, including Check Discrete Gradient blocks, in a model. The Check Discrete Gradient block and its companion blocks in the Model Verification library are intended to facilitate creation of self-validating models. For example, you can use model verification blocks to test that signals do not exceed specified limits during simulation. When you are satisfied that a model is correct, you can turn error-checking off by disabling the verification blocks. You do not have to physically remove them from the model. If you need to modify a model, you can temporarily turn the verification blocks back on to ensure that your changes do not break the model. Data Type Support The Check Discrete Gradient block accepts input signals of any dimensions and any built-in data type except int64 and uint64. 2-33 Check Discrete Gradient slref.book Page 34 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Maximum gradient Upper bound on the gradient of the discrete input signal. Enable Assertion Unchecking this option disables the Check Discrete Gradient block, that is, causes the model to behave as if the block did not exist. The Advanced Pane of the Simulation Parameters dialog box allows you to enable or disable all Check Discrete Gradient blocks in a model regardless of the setting of this option. Simulation callback when assertion fails An M-expression to be evaluated when the assertion fails. Stop simulation when assertion fails If checked, this option causes the Check Discrete Gradient block to halt the simulation when the block’s input is zero and display an error message in Simulink’s Simulation Diagnostics viewer. Otherwise, the block displays a warning message in the MATLAB command window and continues the simulation. Output Assertion Signal If checked, this option causes the block to output a Boolean signal that is true (1) at each time step if the assertion succeeds and false (0) if the assertion fails. The data type of the output signal is boolean if you have selected the Boolean logic signals option on the Advanced pane of 2-34 Check Discrete Gradient slref.book Page 35 Friday, June 21, 2002 5:58 PM Simulink’s Simulation Parameters dialog box. Otherwise the data type of the output signal is double. Select Icon Type Type of icon used to display this block in a block diagram: either graphic or text. The graphic option displays a graphical representation of the assertion condition on the icon. The text option displays a mathematical expression that represents the assertion condition. If the icon is too small to display the expression, the text icon displays an exclamation point. To see the expression, enlarge the icon. Characteristics Direct Feedthrough No Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-35 Check Dynamic Gap slref.book Page 36 Friday, June 21, 2002 5:58 PM 2Check Dynamic Gap Purpose Check that a gap of possibly varying width occurs in the range of a signal’s amplitudes Library Model Verification Description The Check Dynamic Gap block checks that a gap of possibly varying width occurs in the range of a signal’s amplitudes. The test signal is the signal connected to the input labeled sig. The inputs labeled min and max specify the lower and upper bounds of the dynamic gap, respectively. If the verification condition is true, the block does nothing. If not, the block halts the simulation, by default, and displays an error message. The Check Dynamic Gap block and its companion blocks in the Model Verification library are intended to facilitate creation of self-validating models. For example, you can use model verification blocks to test that signals do not exceed specified limits during simulation. When you are satisfied that a model is correct, you can turn error-checking off by disabling the verification blocks. You do not have to physically remove them from the model. If you need to modify a model, you can temporarily turn the verification blocks back on to ensure that your changes do not break the model. Data Type Support The Check Dynamic Gap block accepts input signals of any dimensions and any built-in data type except int64 and uint64. All three input signals must have the same dimension and data type. If the inputs are nonscalar, the block checks each element of the input test signal to the corresponding elements of the reference signals. 2-36 Check Dynamic Gap slref.book Page 37 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Enable Assertion Unchecking this option disables the Check Dynamic Gap block, that is, causes the model to behave as if the block did not exist. The Advanced Pane of the Simulation Parameters dialog box allows you to enable or disable all model verification blocks in a model, including Check Dynamic Gap blocks, regardless of the setting of this option. Simulation callback when assertion fails An M-expression to be evaluated when the assertion fails. Stop simulation when assertion fails If checked, this option causes the Assertion block to halt the simulation when the block’s input is zero and display an error message in Simulink’s Simulation Diagnostics viewer. Otherwise, the block displays a warning message in the MATLAB command window and continues the simulation. Output Assertion Signal If checked, this option causes the block to output a Boolean signal that is true (1) at each time step if the assertion succeeds and false (0) if the assertion fails. The data type of the output signal is boolean if you have selected the Boolean logic signals option on the Advanced pane of Simulink’s Simulation Parameters dialog box. Otherwise the data type of the output signal is double. 2-37 Check Dynamic Gap slref.book Page 38 Friday, June 21, 2002 5:58 PM Select Icon Type Type of icon used to display this block in a block diagram: either graphic or text. The graphic option displays a graphical representation of the assertion condition on the icon. The text option displays a mathematical expression that represents the assertion condition. If the icon is too small to display the expression, the text icon displays an exclamation point. To see the expression, enlarge the icon. Characteristics Direct Feedthrough No Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-38 Check Dynamic Lower Bound slref.book Page 39 Friday, June 21, 2002 5:58 PM 2Check Dynamic Lower Bound Purpose Check that one signal is always less than another signal Library Model Verification Description The Check Dynamic Lower Bound block checks that the amplitude of a test signal is less than the amplitude of a reference signal at the current time step. The test signal is the signal connected to the input labeled sig. If the verification condition is true, the block does nothing. If not, the block halts the simulation, by default, and displays an error message. The Check Dynamic Lower Bound block and its companion blocks in the Model Verification library are intended to facilitate creation of self-validating models. For example, you can use model verification blocks to test that signals do not exceed specified limits during simulation. When you are satisfied that a model is correct, you can turn error-checking off by disabling the verification blocks. You do not have to physically remove them from the model. If you need to modify a model, you can temporarily turn the verification blocks back on to ensure that your changes do not break the model. Data Type Support The Check Dynamic Lower Bound block accepts input signals of any dimensions and any built-in data type except int64 and uint64. The test and the reference signals must have the same dimensions and data type. If the inputs are nonscalar, the block checks each element of the input test signal to the corresponding elements of the reference signal. Parameters and Dialog Box 2-39 Check Dynamic Lower Bound slref.book Page 40 Friday, June 21, 2002 5:58 PM Enable Assertion Unchecking this option disables the Check Dynamic Lower Bound block, that is, causes the model to behave as if the block did not exist. The Advanced Pane of the Simulation Parameters dialog box allows you to enable or disable all model verification blocks, including Check Dynamic Lower Bound blocks, in a model regardless of the setting of this option. Simulation callback when assertion fails An M-expression to be evaluated when the assertion fails. Stop simulation when assertion fails If checked, this option causes the Check Dynamic Lower Bound block to halt the simulation when the block’s input is zero and display an error message in Simulink’s Simulation Diagnostics viewer. Otherwise, the block displays a warning message in the MATLAB command window and continues the simulation. Output Assertion Signal If checked, this option causes the block to output a Boolean signal that is true (1) at each time step if the assertion succeeds and false (0) if the assertion fails. The data type of the output signal is boolean if you have selected the Boolean logic signals option on the Advanced pane of Simulink’s Simulation Parameters dialog box. Otherwise the data type of the output signal is double. Select Icon Type Type of icon used to display this block in a block diagram: either graphic or text. The graphic option displays a graphical representation of the assertion condition on the icon. The text option displays a mathematical expression that represents the assertion condition. If the icon is too small to display the expression, the text icon displays an exclamation point. To see the expression, enlarge the icon. 2-40 Check Dynamic Lower Bound slref.book Page 41 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough No Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-41 Check Dynamic Range slref.book Page 42 Friday, June 21, 2002 5:58 PM 2Check Dynamic Range Purpose Check that a signal falls inside a range of amplitudes that varies from time step to time step Library Model Verification Description The Check Dynamic Range block checks that a test signal falls inside a range of amplitudes at each time step. The width of the range can vary from time step to time step. The input labeled sig is the test signal. The inputs labeled min and max are the lower and upper bounds of the valid range at the current time step. If the verification condition is true, the block does nothing. If not, the block halts the simulation, by default, and displays an error message. The Check Dynamic Range block and its companion blocks in the Model Verification library are intended to facilitate creation of self-validating models. For example, you can use model verification blocks to test that signals do not exceed specified limits during simulation. When you are satisfied that a model is correct, you can turn error-checking off by disabling the verification blocks. You do not have to physically remove them from the model. If you need to modify a model, you can temporarily turn the verification blocks back on to ensure that your changes do not break the model. Data Type Support The Check Dynamic Range block accepts input signals of any dimensions and any built-in data type except int64 and uint64. All three input signals must have the same dimension and data type. If the inputs are nonscalar, the block checks each element of the input test signal to the corresponding elements of the reference signals. Parameters and Dialog Box 2-42 Check Dynamic Range slref.book Page 43 Friday, June 21, 2002 5:58 PM Enable Assertion Unchecking this option disables the Check Dynamic Range block, that is, causes the model to behave as if the block did not exist. The Advanced Pane of the Simulation Parameters dialog box allows you to enable or disable all model verification blocks in a model, including Check Dynamic Range blocks, regardless of the setting of this option. Simulation callback when assertion fails An M-expression to be evaluated when the assertion fails. Stop simulation when assertion fails If checked, this option causes the Assertion block to halt the simulation when the block’s input is zero and display an error message in Simulink’s Simulation Diagnostics viewer. Otherwise, the block displays a warning message in the MATLAB command window and continues the simulation. Output Assertion Signal If checked, this option causes the block to output a Boolean signal that is true (1) at each time step if the assertion succeeds and false (0) if the assertion fails. The data type of the output signal is boolean if you have selected the Boolean logic signals option on the Advanced pane of Simulink’s Simulation Parameters dialog box. Otherwise the data type of the output signal is double. Select Icon Type Type of icon used to display this block in a block diagram: either graphic or text. The graphic option displays a graphical representation of the assertion condition on the icon. The text option displays a mathematical expression that represents the assertion condition. If the icon is too small to display the expression, the text icon displays an exclamation point. To see the expression, enlarge the icon. Characteristics Direct Feedthrough No Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-43 Check Dynamic Upper Bound slref.book Page 44 Friday, June 21, 2002 5:58 PM 2Check Dynamic Upper Bound Purpose Check that one signal is always greater than another signal Library Model Verification Description The Check Dynamic Upper Bound block checks that the amplitude of a test signal is greater than the amplitude of a reference signal at the current time step. The test signal is the signal connected to the input labeled sig. If the verification condition is true, the block does nothing. If not, the block halts the simulation, by default, and displays an error message. The Check Dynamic Upper Bound block and its companion blocks in the Model Verification library are intended to facilitate creation of self-validating models. For example, you can use model verification blocks to test that signals do not exceed specified limits during simulation. When you are satisfied that a model is correct, you can turn error-checking off by disabling the verification blocks. You do not have to physically remove them from the model. If you need to modify a model, you can temporarily turn the verification blocks back on to ensure that your changes do not break the model. Data Type Support The Check Dynamic Upper Bound block accepts input signals of any dimensions and any built-in data type except int64 and uint64. The test and the reference signals must have the same dimensions and data type. If the inputs are nonscalar, the block compares each element of the input test signal to the corresponding elements of the reference signal. Parameters and Dialog Box Enable Assertion 2-44 Check Dynamic Upper Bound slref.book Page 45 Friday, June 21, 2002 5:58 PM Unchecking this option disables the Check Dynamic Upper Bound block, that is, causes the model to behave as if the block did not exist. The Advanced Pane of the Simulation Parameters dialog box allows you to enable or disable all model verification blocks, including Check Dynamic Upper Bound blocks, in a model regardless of the setting of this option. Simulation callback when assertion fails An M-expression to be evaluated when the assertion fails. Stop simulation when assertion fails If checked, this option causes the Check Dynamic Upper Bound block to halt the simulation when the block’s input is zero and display an error message in Simulink’s Simulation Diagnostics viewer. Otherwise, the block displays a warning message in the MATLAB command window and continues the simulation. Output Assertion Signal If checked, this option causes the block to output a Boolean signal that is true (1) at each time step if the assertion succeeds and false (0) if the assertion fails. The data type of the output signal is boolean if you have selected the Boolean logic signals option on the Advanced pane of Simulink’s Simulation Parameters dialog box. Otherwise the data type of the output signal is double. Select Icon Type Type of icon used to display this block in a block diagram: either graphic or text. The graphic option displays a graphical representation of the assertion condition on the icon. The text option displays a mathematical expression that represents the assertion condition. If the icon is too small to display the expression, the text icon displays an exclamation point. To see the expression, enlarge the icon. Characteristics Direct Feedthrough No Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-45 Check Input Resolution slref.book Page 46 Friday, June 21, 2002 5:58 PM 2Check Input Resolution Purpose Check that the input signal has a specified resolution Library Model Verification Description The Check Input Resolution block checks whether the input signal has a specified scalar or vector resolution (see “Resolution” on page 2-47). If the resolution is a scalar, the input signal must be a multiple of the resolution within a 10e-3 tolerance. If the resolution is a vector, the input signal must equal an element of the resolution vector. If the verification condition is true, the block does nothing. If not, the block halts the simulation, by default, and displays an error message. The Check Input Resolution block and its companion blocks in the Model Verification library are intended to facilitate creation of self-validating models. For example, you can use model verification blocks to test that signals do not exceed specified limits during simulation. When you are satisfied that a model is correct, you can turn error-checking off by disabling the verification blocks. You do not have to physically remove them from the model. If you need to modify a model, you can temporarily turn the verification blocks back on to ensure that your changes do not break the model. Data Type Support The Check Input Resolution block accepts input signals of any dimensions and any built-in data type except int64 and uint64. If the input signal is nonscalar, the block checks the resolution of each element of the input test signal. Parameters and Dialog Box 2-46 Check Input Resolution slref.book Page 47 Friday, June 21, 2002 5:58 PM Resolution Resolution that the input signal must have. Enable Assertion Unchecking this option disables the Assertion block, that is, causes the model to behave as if the Assertion block did not exist. The Advanced Pane of the Simulation Parameters dialog box allows you to enable or disable all Assertion blocks in a model regardless of the setting of this option. Simulation callback when assertion fails An M-expression to be evaluated when the assertion fails. Stop simulation when assertion fails If checked, this option causes the Assertion block to halt the simulation when the block’s input is zero and display an error message in Simulink’s Simulation Diagnostics viewer. Otherwise, the block displays a warning message in the MATLAB command window and continues the simulation. Output Assertion Signal If checked, this option causes the block to output a Boolean signal that is true (1) at each time step if the assertion succeeds and false (0) if the assertion fails. The data type of the output signal is boolean if you have selected the Boolean logic signals option on the Advanced pane of Simulink’s Simulation Parameters dialog box. Otherwise the data type of the output signal is double. Characteristics Direct Feedthrough No Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-47 Check Static Gap slref.book Page 48 Friday, June 21, 2002 5:58 PM 2Check Static Gap Purpose Check that a gap exists in a signal’s range of amplitudes Library Model Verification Description The Check Static Gap block checks that each element of the input signal is less than (or optionally equal to) a static lower bound or greater than (or optionally equal to) a static upper bound at the current time step. If the verification condition is true, the block does nothing. If not, the block halts the simulation, by default, and displays an error message. The Check Static Gap block and its companion blocks in the Model Verification library are intended to facilitate creation of self-validating models. For example, you can use model verification blocks to test that signals do not exceed specified limits during simulation. When you are satisfied that a model is correct, you can turn error-checking off by disabling the verification blocks. You do not have to physically remove them from the model. If you need to modify a model, you can temporarily turn the verification blocks back on to ensure that your changes do not break the model. Data Type Support The Check Static Gap block accepts input signals of any dimensions and any built-in data type except int64 and uint64. Parameters and Dialog Box 2-48 Check Static Gap slref.book Page 49 Friday, June 21, 2002 5:58 PM Upper bound Upper bound of the gap in the input signal’s range of amplitudes. Inclusive upper bound If checked, this option specifies that the gap includes the upper bound. Lower bound Lower bound of the gap in the input signal’s range of amplitudes. Inclusive lower bound If checked, this option specifies that the gap includes the lower bound. Enable Assertion Unchecking this option disables the Check Static Gap block, that is, causes the model to behave as if the block did not exist. The Advanced Pane of the Simulation Parameters dialog box allows you to enable or disable all model verification blocks, including Check Static Gap blocks, in a model regardless of the setting of this option. Simulation callback when assertion fails An M-expression to be evaluated when the assertion fails. Stop simulation when assertion fails If checked, this option causes the Check Static Gap block to halt the simulation when the block’s input is zero and display an error message in Simulink’s Simulation Diagnostics viewer. Otherwise, the block displays a warning message in the MATLAB command window and continues the simulation. Output Assertion Signal If checked, this option causes the block to output a Boolean signal that is true (1) at each time step if the assertion succeeds and false (0) if the assertion fails. The data type of the output signal is boolean if you have selected the Boolean logic signals option on the Advanced pane of Simulink’s Simulation Parameters dialog box. Otherwise the data type of the output signal is double. Select Icon Type Type of icon used to display this block in a block diagram: either graphic or text. The graphic option displays a graphical representation of the assertion condition on the icon. The text option displays a mathematical 2-49 Check Static Gap slref.book Page 50 Friday, June 21, 2002 5:58 PM expression that represents the assertion condition. If the icon is too small to display the expression, the text icon displays an exclamation point. To see the expression, enlarge the icon. Characteristics Direct Feedthrough No Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-50 Check Static Lower Bound slref.book Page 51 Friday, June 21, 2002 5:58 PM 2Check Static Lower Bound Purpose Check that a signal is greater than (or optionally equal to) a static lower bound Library Model Verification Description The Check Static Lower Bound block checks that each element of the input signal is greater than (or optionally equal to) a specified lower bound at the current time step. The block’s parameter dialog box allows you to specify the value of the lower bound and whether the lower bound is inclusive. If the verification condition is true, the block does nothing. If not, the block halts the simulation, by default, and displays an error message. The Check Static Lower Bound block and its companion blocks in the Model Verification library are intended to facilitate creation of self-validating models. For example, you can use model verification blocks to test that signals do not exceed specified limits during simulation. When you are satisfied that a model is correct, you can turn error-checking off by disabling the verification blocks. You do not have to physically remove them from the model. If you need to modify a model, you can temporarily turn the verification blocks back on to ensure that your changes do not break the model. Data Type Support The Check Static Lower Bound block accepts input signals of any dimensions and any built-in data type except int64 and uint64. Parameters and Dialog Box 2-51 Check Static Lower Bound slref.book Page 52 Friday, June 21, 2002 5:58 PM Lower bound Lower bound on the range of amplitudes that the input signal can have. Inclusive boundary Checking this option makes the range of valid input amplitudes include the lower bound. Enable Assertion Unchecking this option disables the Check Static Lower Bound block, that is, causes the model to behave as if the block did not exist. The Advanced Pane of the Simulation Parameters dialog box allows you to enable or disable all model verification blocks, including Check Static Lower Bound blocks, in a model regardless of the setting of this option. Simulation callback when assertion fails An M-expression to be evaluated when the assertion fails. Stop simulation when assertion fails If checked, this option causes the Check Static Lower Bound block to halt the simulation when the block’s input is zero and display an error message in Simulink’s Simulation Diagnostics viewer. Otherwise, the block displays a warning message in the MATLAB command window and continues the simulation. Output Assertion Signal If checked, this option causes the block to output a Boolean signal that is true (1) at each time step if the assertion succeeds and false (0) if the assertion fails. The data type of the output signal is boolean if you have selected the Boolean logic signals option on the Advanced pane of Simulink’s Simulation Parameters dialog box. Otherwise the data type of the output signal is double. Select Icon Type Type of icon used to display this block in a block diagram: either graphic or text. The graphic option displays a graphical representation of the assertion condition on the icon. The text option displays a mathematical expression that represents the assertion condition. If the icon is too small to display the expression, the text icon displays an exclamation point. To see the expression, enlarge the icon. 2-52 Check Static Lower Bound slref.book Page 53 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough No Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-53 Check Static Range slref.book Page 54 Friday, June 21, 2002 5:58 PM 2Check Static Range Purpose Check that a signal falls inside a fixed range of amplitudes Library Model Verification Description The Check Static Range block checks that each element of the input signal falls inside the same range of amplitudes at each time step. The block’s parameter dialog box allows you to specify the upper and lower bounds of the valid amplitude range and whether the range includes the bounds. If the verification condition is true, the block does nothing. If not, the block halts the simulation, by default, and displays an error message. The Check Static Range block and its companion blocks in the Model Verification library are intended to facilitate creation of self-validating models. For example, you can use model verification blocks to test that signals do not exceed specified limits during simulation. When you are satisfied that a model is correct, you can turn error-checking off by disabling the verification blocks. You do not have to physically remove them from the model. If you need to modify a model, you can temporarily turn the verification blocks back on to ensure that your changes do not break the model. Data Type Support The Check Static Range block accepts input signals of any dimensions and any built-in data type except int64 and uint64. 2-54 Check Static Range slref.book Page 55 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Upper bound Upper bound of the range of valid input signal amplitudes. Inclusive upper bound Checking this option specifies that the valid signal range includes the upper bound. Lower bound Lower bound of the range of valid input signal amplitudes. Inclusive lower bound Checking this option specifies that the valid signal range includes the lower bound. Enable Assertion Unchecking this option disables the Check Static Range block, that is, causes the model to behave as if the block did not exist. The Advanced Pane of the Simulation Parameters dialog box allows you to enable or disable all model verification blocks, including Check Static Range blocks, in a model regardless of the setting of this option. 2-55 Check Static Range slref.book Page 56 Friday, June 21, 2002 5:58 PM Simulation callback when assertion fails An M-expression to be evaluated when the assertion fails. Stop simulation when assertion fails If checked, this option causes the Check Static Range block to halt the simulation when the block’s input is zero and display an error message in Simulink’s Simulation Diagnostics viewer. Otherwise, the block displays a warning message in the MATLAB command window and continues the simulation. Output Assertion Signal If checked, this option causes the block to output a Boolean signal that is true (1) at each time step if the assertion succeeds and false (0) if the assertion fails. The data type of the output signal is boolean if you have selected the Boolean logic signals option on the Advanced pane of Simulink’s Simulation Parameters dialog box. Otherwise the data type of the output signal is double. Select Icon Type Type of icon used to display this block in a block diagram: either graphic or text. The graphic option displays a graphical representation of the assertion condition on the icon. The text option displays a mathematical expression that represents the assertion condition. If the icon is too small to display the expression, the text icon displays an exclamation point. To see the expression, enlarge the icon. Characteristics Direct Feedthrough No Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-56 Check Static Upper Bound slref.book Page 57 Friday, June 21, 2002 5:58 PM 2Check Static Upper Bound Purpose Check that a signal is greater than (or optionally equal to) a static lower bound Library Model Verification Description The Check Static Upper Bound block checks that each element of the input signal is less than (or optionally equal to) a specified lower bound at the current time step. The block’s parameter dialog box allows you to specify the value of the upper bound and whether the bound is inclusive. If the verification condition is true, the block does nothing. If not, the block halts the simulation, by default, and displays an error message. The Check Static Upper Bound block and its companion blocks in the Model Verification library are intended to facilitate creation of self-validating models. For example, you can use model verification blocks to test that signals do not exceed specified limits during simulation. When you are satisfied that a model is correct, you can turn error-checking off by disabling the verification blocks. You do not have to physically remove them from the model. If you need to modify a model, you can temporarily turn the verification blocks back on to ensure that your changes do not break the model. Data Type Support The Check Static Upper Bound block accepts input signals of any dimensions and any built-in data type except int64 and uint64. Parameters and Dialog Box 2-57 Check Static Upper Bound slref.book Page 58 Friday, June 21, 2002 5:58 PM Upper bound Upper bound on the range of amplitudes that the input signal can have. Inclusive boundary Checking this option makes the range of valid input amplitudes include the upper bound. Enable Assertion Unchecking this option disables the Check Static Upper Bound block, that is, causes the model to behave as if the block did not exist. The Advanced Pane of the Simulation Parameters dialog box allows you to enable or disable all model verification blocks, including Check Static Lower Bound blocks, in a model regardless of the setting of this option. Simulation callback when assertion fails An M-expression to be evaluated when the assertion fails. Stop simulation when assertion fails If checked, this option causes the Check Static Upper Bound block to halt the simulation when the block’s input is zero and display an error message in Simulink’s Simulation Diagnostics viewer. Otherwise, the block displays a warning message in the MATLAB command window and continues the simulation. Output Assertion Signal If checked, this option causes the block to output a Boolean signal that is true (1) at each time step if the assertion succeeds and false (0) if the assertion fails. The data type of the output signal is boolean if you have selected the Boolean logic signals option on the Advanced pane of Simulink’s Simulation Parameters dialog box. Otherwise the data type of the output signal is double. Select Icon Type Type of icon used to display this block in a block diagram: either graphic or text. The graphic option displays a graphical representation of the assertion condition on the icon. The text option displays a mathematical expression that represents the assertion condition. If the icon is too small to display the expression, the text icon displays an exclamation point. To see the expression, enlarge the icon. 2-58 Check Static Upper Bound slref.book Page 59 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough No Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-59 Chirp Signal slref.book Page 60 Friday, June 21, 2002 5:58 PM 2Chirp Signal Purpose Generate a sine wave with increasing frequency Library Sources Description The Chirp Signal block generates a sine wave whose frequency increases at a linear rate with time. You can use this block for spectral analysis of nonlinear systems. The block generates a scalar or vector output. The parameters, Initial frequency, Target time, and Frequency at target time, determine the block’s output. You can specify any or all of these variables as scalars or arrays. All the parameters specified as arrays must have the same dimensions. The block expands scalar parameters to have the same dimensions as the array parameters. The block output has the same dimensions as the parameters unless the Interpret vector parameters as 1-D option is selected. If this option is selected and the parameters are row or column vectors, the block outputs a vector (1-D array) signal. Data Type Support A Chirp Signal block outputs a real-valued signal of type double. Parameters and Dialog Box Initial frequency The initial frequency of the signal, specified as a scalar or matrix value. The default is 0.1 Hz. 2-60 Chirp Signal slref.book Page 61 Friday, June 21, 2002 5:58 PM Target time The time at which the frequency reaches the Frequency at target time parameter value, a scalar or matrix value. The frequency continues to change at the same rate after this time. The default is 100 seconds. Frequency at target time The frequency of the signal at the target time, a scalar or matrix value. The default is 1 Hz. Interpret vector parameters as 1-D If selected, column or row matrix values for the Initial frequency, Target time, and Frequency at target time parameters result in a vector output whose elements are the elements of the row or column. Characteristics Sample Time Continuous Scalar Expansion Of parameters Dimensionalized Yes Zero Crossing No 2-61 Clock slref.book Page 62 Friday, June 21, 2002 5:58 PM 2Clock Purpose Display and provide the simulation time Library Sources Description The Clock block outputs the current simulation time at each simulation step. This block is useful for other blocks that need the simulation time. When you need the current time within a discrete system, use the Digital Clock block. Data Type Support A Clock block outputs a real-valued signal of type double. Parameters and Dialog Box Display time Use the Display time check box to display the current simulation time inside the Clock block icon. Decimation The Decimation parameter value is the increment at which the clock is updated; it can be any positive integer. For example, if the decimation is 1000, then, for a fixed integration step of 1 millisecond, the clock updates at 1 second, 2 seconds, and so on. Note that if this parameter is not zero, the simulation must use a fixed-step solver to ensure accurate clock updates. 2-62 Clock slref.book Page 63 Friday, June 21, 2002 5:58 PM Characteristics Sample Time Continuous Scalar Expansion N/A Dimensionalized No Zero Crossing No 2-63 Combinatorial Logic slref.book Page 64 Friday, June 21, 2002 5:58 PM 2Combinatorial Logic Purpose Implement a truth table Library Math Operations Description The Combinatorial Logic block implements a standard truth table for modeling programmable logic arrays (PLAs), logic circuits, decision tables, and other Boolean expressions. You can use this block in conjunction with Memory blocks to implement finite-state machines or flip-flops. You specify a matrix that defines all possible block outputs as the Truth table parameter. Each row of the matrix contains the output for a different combination of input elements. You must specify outputs for every combination of inputs. The number of columns is the number of block outputs. The relationship between the number of inputs and the number of rows is number of rows = 2 ^ (number of inputs) Simulink returns a row of the matrix by computing the row’s index from the input vector elements. Simulink computes the index by building a binary number where input vector elements having zero values are 0 and elements having nonzero values are 1, then adding 1 to the result. For an input vector, u, of m elements, row index = 1 + u(m)*2 0 + u(m–1)*2 1 + ... + u(1)*2 m–1 Example of Two-Input AND Function This example builds a two-input AND function, which returns 1 when both input elements are 1, and 0 otherwise. To implement this function, specify the Truth table parameter value as [0; 0; 0; 1]. The portion of the model that provides the inputs to and the output from the Combinatorial Logic block might look like this. The following table indicates the combination of inputs that generate each output. The input signal labeled “Input 1” corresponds to the column in the table labeled Input 1. Similarly, the input signal “Input 2” corresponds to the 2-64 Combinatorial Logic slref.book Page 65 Friday, June 21, 2002 5:58 PM column with the same name. The combination of these values determines the row of the Output column of the table that is passed as block output. For example, if the input vector is [1 0], the input references the third row: (21*1 + 1) The output value is 0. Example of Circuit This sample circuit has three inputs: the two bits (a and b) to be summed and a carry-in bit (c). It has two outputs: the carry-out bit (c’) and the sum bit (s). Here are the truth table and the outputs associated with each combination of input values for this circuit. Row Input 1 Input 2 Output 1000 2010 3100 4111 Inputs Outputs abcc’ 00000 00101 01001 01110 10001 10110 2-65 Combinatorial Logic slref.book Page 66 Friday, June 21, 2002 5:58 PM To implement this adder with the Combinatorial Logic block, you enter the 8-by-2 matrix formed by columns c’ and s as the Truth table parameter. You can also implement sequential circuits (that is, circuits with states) with the Combinatorial Logic block by including an additional input for the state of the block and feeding the output of the block back into this state input. Data Type Support The type of signals accepted by a Combinatorial Logic block depends on whether you selected Simulink’s Boolean logic signals option (see “Enabling Strict Boolean Type Checking” in Using Simulink). If this option is enabled, the block accepts real signals of type boolean or double. The truth table can have Boolean values (0 or 1) of any data type. If the table contains non-Boolean values, the table’s data type must be double. The type of the output is the same as that of the input except that the block outputs double if the input is boolean and the truth table contains non-Boolean values. If Boolean compatibility mode is disabled, the Combinatorial Logic block accepts only signals of type boolean. The block outputs double if the truth table contains non-Boolean values of type double. Otherwise, the output is boolean. Parameters and Dialog Box Truth table The matrix of outputs. Each column corresponds to an element of the output vector and each row corresponds to a row of the truth table. 11010 11111 Inputs Outputs abcc’ 2-66 Combinatorial Logic slref.book Page 67 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes; the output width is the number of columns of the Truth table parameter Zero Crossing No 2-67 Complex to Magnitude-Angle slref.book Page 68 Friday, June 21, 2002 5:58 PM 2Complex to Magnitude-Angle Purpose Compute the magnitude and/or phase angle of a complex signal Library Math Operations Description The Complex to Magnitude-Angle block accepts a complex-valued signal of type double. It outputs the magnitude and/or phase angle of the input signal, depending on the setting of the Output parameter. The outputs are real values of type double. The input can be an array of complex signals, in which case the output signals are also arrays. The magnitude signal array contains the magnitudes of the corresponding complex input elements. The angle output similarly contains the angles of the input elements. Data Type Support See the preceding description. Parameters and Dialog Box Output Determines the output of this block. Choose from the following values: MagnitudeAndAngle (outputs the input signal’s magnitude and phase angle in radians), Magnitude (outputs the input’s magnitude), Angle (outputs the input’s phase angle in radians). Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-68 Complex to Real-Imag slref.book Page 69 Friday, June 21, 2002 5:58 PM 2Complex to Real-Imag Purpose Output the real and imaginary parts of a complex input signal Library Math Operations Description The Complex to Real-Imag block accepts a complex-valued signal of any data type, including fixed-point data types, except int64 and uint64. It outputs the real and/or imaginary part of the input signal, depending on the setting of the Output parameter. The real outputs are of the same data type as the complex input. The input can be an array (vector or matrix) of complex signals, in which case the output signals are arrays of the same dimensions. The real array contains the real parts of the corresponding complex input elements. The imaginary output similarly contains the imaginary parts of the input elements. Data Type Support See the preceding description. Parameters and Dialog Box Output Determines the output of this block. Choose from the following values: RealAndImag (outputs the input signal’s real and imaginary parts), Real (outputs the input’s real part), Imag (outputs the input’s imaginary part). Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-69 Configurable Subsystem slref.book Page 70 Friday, June 21, 2002 5:58 PM 2Configurable Subsystem Purpose Represent any block selected from a user-specified library of blocks Library Ports & Subsystems Description A Configurable Subsystem block represents one of a set of blocks contained in a specified library of blocks. The block’s context menu lets you choose which block the configurable subsystem represents. Configurable Subsystem blocks simplify creation of models that represent families of designs. For example, suppose that you want to model an automobile that offers a choice of engines. To model such a design, you would first create a library of models of the engine types available with the car. You would then use a Configurable Subsystem block in your car model to represent the choice of engines. To model a particular variant of the basic car design, a user need only choose the engine type, using the configurable engine block’s dialog. To create a configurable subsystem in a model, you must first create a library containing a master configurable subsystem and the blocks that it represents. You can then create configurable instances of the master subsystem by dragging copies of the master subsystem from the library and dropping them into models. Creating a Master Configurable Subsystem To create a master configurable subsystem: 1 Create a library of blocks representing the various configurations of the configurable subsystem. 2 Save the library. 3 Create an instance of the Configurable Subsystem block in the library. To do this, drag a copy of the Configurable Subsystem block from the Simulink Signals and Systems library into the library you created in the preceding step. 4 Display the Configurable Subsystem block’s dialog by double-clicking it. The dialog displays a list of the other blocks in the library. 5 Select the blocks that represent the various configurations of the configurable subsystems you are creating. 2-70 Configurable Subsystem slref.book Page 71 Friday, June 21, 2002 5:58 PM 6 Select Block Choice from the subsystem’s context menu. The context menu displays a submenu listing the blocks that the subsystem can represent. 7 Select the block that you want the subsystem to represent by default. 8 Close the dialog. 9 Save the library. Note If you add or remove blocks from a library, you must recreate any Configurable Subsystem blocks that use the library. Creating an Instance of a Configurable Subsystem To create an instance of a configurable subsystem in a model, 1 Open the library containing the master configurable subsystem. 2 Drag a copy of the master into the model. 3 Select Block Choice from the copy’s context menu. 4 Select the block that you want the configurable subsystem to represent. The instance of the configurable system displays the icon and parameter dialog box of the block that it represents. Mapping I/O Ports A configurable subsystem displays a set of input and output ports corresponding to input and output ports in the selected library. Simulink uses the following rules to map library ports to Configurable Subsystem block ports: Map each uniquely named input/output port in the library to a separate input/output port of the same name on the Configurable Subsystem block. Map all identically named input/output ports in the library to the same input/output ports on the Configurable Subsystem block. Terminate any input/output port not used by the currently selected library block with a Terminator/Ground block. 2-71 Configurable Subsystem slref.book Page 72 Friday, June 21, 2002 5:58 PM This mapping allows a user to change the library block represented by a Configurable Subsystem block without having to rewire connections to the Configurable Subsystem block. For example, suppose that a library contains two blocks A and B and that block A has input ports labeled a, b, and c and an output port labeled d and that block B has input ports labeled a and b and an output port labeled e. A Configurable Subsystem block based on this library would have three input ports labeled a, b, and c, respectively, and two output ports labeled d and e, respectively, as illustrated in the following figure. In this example, port a on the Configurable Subsystem block connects to port a of the selected library block no matter which block is selected. On the other hand, port c on the Configurable Subsystem block functions only if library block A is selected. Otherwise, it simply terminates. Note A Configurable Subsystem block does not provide ports that correspond to non-I/O ports, such as the trigger and enable ports on triggered and enabled subsystems. Thus, you cannot use a Configurable Subsystem block directly to represent blocks that have such ports. You can do so indirectly, however, by wrapping such blocks in subsystem blocks that have input or output ports connected to the non-I/O ports. Data Type Support A Configurable Subsystem block accepts and outputs signals of the same types as are accepted or output by the block that it currently represents, including fixed-point data types. 2-72 Configurable Subsystem slref.book Page 73 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box List of block choices Select the blocks you want to include as members of the configurable subsystem. You can include user-defined subsystems as blocks. Port information Lists of input and output ports of member blocks. In the case of multiports, you can rearrange selected port positions by clicking the Up and Down buttons. Characteristics A Configurable Subsystem block has the characteristics of the block that it currently represents. Double-clicking the block opens the dialog box for the block that it currently represents. 2-73 Constant slref.book Page 74 Friday, June 21, 2002 5:58 PM 2Constant Purpose Generate a constant value Library Simulink Sources and Fixed-Point Blockset Sources Description The Constant block generates a real or complex constant value. The block generates a scalar, vector, or matrix output, depending on the dimensionality of the Constant value parameter and the setting of the Interpret vector parameters as 1-D parameter. The output of the block has the same dimensions and elements of the Constant value parameter. If you specify a vector for this parameter, and you want the block to interpret it as 1-D, select the Interpret vector parameters as 1-D parameter. When the Show additional parameters check box is selected, some of the parameters that become visible are common to many blocks. For a detailed description of these parameters, refer to “Block Parameters” in the Fixed-Point Blockset documentation. Data Type Support By default, a Constant block outputs a signal whose data type and complexity is the same as that of the block’s Constant value parameter. However, you can specify the output to be any supported data type except int64 and uint64. Parameters and Dialog Box Constant value Constant value output by the block. It can be a scalar, vector, or matrix. 1 Constant 0.0 Constant 2-74 Constant slref.book Page 75 Friday, June 21, 2002 5:58 PM Interpret vector parameters as 1-D If selected, a vector specified for the Constant value parameter results in a 1-D signal. Show implementation details If selected, additional parameters specific to implementation of the block become visible as shown. Output data type mode Specify how the data type of the output is designated. The data type can be inherited through backpropagation, or can be designated in the Constant value parameter; for example int8(29). You can also choose a built-in data type from the drop-down list. Lastly, if you choose Specify via dialog, the Output data type, Output Scaling Mode, and Output scaling value parameters become visible. Output data type Specify any data type, including fixed-point data types. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. 2-75 Constant slref.book Page 76 Friday, June 21, 2002 5:58 PM Output Scaling Mode Specify how the scaling of the output is designated. The output can be automatically scaled to maintain best vector-wise precision without overflow, or you can choose to specify the scaling in the dialog via the Output scaling value parameter. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Output scaling value Set the output scaling using radix point-only or [Slope Bias] scaling. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter, and if Use specified scaling is selected for the Output Scaling Mode parameter. Conversions and Operations The Constant value parameter is converted from its data type to the specified output data type offline using round-to-nearest and saturation. Refer to “Parameter Conversions” in the Fixed-Point Blockset documentation for more information about parameter conversions. Characteristics Dimensionalized Yes Direct Feedthrough No Sample Time Constant Scalar Expansion No Zero Crossing No 2-76 Coulomb and Viscous Friction slref.book Page 77 Friday, June 21, 2002 5:58 PM 2Coulomb and Viscous Friction Purpose Model discontinuity at zero, with linear gain elsewhere Library Discontinuities Description The Coulomb and Viscous Friction block models Coulomb (static) and viscous (dynamic) friction. The block models a discontinuity at zero and a linear gain otherwise. The offset corresponds to the Coulombic friction; the gain corresponds to the viscous friction. The block is implemented as y = sign(u) * (Gain * abs(u) + Offset) where y is the output, u is the input, and Gain and Offset are block parameters. The block accepts one input and generates one output. Data Type Support A Coulomb and Viscous Friction block accepts and outputs real signals of type double. Parameters and Dialog Box Coulomb friction value The offset, applied to all input values. The default is [1 3 2 0]. Coefficient of viscous friction The signal gain at nonzero input points. The default is 1. 2-77 Coulomb and Viscous Friction slref.book Page 78 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing Yes, at the point where the static friction is overcome 2-78 Data Store Memory slref.book Page 79 Friday, June 21, 2002 5:58 PM 2Data Store Memory Purpose Define a data store Library Signal Routing Description The Data Store Memory block defines and initializes a named shared data store, which is a memory region usable by Data Store Read and Data Store Write blocks with the same data store name. Each data store must be defined by a Data Store Memory block. The location of the Data Store Memory block that defines a data store determines the Data Store Read and Data Store Write blocks that can access the data store: If the Data Store Memory block is in the top-level system, the data store can be accessed by Data Store Read and Data Store Write blocks located anywhere in the model. If the Data Store Memory block is in a subsystem, the data store can be accessed by Data Store Read and Data Store Write blocks located in the same subsystem or in any subsystem below it in the model hierarchy. You initialize the data store by specifying a scalar value or an array of values in the Initial value parameter. The dimensions of the array determine the dimensionality of the data store. Any data written to the data store must have the dimensions designated by the Initial value parameter. Otherwise, an error occurs. Data Type Support A Data Store Memory block stores real or complex signals of any data type, including fixed-point data types, except int64 and uint64. A Data Store Memory 2-79 Data Store Memory slref.book Page 80 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Data store name Specify a name for the data store you are defining with this block. Data Store Read and Data Store Write blocks with the same name will be able to read from and write to the data store initialized by this block. Data store write(W) and read(R) blocks This parameter lists all the Data Store Read and Data Store Write blocks that have the same data store name as the current block, and that are in the current (sub)system or in any subsystem below it in the model hierarchy. Double-click any entry on this list to highlight the block and bring it to the foreground. Initial value Specify the initial value or values of the data store. The dimensions of this value determine the dimensions of data that may be written to the data store. 2-80 Data Store Memory slref.book Page 81 Friday, June 21, 2002 5:58 PM RTW storage class Specify the RTW storage class of the data store. For more information, refer to the Real-Time Workshop documentation. RTW type qualifier Specify a RTW type qualifier for the data store. This parameter is only enabled if a value other than auto is selected for the RTW storage class parameter. For more information, refer to the Real-Time Workshop documentation. Interpret vector parameters as 1-D If selected and the Initial value parameter is specified as a column or row matrix, the data store is initialized to a 1-D array whose elements are equal to the elements of the row or column vector. Characteristics See Also Data Store Read, Data Store Write Dimensionalized Yes Sample Time N/A 2-81 Data Store Read slref.book Page 82 Friday, June 21, 2002 5:58 PM 2Data Store Read Purpose Read data from a data store Library Signal Routing Description The Data Store Read block copies data from the named data store to its output. The data is initialized by a Data Store Memory block and possibly written by a Data Store Write block. The data store from which the data is read is determined by the location of the Data Store Memory block that defines the data store. For more information, see “Data Store Memory” on page 2-79. More than one Data Store Read block can read from the same data store. Note Be careful when setting an execution priority on a Data Store Read block. Make sure that the block reads from the data store after the store is updated by any Data Store Write blocks that write to the store in the same time step. Data Type Support A Data Store Read block can output a real or complex signal of any data type, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box A Data Store Read 2-82 Data Store Read slref.book Page 83 Friday, June 21, 2002 5:58 PM Data store name Specify the name of the data store from which this block reads data. Data store memory block This field lists the Data Store Memory block that initialized the store from which this block reads. Data store write blocks This parameter lists all the Data Store Write blocks with the same data store name as this block that are in the same (sub)system or in any subsystem below it in the model hierarchy. Double-click any entry on this list to highlight the block and bring it to the foreground. Sample time The sample time, which controls when the block reads from the data store. A value of -1 indicates that the sample time is inherited. See “Specifying Sample Time” in the online documentation for more information. Characteristics See Also Data Store Memory, Data Store Write Dimensionalized Yes Sample Time Continuous or discrete 2-83 Data Store Write slref.book Page 84 Friday, June 21, 2002 5:58 PM 2Data Store Write Purpose Write data to a data store Library Signal Routing Description The Data Store Write block copies the value at its input to the named data store. Each write operation performed by a Data Store Write block writes over the data store, replacing the previous contents. The data store to which this block writes is determined by the location of the Data Store Memory block that defines the data store. For more information, see “Data Store Memory” on page 2-79. The size of the data store is set by the Data Store Memory block that defines and initializes the data store. Each Data Store Write block that writes to that data store must write the same amount of data. More than one Data Store Write block can write to the same data store. However, if two Data Store Write blocks attempt to write to the same data store during the same simulation step, results are unpredictable. Data Type Support A Data Store Write block accepts a real or complex signal of any data type, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box A Data Store Write 2-84 Data Store Write slref.book Page 85 Friday, June 21, 2002 5:58 PM Data store name Specify the name of the data store to which this block writes data. Data store memory block This field lists the Data Store Memory block that initialized the store to which this block writes. Data store read blocks This parameter lists all the Data Store Read blocks with the same data store name as this block that are in the same (sub)system or in any subsystem below it in the model hierarchy. Double-click any entry on this list to highlight the block and bring it to the foreground. Sample time Specify the sample time that controls when the block writes to the data store. A value of -1 indicates that the sample time is inherited. See “Specifying Sample Time” in the online documentation for more information. Characteristics See Also Data Store Memory, Data Store Read Dimensionalized Yes Sample Time Continuous or discrete 2-85 Data Type Conversion slref.book Page 86 Friday, June 21, 2002 5:58 PM 2Data Type Conversion Purpose Convert input signal to specified data type Library Signal Attributes Description The Data Type Conversion block converts an input signal to the data type specified by the block’s Data type parameter. The input can be any real- or complex-valued signal. If the input is real, the output is real. If the input is complex, the output is complex. Data Type Support See the preceding block description. Parameters and Dialog Box Data type Specifies the type to which to convert the input signal. The auto option converts the input signal to the type required by the input port to which the Data Type Conversion block’s output port is connected. Saturate on integer overflow This parameter is enabled only for integer output. If selected, this option causes the output of the Data Type Conversion block to saturate on integer overflow. In particular, if the output data type is an integer type, the block output is the maximum value that can be represented by the output type or the converted output, whichever is smaller in the absolute sense. If the option is not selected, Simulink takes the action specified by the Data overflow event option on the Diagnostics page of the Simulation Parameters dialog box (see “The Diagnostics Pane” in Using Simulink.). 2-86 Data Type Conversion slref.book Page 87 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion N/A Dimensionalized Yes Zero Crossing No 2-87 Dead Zone slref.book Page 88 Friday, June 21, 2002 5:58 PM 2Dead Zone Purpose Provide a region of zero output Library Discontinuities Description The Dead Zone block generates zero output within a specified region, called its dead zone. The lower and upper limits of the dead zone are specified as the Start of dead zone and End of dead zone parameters. The block output depends on the input and dead zone: If the input is within the dead zone (greater than the lower limit and less than the upper limit), the output is zero. If the input is greater than or equal to the upper limit, the output is the input minus the upper limit. If the input is less than or equal to the lower limit, the output is the input minus the lower limit. This sample model uses lower and upper limits of -0.5 and +0.5, with a sine wave as input. This plot shows the effect of the Dead Zone block on the sine wave. While the input (the sine wave) is between -0.5 and 0.5, the output is zero. Data Type Support A Dead Zone block accepts and outputs a real signal of any data type except int64 and uint64. 2-88 Dead Zone slref.book Page 89 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Start of dead zone The lower limit of the dead zone. The default is -0.5. End of dead zone The upper limit of the dead zone. The default is 0.5. Treat as gain when linearizing Simulink’s linearization commands treat this block as a gain in state space. Selecting this option causes the commands to treat the gain as 1; otherwise, the commands treat the gain as 0. Enable zero crossing detection Select to enable zero crossing detection to detect when the limits are reached. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Of parameters Dimensionalized Yes 2-89 Demux slref.book Page 90 Friday, June 21, 2002 5:58 PM 2Demux Purpose Extract and output the elements of a bus or vector signal Library Signal Routing Description The Demux block extracts the components of an input signal and outputs the components as separate signals. The block accepts either vector (1-D array) signals or bus signals (see “Signal Buses” in Using Simulink for more information). The Number of outputs parameter allows you to specify the number and, optionally, the dimensionality of each output port. If you do not specify the dimensionality of the outputs, the block determines the dimensionality of the outputs for you. The Demux block operates in either vector or bus selection mode, depending on whether you selected the Bus selection mode parameter. The two modes differ in the types of signals they accept. Vector mode accepts only a vector-like signal, that is, either a scalar (one-element array), vector (1-D array), or a column or row vector (one row or one column 2-D array). Bus selection mode accepts only the output of a Mux block or another Demux block. The Demux block’s Number of outputs parameter determines the number and dimensionality of the block’s outputs, depending on the mode in which the block operates. Specifying the Number of Outputs in Vector Mode In vector mode, the value of the parameter can be a scalar specifying the number of outputs or a vector whose elements specify the widths of the block’s output ports. The block determines the size of its outputs from the size of the input signal and the value of the Number of outputs parameter. 2-90 Demux slref.book Page 91 Friday, June 21, 2002 5:58 PM The following table summarizes how the block determines the outputs for an input vector of width n. Parameter Value Block outputs... Comments p = n p scalar signals For example, if the input is a three-element vector and you specify three outputs, the block outputs three scalar signals. p > n Error p < n n mod p = 0 p vector signals each having n/p elements If the input is a six-element vector and you specify three outputs, the block outputs three two-element vectors. p < n n mod p = m m vector signals each having (n/p)+1 elements and p-m signals having n/p elements If the input is a five-element vector and you specify three outputs, the block outputs two two-element vector signals and one scalar signal. [p 1 p 2 ... p m ] p 1 +p 2 +...+p m =n p i > 0 m vector signals having widths p 1 , p 2 , ... p m If the input is a five-element vector and you specify [3, 2] as the output, the block outputs three of the input elements on one port and the other two elements on the other port. 2-91 Demux slref.book Page 92 Friday, June 21, 2002 5:58 PM Note that you can specify the number of outputs as fewer than the number of input elements, in which case the block distributes the elements as evenly as possible over the outputs as illustrated in the following example. You can use -1 in a vector expression to indicate that the block should dynamically size the corresponding port. For example, the expression [-1, 3 -1] causes the block to output three signals in which the second signal always has three elements while the sizes of the first and third signals depend on the size of the input signal. If a vector expression comprises positive values and -1 values, the block assigns as many elements as needed to the ports with positive values and distributes the remain elements as evenly as possible over the ports with -1 values. For example, suppose that the block input is seven elements wide and you specify [p 1 p 2 ... p m ] p 1 +p 2 +...+p m =n some or all p i = -1 m vector signals If pi is greater than zero, the corresponding output has width p i . If p i is -1, the width of the corresponding output is dynamically sized. [p 1 p 2 ... p m ] p 1 +p 2 +...+p m !=n p i = > 0 Error Parameter Value Block outputs... Comments 2-92 Demux slref.book Page 93 Friday, June 21, 2002 5:58 PM the output as [-1, 3 -1]. In this case, the block outputs two elements on the first port, three elements on the second, and two elements on the third. Specifying the Number of Outputs in Bus Selection Mode In bus selection mode, the value of the Number of outputs parameter can be a Scalar specifying the number of output ports The specified value must equal the number of input signals. For example, if the input bus comprises two signals and the value of this parameter is a scalar, the value must equal 2. Vector each of whose elements specifies the number of signals to output on the corresponding port For example, if the input bus contains five signals, you can specify the output as [3, 2], in which case the block outputs three of the input signals on one port and the other two signals on a second port. Cell array each of whose elements is a cell array of vectors specifying the dimensions of the signals output by the corresponding port 2-93 Demux slref.book Page 94 Friday, June 21, 2002 5:58 PM The cell array format constrains the Demux block to accept only signals of specified dimensions. For example, the cell array {{[2 2], 3} {1}} tells the block to accept only a bus signal comprising a 2-by-2 matrix, a three-element vector, and a scalar signal. You can use the value -1 in a cell array expression to let the block determine the dimensionality of a particular output based on the input. For example, the following diagram uses the cell array expression {{-1}, {-1,-1}} to specify the output of the leftmost Demux block. In bus selection mode, if you specify the dimensionality of an output port, i.e., if you specify any value other than -1, the corresponding input element must match the specified dimensionality. Note Simulink hides the name of a Demux block when you copy it from the Simulink library to a model. Data Type Support A Demux block accepts and outputs complex or real signals of any data type, including fixed-point data types, except int64 and uint64. 2-94 Demux slref.book Page 95 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Number of outputs The number and dimensions of outputs. Bus selection mode Enable bus selection mode. 2-95 Derivative slref.book Page 96 Friday, June 21, 2002 5:58 PM 2Derivative Purpose Output the time derivative of the input Library Continuous Description The Derivative block approximates the derivative of its input by computing where ?u is the change in input value and ?t is the change in time since the previous simulation time step. The block accepts one input and generates one output. The value of the input signal before the start of the simulation is assumed to be zero. The initial output for the block is zero. The accuracy of the results depends on the size of the time steps taken in the simulation. Smaller steps allow a smoother and more accurate output curve from this block. Unlike blocks that have continuous states, the solver does not take smaller steps when the input changes rapidly. When the input is a discrete signal, the continuous derivative of the input is an impulse when the value of the input changes, otherwise it is 0. You can obtain the discrete derivative of a discrete signal using and taking the z-transform Using linmod to linearize a model that contains a Derivative block can be troublesome. For information about how to avoid the problem, see “Linearizing Models” in Using Simulink. Data Type Support A Derivative block accepts and outputs a real signal of type double. ?u ?t ------- yk() 1 ?t ----- uk() uk 1–()–= Yz() uz() ------------ 1 z 1– – ?t ---------------- z 1– ?tz? ------------== 2-96 Derivative slref.book Page 97 Friday, June 21, 2002 5:58 PM Dialog Box Characteristics Direct Feedthrough Yes Sample Time Continuous Scalar Expansion N/A States 0 Dimensionalized Yes Zero Crossing No 2-97 Digital Clock slref.book Page 98 Friday, June 21, 2002 5:58 PM 2Digital Clock Purpose Output simulation time at the specified sampling interval Library Sources Description The Digital Clock block outputs the simulation time only at the specified sampling interval. At other times, the output is held at the previous value. Use this block rather than the Clock block (which outputs continuous time) when you need the current time within a discrete system. Data Type Support A Digital Clock block outputs a real signal of type double. Parameters and Dialog Box Sample time The sampling interval. The default value is 1 second. See “Specifying Sample Time” in the online documentation for more information. Characteristics Sample Time Discrete Scalar Expansion No Dimensionalized No Zero Crossing No 2-98 Direct Look-Up Table (n-D) slref.book Page 99 Friday, June 21, 2002 5:58 PM 2Direct Look-Up Table (n-D) Purpose Index into an N-dimensional table to retrieve a scalar, vector, or 2-D matrix Library Look-Up Tables Description The Direct Look-Up Table (n-D) block uses its block inputs as zero-based indices into an n-D table. The number of inputs varies with the shape of the output desired. The output can be a scalar, a vector, or a 2-D matrix. The lookup table uses zero-based indexing, so integer data types can fully address their range. For example, a table dimension using the uint8 data type can address all 256 elements. You define a set of output values as the Table data parameter. You specify what the output shape is: a scalar, a vector, or a 2-D matrix. The first input specifies the zero-based index to the first dimension higher than the number of dimensions in the output, the second input specifies the index to the next table dimension, and so on, as shown by this figure: The figure shows a 5-D table with an output shape set to “2-D Matrix”; the output is a 2-D Matrix with R rows and C columns. 2-99 Direct Look-Up Table (n-D) slref.book Page 100 Friday, June 21, 2002 5:58 PM This figure shows the set of all the different icons that the Direct Look-Up Table block shows (depending on the options you choose in the block’s dialog box). With dimensions higher than 4, the icon matches the 4-D icons, but shows the exact number of dimensions in the top text, e.g., “8-D T[k].” The top row of icons is used when the block output is made from one or more single-element lookups on the table. The blocks labeled “n-D Direct Table Lookup5,” 6, 8, and 12 are configured to extract a column from the table, and the two blocks ending in 7 and 9 are extracting a plane from the table. Blocks in the figure ending in 10, 11, and 12 are configured to have the table be an input instead of a parameter. Example In this example, the block parameters are defined as Invalid input value: "Clip and Warn" Output shape: "Vector" Table data: int16(a) where a is a 4-D array of linearly increasing numbers calculated using MATLAB. 2-100 Direct Look-Up Table (n-D) slref.book Page 101 Friday, June 21, 2002 5:58 PM a = ones(20,4,5,7); L = prod(size(a)); a(1:L) = [1:L]'; The figure shows the block outputting a vector of the 20 values in the second column of the fourth element of the third dimension from the third element of the fourth dimension. Note that the block uses zero-based indexing. The output values in this example can be calculated manually in MATLAB (which uses 1-based indexing): a(:,1+1,1+3,1+2) ans = 1061 1062 1063 1064 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 2-101 Direct Look-Up Table (n-D) slref.book Page 102 Friday, June 21, 2002 5:58 PM 1075 1076 1077 1078 1079 1080 Data Type Support The Direct Look-Up Table (n-D) block accepts mixed-type signals of type double, single, int8, uint8, int16, uint16, int32, and uint32. The output type can differ from the input type and can be any of the types listed for input; the output type is inherited from the data type of the Table data parameter. In the case that the table comes into the block on an input port, the output port type is inherited from the table input port. Inputs for indexing must be real; table data can be complex. Dialog Box Number of table dimensions The number of dimensions that the Table data parameter must have. This determines the number of independent variables for the table and hence the number of inputs to the block (see descriptions for “Explicit Number of dimensions” and “Use one (vector) input port instead of N ports,” following). 2-102 Direct Look-Up Table (n-D) slref.book Page 103 Friday, June 21, 2002 5:58 PM Inputs select this object from table Specify whether the output data is a single element, an n-D column, or a 2-D matrix. The number of ports changes for each selection: Element — # of ports = # of dimensions Column — # of ports = # of dimensions - 1 2-D matrix — # of ports = # of dimensions - 2 This numbering agrees with MATLAB’s indexing. For example, if you have a 4-D table of data, to access a single element you must specify four indices, as in array(1,2,3,4). To specify a column, you need three indices, as in array(:,2,3,4). Finally, to specify a 2-D matrix, you only need two indices, as in array(:,:,3,4). Make table an input Selecting this box forces the Direct Look-Up Table (n-D) block to ignore the Table Data parameter. Instead, a new port appears with “T” next to it. Use this port to input table data. Table data The table of output values. The matrix size must match the dimensions defined by the N breakpoint set parameter or by the Explicit number of dimensions parameter when the number of dimensions exceeds four. During block diagram editing, you can leave the Table data field empty, but for running the simulation, you must match the number of dimensions in the Table data to the Number of table dimensions. For information about how to construct multidimensional arrays in MATLAB, see Multidimensional Arrays in MATLAB’s online documentation. (This field appears only if Make table an input is not selected.) Action for out of range input None, Warning, Error. Real-Time Workshop Note: in the generated code, the “Clip and Warn” and “Clip Index” options cause the Real-Time Workshop to generate clipping code with no code included to generate warnings. Code generated for the other option, “Generate Error”, has no clipping code or error messages at all, on the assumption that simulation during the design phase of your project should reveal model defects leading to out-of-range 2-103 Direct Look-Up Table (n-D) slref.book Page 104 Friday, June 21, 2002 5:58 PM cases. This assumption helps the code generated by the Real-Time Workshop to be highly efficient. Characteristics Direct Feedthrough Yes Sample Time Inherited from driving blocks Scalar Expansion For scalar lookups only (not when returning a column or a 2-D matrix from the table) Dimensionalized For scalar lookups only (not when returning a column or a 2-D matrix from the table) Zero Crossing No 2-104 Discrete Filter slref.book Page 105 Friday, June 21, 2002 5:58 PM 2Discrete Filter Purpose Implement IIR and FIR filters Library Discrete Description The Discrete Filter block implements Infinite Impulse Response (IIR) and Finite Impulse Response (FIR) filters. You specify the coefficients of the numerator and denominator polynomials in ascending powers of z -1 as vectors using the Numerator and Denominator parameters. The order of the denominator must be greater than or equal to the order of the numerator. See Discrete Transfer Fcn on page 2-116 for more information about coefficients. The Discrete Filter block represents the method often used by signal processing engineers, who describe digital filters using polynomials in z -1 (the delay operator). The Discrete Transfer Fcn block represents the method often used by control engineers, who represent a discrete system as polynomials in z. The methods are identical when the numerator and denominator are the same length. A vector of n elements describes a polynomial of degree n-1. The block icon displays the numerator and denominator according to how they are specified. For a discussion of how Simulink displays the icon, see Transfer Fcn on page 2-355. Data Type Support A Discrete Filter block accepts and outputs a real signal of type double. Parameters and Dialog Box Numerator The vector of numerator coefficients. The default is [1]. 2-105 Discrete Filter slref.book Page 106 Friday, June 21, 2002 5:58 PM Denominator The vector of denominator coefficients. The default is [1 2]. Sample time The time interval between samples. See “Specifying Sample Time” in the online documentation for more information. Characteristics Direct Feedthrough Only if the lengths of the Numerator and Denominator parameters are equal Sample Time Discrete Scalar Expansion No States Length of Denominator parameter -1 Dimensionalized No Zero Crossing No 2-106 Discrete State-Space slref.book Page 107 Friday, June 21, 2002 5:58 PM 2Discrete State-Space Purpose Implement a discrete state-space system Library Discrete Description The Discrete State-Space block implements the system described by where u is the input, x is the state, and y is the output. The matrix coefficients must have these characteristics, as illustrated in the following diagram: A must be an n-by-n matrix, where n is the number of states. B must be an n-by-m matrix, where m is the number of inputs. C must be an r-by-n matrix, where r is the number of outputs. D must be an r-by-m matrix. The block accepts one input and generates one output. The input vector width is determined by the number of columns in the B and D matrices. The output vector width is determined by the number of rows in the C and D matrices. Simulink converts a matrix containing zeros to a sparse matrix for efficient multiplication. Data Type Support A Discrete State Space block accepts and outputs a real signal of type double. xn 1+()Ax n() Bu n()+= yn() Cx n() Du n()+= A B C D n n m r 2-107 Discrete State-Space slref.book Page 108 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box A, B, C, D The matrix coefficients, as defined in the preceding equations. Initial conditions The initial state vector. The default is 0. Sample time The time interval between samples. See “Specifying Sample Time” in the online documentation for more information. Characteristics Direct Feedthrough Only if D ≠ 0 Sample Time Discrete Scalar Expansion Of the initial conditions States Determined by the size of A Dimensionalized Yes Zero Crossing No 2-108 Discrete-Time Integrator slref.book Page 109 Friday, June 21, 2002 5:58 PM 2Discrete-Time Integrator Purpose Perform discrete-time integration of a signal Library Discrete Description The Discrete-Time Integrator block can be used in place of the Integrator block to create a purely discrete system. The Discrete-Time Integrator block allows you to Define initial conditions on the block dialog box or as input to the block. Output the block state. Define upper and lower limits on the integral. Reset the state depending on an additional reset input. These features are described below. Integration Methods The block can integrate using these methods: Forward Euler, Backward Euler, and Trapezoidal. For a given step k, Simulink updates y(k) and x(k+1). T is the sampling period (delta T in the case of triggered sampling time). Values are clipped according to upper or lower limits. In all cases, y(0)=x(0)=IC (clipped if necessary), i.e., the initial output of the block is always the initial condition. Forward Euler method (the default), also known as Forward Rectangular, or left-hand approximation. For this method, 1/s is approximated by T/(z–1). The resulting expression for the output of the block at step k is y(k) = y(k–1) + T * u(k–1) Let x(k+1) = x(k) + T*u(k). The block uses the following steps to compute its output: Step 0: y(0) = x(0) = IC (clip if necessary) x(1) = y(0) + T*u(0) Step 1: y(1) = x(1) x(2) = x(1) + T*u(1) Step k: y(k) = x(k) 2-109 Discrete-Time Integrator slref.book Page 110 Friday, June 21, 2002 5:58 PM x(k+1) = x(k) + T*u(k) (clip if necessary) With this method, input port 1 does not have direct feedthrough. Backward Euler method, also known as Backward Rectangular or right-hand approximation. For this method, 1/s is approximated by T*z/(z–1). The resulting expression for the output of the block at step k is y(k) = y(k–1) + T * u(k) Let x(k) = y(k–1). The block uses the following steps to compute its output: Step 0: y(0) = x(0) = IC (clipped if necessary) x(1) = y(0) Step 1: y(1) = x(1) + T*u(1) x(2) = y(1) Step k: y(k) = x(k) + T*u(k) x(k+1) = y(k) With this method, input port 1 has direct feedthrough. Trapezoidal method. For this method, 1/s is approximated by T/2*(z+1)/(z–1) When T is fixed (equal to the sampling period), let x(k) = y(k–1) + T/2 * u(k–1) The block uses the following steps to compute its output: Step 0: y(0) = x(0) = IC (clipped if necessary) x(1) = y(0) + T/2 * u(0) Step 1: y(1) = x(1) + T/2 * u(1) x(2) = y(1) + T/2 * u(1) Step k: y(k) = x(k) + T/2 * u(k) x(k+1) = y(k) + T/2 * u(k) 2-110 Discrete-Time Integrator slref.book Page 111 Friday, June 21, 2002 5:58 PM Here, x(k+1) is the best estimate of the next output. It isn’t quite the state, in the sense that x(k) != y(k). If T is variable (i.e. obtained from the triggering times), the block uses the following algorithm to compute its outputs: Step 0: y(0) = x(0) = IC (clipped if necessary) x(1) = y(0) Step 1: x(1) = x(1) + T/2 * (u(1) + u(0)) x(2) = y(1) Step k: y(k) = x(k) + T/2 * (u(k) + u(k-1)) x(k+1) = y(k) With this method, input port 1 has direct feedthrough. The block icon reflects the selected integration method, as this figure shows. Defining Initial Conditions You can define the initial conditions as a parameter on the block dialog box or input them from an external signal: To define the initial conditions as a block parameter, specify the Initial condition source parameter as internal and enter the value in the Initial condition parameter field. To provide the initial conditions from an external source, specify the Initial condition source parameter as external. An additional input port appears under the block input, as shown in this figure. 2-111 Discrete-Time Integrator slref.book Page 112 Friday, June 21, 2002 5:58 PM Using the State Port In two situations, you must use the state port instead of the output port: When the output of the block is fed back into the block through the reset port or the initial condition port, causing an algebraic loop. For an example of this situation, see the bounce model. When you want to pass the state from one conditionally executed subsystem to another, which can cause timing problems. For an example of this situation, see the clutch model. You can correct these problems by passing the state through the state port rather than the output port. Although the values are the same, Simulink generates them at slightly different times, which protects your model from these problems. You output the block state by selecting the Show state port check box. By default, the state port appears on the top of the block, as shown in this figure. Limiting the Integral To prevent the output from exceeding specifiable levels, select the Limit output check box and enter the limits in the appropriate parameter fields. Doing so causes the block to function as a limited integrator. When the output reaches the limits, the integral action is turned off to prevent integral wind up. During a simulation, you can change the limits but you cannot change whether the output is limited. The output is determined as follows: When the integral is less than or equal to the Lower saturation limit and the input is negative, the output is held at the Lower saturation limit. When the integral is between the Lower saturation limit and the Upper saturation limit, the output is the integral. When the integral is greater than or equal to the Upper saturation limit and the input is positive, the output is held at the Upper saturation limit. 2-112 Discrete-Time Integrator slref.book Page 113 Friday, June 21, 2002 5:58 PM To generate a signal that indicates when the state is being limited, select the Show saturation port check box. A saturation port appears below the block output port, as shown in this figure. The signal has one of three values: 1 indicates that the upper limit is being applied. 0 indicates that the integral is not limited. -1 indicates that the lower limit is being applied. When the Limit output option is selected, the block has three zero crossings: one to detect when it enters the upper saturation limit, one to detect when it enters the lower saturation limit, and one to detect when it leaves saturation. Resetting the State The block can reset its state to the specified initial condition, based on an external signal. To cause the block to reset its state, select one of the External reset choices. A trigger port appears below the block’s input port and indicates the trigger type, as shown in this figure. Select rising to trigger the state reset when the reset signal has a rising edge. Select falling to trigger the state reset when the reset signal has a falling edge. Select either to trigger the reset when either a rising or falling signal occurs. Select level to trigger the reset and hold the output to the initial condition while the reset signal is nonzero. The reset port has direct feedthrough. If the block output is fed back into this port, either directly or through a series of blocks with direct feedthrough, an 2-113 Discrete-Time Integrator slref.book Page 114 Friday, June 21, 2002 5:58 PM algebraic loop results. To resolve this loop, feed the output of the block’s state port into the reset port instead. To access the block’s state, select the Show state port check box. Choosing All Options When all options are selected, the icon looks like this. Data Type Support A Discrete-Time Integrator block accepts and outputs real signals of type double. Parameters and Dialog Box Integrator method The integration method. The default is ForwardEuler. External reset Resets the states to their initial conditions when a trigger event (rising, falling, either, level) occurs in the reset signal. 2-114 Discrete-Time Integrator slref.book Page 115 Friday, June 21, 2002 5:58 PM Initial condition source Gets the states’ initial conditions from the Initial condition parameter (if set to internal) or from an external block (if set to external). Initial condition The states’ initial conditions. Set the Initial condition source parameter value to internal. Limit output If selected, limits the block’s output to a value between the Lower saturation limit and Upper saturation limit parameters. Upper saturation limit The upper limit for the integral. The default is inf. Lower saturation limit The lower limit for the integral. The default is -inf. Show saturation port If selected, adds a saturation output port to the block. Show state port If selected, adds an output port to the block for the block’s state. Sample time The time interval between samples. The default is 1. See “Specifying Sample Time” in the online documentation for more information. Characteristics Direct Feedthrough Yes, of the reset and external initial condition source ports Sample Time Discrete Scalar Expansion Of parameters States Inherited from driving block and parameter Dimensionalized Yes Zero Crossing One for detecting reset, one each to detect upper and lower saturation limits, one when leaving saturation 2-115 Discrete Transfer Fcn slref.book Page 116 Friday, June 21, 2002 5:58 PM 2Discrete Transfer Fcn Purpose Implement a discrete transfer function Library Discrete Description The Discrete Transfer Fcn block implements the z-transform transfer function described by the following equations: where m+1 and n+1 are the number of numerator and denominator coefficients, respectively. num and den contain the coefficients of the numerator and denominator in descending powers of z. num can be a vector or matrix, den must be a vector, and both are specified as parameters on the block dialog box. The order of the denominator must be greater than or equal to the order of the numerator. Block input is scalar; output width is equal to the number of rows in the numerator. The Discrete Transfer Fcn block represents the method typically used by control engineers, representing discrete systems as polynomials in z. The Discrete Filter block represents the method typically used by signal processing engineers, who describe digital filters using polynomials in z -1 (the delay operator). The two methods are identical when the numerator is the same length as the denominator. The Discrete Transfer Fcn block displays the numerator and denominator within its icon depending on how they are specified. See Transfer Fcn on page 2-355 for more information. Data Type Support A Discrete Transfer Function block accepts and outputs real signals of type double. Hz() num z() den z() -------------------- num 0 z n num 1 z n 1– … num m z nm– +++ den 0 z n den 1 z n 1– … den n +++ --------------------------------------------------------------------------------------------------------------== 2-116 Discrete Transfer Fcn slref.book Page 117 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Numerator The row vector of numerator coefficients. A matrix with multiple rows can be specified to generate multiple output. The default is [1]. Denominator The row vector of denominator coefficients. The default is [1 0.5]. Sample time The time interval between samples. The default is 1. See “Specifying Sample Time” in the online documentation for more information. Characteristics Direct Feedthrough Only if the lengths of the Numerator and Denominator parameters are equal Sample Time Discrete Scalar Expansion No States Length of Denominator parameter -1 Dimensionalized No Zero Crossing No 2-117 Discrete Zero-Pole slref.book Page 118 Friday, June 21, 2002 5:58 PM 2Discrete Zero-Pole Purpose Implement a discrete transfer function specified in terms of poles and zeros Library Discrete Description The Discrete Zero-Pole block implements a discrete system with the specified zeros, poles, and gain in terms of the delay operator z. A transfer function can be expressed in factored or zero-pole-gain form, which, for a single-input, single-output system in MATLAB, is where Z represents the zeros vector, P the poles vector, and K the gain. The number of poles must be greater than or equal to the number of zeros (n ≥ m). If the poles and zeros are complex, they must be complex conjugate pairs. The block icon displays the transfer function depending on how the parameters are specified. See Zero-Pole on page 2-387 for more information. Data Type Support A Discrete Zero-Pole block accepts and outputs real signals of type double. Parameters and Dialog Box Zeros The matrix of zeros. The default is [1]. Hz() K Zz() Pz() ----------- K zZ 1 –()zZ 2 –()…zZ m –() zP 1 –()zP 2 –()…zP n –() ----------------------------------------------------------------------== 2-118 Discrete Zero-Pole slref.book Page 119 Friday, June 21, 2002 5:58 PM Poles The vector of poles. The default is [0 0.5]. Gain The gain. The default is 1. Sample time The time interval between samples. See “Specifying Sample Time” in the online documentation for more information. Characteristics Direct Feedthrough Yes, if the number of zeros and poles are equal Sample Time Discrete Scalar Expansion No States Length of Poles vector Dimensionalized No Zero Crossing No 2-119 Display slref.book Page 120 Friday, June 21, 2002 5:58 PM 2Display Purpose Show the value of the input Library Sinks Description The Display block shows the value of its input. You can control the display format by selecting a Format choice: short, which displays a 5-digit scaled value with fixed decimal point long, which displays a 15-digit scaled value with fixed decimal point short_e, which displays a 5-digit value with a floating decimal point long_e, which displays a 16-digit value with a floating decimal point bank, which displays a value in fixed dollars and cents format (but with no $ or commas) To use the block as a floating display, select the Floating display check box. The block’s input port disappears and the block displays the value of the signal on a selected line. If you select the Floating display option, you must turn off Simulink’s signal storage reuse feature. See “Signal storage reuse” in Using Simulink for more information. The amount of data displayed and the time steps at which the data is displayed are determined by block parameters: The Decimation parameter enables you to display data at every nth sample, where n is the decimation factor. The default decimation, 1, displays data at every time step. The Sample time parameter enables you to specify a sampling interval at which to display points. This parameter is useful when you are using a variable-step solver where the interval between time steps might not be the same. The default value of -1 causes the block to ignore the sampling interval when determining the points to display. If the block input is an array, you can resize the block to show more than just the first element. You can resize the block vertically or horizontally; the block adds display fields in the appropriate direction. A black triangle indicates that the block is not displaying all input array elements. For example, the following figure shows a model that passes a vector (1-D array) to a Display block. The 2-120 Display slref.book Page 121 Friday, June 21, 2002 5:58 PM top model shows the block before it is resized; notice the black triangle. The bottom model shows the resized block displaying both input elements. Data Type Support A Display block accepts and outputs real or complex signals of any data type, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box Format The format of the data displayed. The default is short. Decimation How often to display data. The default value, 1, displays every input point. Floating display If selected, the block’s input port disappears, which enables the block to be used as a floating Display block. Displays only one element of input vector but indicates Displays both elements of input vector there are more 2-121 Display slref.book Page 122 Friday, June 21, 2002 5:58 PM Sample time The sample time at which to display points. See “Specifying Sample Time” in the online documentation for more information. Characteristics Sample Time Inherited from driving block Dimensionalized Yes 2-122 DocBlock slref.book Page 123 Friday, June 21, 2002 5:58 PM 2DocBlock Purpose Create text that documents the model and save the text with the model Library Model-Wide Utilities Description The DocBlock allows you to create and edit text that documents a model and save that text with the model. Double-clicking an instance of this block creates a temporary file containing the text associated with this block and opens the file in the text editor that you have selected in the MATLAB Preferences dialog box. Use the text editor to modify the text and save the file. Simulink stores the contents of the saved file in the model file. Data Type Support Not applicable. Dialog Box The DocBlock does not have a parameter dialog box. Characteristics Not applicable 2-123 Dot Product slref.book Page 124 Friday, June 21, 2002 5:58 PM 2Dot Product Purpose Generate the dot product Library Math Operations Description The Dot Product block generates the dot product of its two input vectors. The scalar output, y, is equal to the MATLAB operation y = sum(conj(u1) .* u2 ) where u1 and u2 represent the vector inputs. If both inputs are vectors, they must be the same length. The elements of the input vectors can be real- or complex-valued signals of data type double. The signal type (complex or real) of the output depends on the signal types of the inputs. To perform element-by-element multiplication without summing, use the Product block. Data Type Support A Dot Product block accepts and outputs signals of type double. Dialog Box Input 1Input 2Output real real real real complex complex complex real complex complex complex complex 2-124 Dot Product slref.book Page 125 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion No States 0 Dimensionalized Yes Zero Crossing No 2-125 Enable slref.book Page 126 Friday, June 21, 2002 5:58 PM 2Enable Purpose Add an enabling port to a subsystem Library Ports & Subsystems Description Adding an Enable block to a subsystem makes it an enabled subsystem. An enabled subsystem executes while the input received at the Enable port is greater than zero. At the start of simulation, Simulink initializes the states of blocks inside an enabled subsystem to their initial conditions. When an enabled subsystem restarts (executes after having been disabled), the States when enabling parameter determines what happens to the states of blocks contained in the enabled subsystem: reset resets the states to their initial conditions (zero if not defined). held holds the states at their previous values. You can output the enabling signal by selecting the Show output port check box. Selecting this option allows the system to process the enabling signal. A subsystem can contain no more than one Enable block. Data Type Support The data type of the input of the Enable port can be any data type except int64 and uint64. See “Creating Conditionally Executed Subsystems” in the online Simulink help for more information about enabled subsystems. Parameters and Dialog Box States when enabling Specifies how to handle internal states when the subsystem becomes reenabled. 2-126 Enable slref.book Page 127 Friday, June 21, 2002 5:58 PM Show output port If selected, Simulink draws the Enable block output port and outputs the enabling signal. Enable zero crossing detection Select to enable zero crossing detection. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Characteristics Sample Time Determined by the signal at the enable port Dimensionalized Yes 2-127 Enabled and Triggered Subsystem slref.book Page 128 Friday, June 21, 2002 5:58 PM 2Enabled and Triggered Subsystem Purpose Represent a subsystem whose execution is enabled and triggered by external input Library Ports & Subsystems Description This block is a Subsystem block that is preconfigured to serve as the starting point for creating an enabled and triggered subsystem. For more information, see “Triggered and Enabled Subsystem” in the online Simulink help. 2-128 Enabled Subsystem slref.book Page 129 Friday, June 21, 2002 5:58 PM 2Enabled Subsystem Purpose Represent a subsystem whose execution is enabled by external input Library Ports & Subsystems Description This block is a Subsystem block that is preconfigured to serve as the starting point for creating an enabled subsystem. For more information, see “Enabled Subsystems” in Using Simulink. 2-129 Fcn slref.book Page 130 Friday, June 21, 2002 5:58 PM 2Fcn Purpose Apply a specified expression to the input Library User-Defined Functions Description The Fcn block applies the specified C language style expression to its input. The expression can be made up of one or more of these components: u — The input to the block. If u is a vector, u(i) represents the ith element of the vector; u(1) or u alone represents the first element. Numeric constants Arithmetic operators (+ – * /) Relational operators (== != > < >= <=) — The expression returns 1 if the relation is true; otherwise, it returns 0. Logical operators (&& || !) — The expression returns 1 if the relation is true; otherwise, it returns 0. Parentheses Mathematical functions — abs, acos, asin, atan, atan2, ceil, cos, cosh, exp, fabs, floor, hypot, ln, log, log10, pow, power, rem, sgn, sin, sinh, sqrt, tan, and tanh. Workspace variables — Variable names that are not recognized in the preceding list of items are passed to MATLAB for evaluation. Matrix or vector elements must be specifically referenced (e.g., A(1,1) instead of A for the first element in the matrix). The rules of precedence obey the C language standards: 1 ( ) 2 + – (unary) 3 pow (exponentiation) 4 ! 5 * / 6 + – 7 > < <= >= 8 = != 9 && 10 || 2-130 Fcn slref.book Page 131 Friday, June 21, 2002 5:58 PM The expression differs from a MATLAB expression in that the expression cannot perform matrix computations. Also, this block does not support the colon operator (:). Block input can be a scalar or vector. The output is always a scalar. For vector output, consider using the Math Function block. If a block is a vector and the function operates on input elements individually (for example, the sin function), the block operates on only the first vector element. Note Simulink does not allow you to change the value of the block’s Expression parameter while running a model in accelerated mode (see “The Simulink Accelerator”). Furthermore, Simulink does not update the value of the Fcn expression to reflect changes in the workspace while running in accelerated mode. Data Type Support A Fcn block accepts and outputs signals of type double. Parameters and Dialog Box Expression The C language style expression applied to the input. Expression components are listed above. The expression must be mathematically well formed (i.e., matched parentheses, proper number of function arguments, etc.). 2-131 Fcn slref.book Page 132 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion No Dimensionalized No Zero Crossing No 2-132 First-Order Hold slref.book Page 133 Friday, June 21, 2002 5:58 PM 2First-Order Hold Purpose Implement a first-order sample-and-hold Library Discrete Description The First-Order Hold block implements a first-order sample-and-hold that operates at the specified sampling interval. This block has little value in practical applications and is included primarily for academic purposes. You can see the difference between the Zero-Order Hold and First-Order Hold blocks by running the demo program fohdemo. This figure compares the output from a Sine Wave block and a First-Order Hold block. Data Type Support A First-Order Hold block accepts and outputs signals of type double. Parameters and Dialog Box Sample time The time interval between samples. See “Specifying Sample Time” in the online documentation for more information. 2-133 First-Order Hold slref.book Page 134 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough No Sample Time Continuous Scalar Expansion No States 1 continuous and 1 discrete per input element Dimensionalized Yes Zero Crossing No 2-134 For Iterator slref.book Page 135 Friday, June 21, 2002 5:58 PM 2For Iterator Purpose Implement a C-like for control flow statement in Simulink Library Ports & Subsystems/For Subsystem Description The For Iterator block, when placed in a subsystem, implements a C-like for control flow statement in Simulink as a For subsystem. In the For subsystem, the For Iterator block has iterative control over any Simulink blocks present. For each iteration value of the For Iterator block, the accompanying blocks execute. The number of iterations is set internally for the For Iterator block or externally with data input. The following example shows a completed for control flow statement that increments an initial value of zero by 10 over 20 iterations. In the preceding example, a For subsystem receives an input, which it passes to the For Iterator block inside. The For Iterator block uses this input to determine the number of times it executes the blocks of its subsystem, in this case, 20 times. Each time the blocks execute, a value of 10 is added to a sum, which is initially zero. In addition, for each time the blocks of the subsystem execute, the For Iterator block outputs a value equal to the number of times that the blocks have executed, including the current execution. This is referred 2-135 For Iterator slref.book Page 136 Friday, June 21, 2002 5:58 PM to as the iterator value. This value, along with the sum value, is sent to an XY Graph block with the following result. The preceding for control flow statement example can be represented by the following pseudocode. sum = 0; iterations = 20; sum_increment = 10; for (i = 0; i < iterations; i++) { sum = sum + sum_increment; } You construct a For subsystem like the preceding example as follows: 1 Create a subsystem and place a For Iterator block in it. This changes the subsystem icon to the text for{...}. You can use an ordinary subsystem or an atomic subsystem. In either case, the resulting For subsystem is atomic. 2 Double-click the For Iterator block to open its Block Parameters dialog and enter as follows: Points: (1,10) (2,20) etc. 2-136 For Iterator slref.book Page 137 Friday, June 21, 2002 5:58 PM Specify external for the Source of number of iterations field. A data input marked N now appears on the For Iterator block. The source for this data input must be outside the For subsystem. In the preceding example, the source for the N port is a constant of value 20 that resides outside the For subsystem. If you specify internal for the Source of number of iterations field, the Number of iterations field appears for you to specify the number of iterations. Make sure that the Show iteration number port check box is selected if you want the For Iterator block to provide an optional data output port for the iteration value. This value begins at 1 for the first iteration and increments by 1 for each succeeding iteration. When the Show iteration number port check box is selected (the default), the Output data type field is enabled (grayed out otherwise). This allows you to select the type for the iterations number data output. The default type is int32. The setting of the States when starting field applies only to cases in which the For subsystem is called repeatedly. If you select reset (the default value) for this field, every time the For subsystem is called, its states are reset to their initial values. If you select held, the states of the For subsystem are retained between calls. In the preceding example, the For subsystem is called only once. Data Type Support The following rules apply to the data type of the number of iterations (N) input port: The input port accepts data of mixed types. If the input port value is noninteger, it is first truncated to an integer. Internally, the input value is cast to an integer of the type specified for the output port. If no output port is specified, the input port value is cast to type int32. If the input port value exceeds the maximum value of the output port’s type, it is truncated to that maximum value. Data output for the iterator value can be selected as double, int32, int16, or int8 in the Block Properties dialog. 2-137 For Iterator slref.book Page 138 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box States when starting Set this field to reset if you want the states of the For subsystem to be reinitialized for each iteration. Otherwise, set this field to held (the default) to make sure that these subsystem states retain their values from the previous iteration. Source of number of iterations If you set this field to internal, the value of the Number of iterations field determines the number of iterations. If you set this field to external, the signal at the For Iterator block’s N port determines the number of iterations. Number of iterations Set the number of iterations for the For Iterator block to this value. This field appears only if you selected internal for the Source of number of iterations field. Show iteration number port If this is selected, the For Iterator block outputs its iteration value. This value starts at 1 and is incremented by 1 for each iteration. Output data type Set the type for the iteration value output from the iteration number port to double, int32, int16, or int8. 2-138 For Iterator slref.book Page 139 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough No Sample Time Inherited from driving blocks Scalar Expansion No Dimensionalized No Zero Crossing No 2-139 For Iterator Subsystem slref.book Page 140 Friday, June 21, 2002 5:58 PM 2For Iterator Subsystem Purpose Represent a subsystem that executes repeatedly during a simulation time step Library Ports & Subsystems Description This block is a Subsystem block that is preconfigured to serve as a starting point for creating a subsystem that executes repeatedly during a simulation time step. For more information, see the For Iterator block and “Control Flow Blocks” in Using Simulink. 2-140 From slref.book Page 141 Friday, June 21, 2002 5:58 PM 2From Purpose Accept input from a Goto block Library Signal Routing Description The From block accepts a signal from a corresponding Goto block, then passes it as output. The data type of the output is the same as that of the input from the Goto block. From and Goto blocks allow you to pass a signal from one block to another without actually connecting them. To associate a Goto block with a From block, enter the Goto block’s tag in the Goto tag parameter. A From block can receive its signal from only one Goto block, although a Goto block can pass its signal to more than one From block. This figure shows that using a Goto block and a From block is equivalent to connecting the blocks to which those blocks are connected. In the model at the left, Block1 passes a signal to Block2. That model is equivalent to the model at the right, which connects Block1 to the Goto block, passes that signal to the From block, then on to Block2. Associated Goto and From blocks can appear anywhere in a model, with this exception: if either block is in a conditionally executed subsystem, the other block must be either in the same subsystem or in a subsystem below it in the model hierarchy (but not in another conditionally executed subsystem). However, if a Goto block is connected to a state port, the signal can be sent to a From block inside another conditionally executed subsystem. For more information about conditionally executed subsystems, see “Creating Conditionally Executed Subsystems” in Using Simulink. The visibility of a Goto block tag determines the From blocks that can receive its signal. For more information, see Goto on page 2-159 and Goto Tag Visibility on page 2-162. The block icon indicates the visibility of the Goto block tag: A local tag name is enclosed in brackets ([]). A scoped tag name is enclosed in braces ({}). A global tag name appears without additional characters. Block1 Block2 Block1 Block2Goto From A A 2-141 From slref.book Page 142 Friday, June 21, 2002 5:58 PM Data Type Support A From block outputs real or complex signals of any data type, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box Goto tag The tag of the Goto block passing the signal to this From block. Goto source Path of the Goto block connected to this From block. Double-clicking the path displays and highlights the Goto block. Characteristics Sample Time Inherited from block driving the Goto block Dimensionalized Yes 2-142 From File slref.book Page 143 Friday, June 21, 2002 5:58 PM 2From File Purpose Read data from a file Library Sources Description The From File block outputs data read from a file. The block icon displays the pathname of the file supplying the data. The file must contain a matrix of two or more rows. The first row must contain monotonically increasing time points. Other rows contain data points that correspond to the time point in that column. The matrix is expected to have this form. The width of the output depends on the number of rows in the file. The block uses the time data to determine its output, but does not output the time values. This means that in a matrix containing m rows, the block outputs a vector of length m–1, consisting of data from all but the first row of the appropriate column. If an output value is needed at a time that falls between two values in the file, the value is linearly interpolated between the appropriate values. If the required time is less than the first time value or greater than the last time value in the file, Simulink extrapolates, using the first two or last two points to compute a value. If the matrix includes two or more columns at the same time value, the output is the data point for the first column encountered. For example, for a matrix that has this data: time values: 0 1 2 2 data points: 2 3 4 5 At time 2, the output is 4, the data point for the first column encountered at that time value. t 1 t 2 …t final u1 1 u1 2 …u1 final … un 1 un 2 …un final 2-143 From File slref.book Page 144 Friday, June 21, 2002 5:58 PM Simulink reads the file into memory at the start of the simulation. As a result, you cannot read data from the same file named in a To File block in the same model. Using Data Saved by a To File or a To Workspace Block The From File block can read data written by a To File block without any modifications. To read data written by a To Workspace block and saved to a file: The data must include the simulation times. The easiest way to include time data in the simulation output is to specify a variable for time on the Workspace I/O page of the Simulation Parameters dialog box. See “The WorkspaceF I/O Pane” for more information. The form of the data as it is written to the workspace is different from the form expected by the From File block. Before saving the data to a file, transpose it. When it is read by the From File block, it will be in the correct form. Data Type Support A From File block outputs real signals of type double. Parameters and Dialog Box File name The fully qualified pathname or file name of the file that contains the data used as input. On UNIX, the pathname can start with a tilde (~) character signifying your home directory. The default file name is untitled.mat. If you specify an unqualified file name, Simulink assumes that the file resides in MATLAB’s working directory. (To determine the working directory, enter pwd at the MATLAB command line.) If Simulink cannot find the specified file name in the working directory, it displays an error message. 2-144 From File slref.book Page 145 Friday, June 21, 2002 5:58 PM Sample time The sample period and offset of the data read from the file. See “Specifying Sample Time” in the online documentation for more information. Characteristics Sample Time Inherited from driven block Scalar Expansion No Dimensionalized 1-D array only Zero Crossing No 2-145 From Workspace slref.book Page 146 Friday, June 21, 2002 5:58 PM 2From Workspace Purpose Read data from the workspace Library Sources Description The From Workspace block reads data from the MATLAB workspace. The block’s Data parameter specifies the workspace data via a MATLAB expression that evaluates to a matrix (2-D array) or a structure containing an array of signal values and time steps. The format of the matrix or structure is the same as that used to load inport data from the workspace (see “Loading Input from the Base Workspace”). The From Workspace icon displays the expression in the Data parameter. Note You must use the structure-with-time format to load matrix (2-D) data from the workspace. You can use either the array or the structure format to load scalar or vector (1-D) data. The From Workspace block’s Interpolate data parameter determines the block’s output in the time interval for which workspace data is supplied. If the Interpolate data option is selected, the block interpolates between data values for time steps that occur between the times for which data is supplied from the workspace. Otherwise, the block uses the most recent data value supplied from the workspace. The block’s Form output after final data value by parameter determines the block’s output after the last time step for which data is available from the workspace. The following table summarizes the output block based on the options that the parameter provides. Form Output Option Interpolate Option Block Output After Final Data Extrapolate On Extrapolated from final data value Extrapolate Off Error SettingToZero On Zero SettingToZero Off Zero 2-146 From Workspace slref.book Page 147 Friday, June 21, 2002 5:58 PM If the input array contains more than one entry for the same time step, Simulink uses the signals specified by the last entry. For example, suppose the input array has this data: time: 0 1 2 2 signal: 2 3 4 5 At time 2, the output is 5, the signal value for the last entry for time 2. Note A From Workspace block can directly read the output of a To Workspace block (see To Workspace on page 2-351) if the output is in structure-with-time format (see “Loading Input from the Base Workspace” for a description of these formats). Data Type Support A From Workspace block accepts real or complex signals of any type except int64 and uint64 from the workspace. Real signals of type double can be in either structure or matrix format. Complex signals and real signals of any type other than double must be in structure format. HoldingFinalValue On Final value from workspace HoldingFinalValue Off Final value from workspace CyclicRepetition On Error CyclicRepetition Off Repeated from workspace. This option is valid only for workspace data in structure-without-time format. Form Output Option Interpolate Option Block Output After Final Data 2-147 From Workspace slref.book Page 148 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Data An expression that evaluates to an array or a structure containing an array of simulation times and corresponding signal values. For example, suppose that the workspace contains a column vector of times named T and a vector of corresponding signal values named U. Entering the expression [T,U] for this parameter yields the required input array. If the required signal-versus-time array or structure already exists in the workspace, enter the name of the structure or matrix in this field. Sample time Sample rate of data from the workspace. See “Specifying Sample Time” in the online documentation for more information. Interpolate data This option causes the block to linearly interpolate at time steps for which no corresponding workspace data exists. Otherwise, the current output equals the output at the most recent time for which data exists. Form output after final data value by Select method for generating output after the last time point for which data is available from the workspace. 2-148 From Workspace slref.book Page 149 Friday, June 21, 2002 5:58 PM Characteristics Sample Time Inherited from driven block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-149 Function-Call Generator slref.book Page 150 Friday, June 21, 2002 5:58 PM 2Function-Call Generator Purpose Execute a function-call subsystem a specified number of times at a specified rate Library Ports & Subsystems Description The Function-Call Generator block executes a function-call subsystem (for example, a Stateflow state chart configured as a function-call system) at the rate specified by the block’s Sample time parameter. To execute multiple function-call subsystems in a prescribed order, first connect a Function-Call Generator block to a Demux block that has as many output ports as there are function-call subsystems to be controlled. Then connect the outports of the Demux block to the systems to be controlled. The system connected to the first demux port executes first, the system connected to the second demux port executes second, and so on. Data Type Support A Function-Call Generator block outputs a real signal of type double. Parameters and Dialog Box Sample time The time interval between samples. See “Specifying Sample Time” in the online documentation for more information. Number of iterations Number of times to execute the block per time step. 2-150 Function-Call Generator slref.book Page 151 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough No Sample Time User-specified Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-151 Function-Call Subsystem slref.book Page 152 Friday, June 21, 2002 5:58 PM 2Function-Call Subsystem Purpose Represent a subsystem that can be invoked as a function by another block Library Ports & Subsystems Description This block is a Subsystem block that is preconfigured to serve as a starting point for creating a function-call subsystem. For more information, see “Function-Call Subsystems” in Using Simulink. 2-152 Gain, Matrix Gain slref.book Page 153 Friday, June 21, 2002 5:58 PM 2Gain, Matrix Gain Purpose Multiply the input by a constant Library Simulink Math Operations and Fixed-Point Blockset Math Description The Gain block multiplies the input by a constant value (gain). The input and the gain can each be a scalar, vector, or matrix. You specify the value of the gain in the Gain parameter. The Multiplication parameter lets you specify element-wise or matrix multiplication. For matrix multiplication, this parameter also lets you indicate the order of the multiplicands. When the Show additional parameters check box is selected, some of the parameters that become visible are common to many blocks. For a detailed description of these parameters, refer to “Block Parameters” in the Fixed-Point Blockset documentation. The Matrix gain block is an implementation of the Gain block with different default settings. Data Type Support The input and gain of the Gain block can be a real or complex scalar, vector, or matrix of any data type except boolean, int64, and uint64. If the input is real and the gain is complex, the output is complex. Parameters and Dialog Box Gain Specify the value by which to multiply the input. The gain may be a scalar, vector, or matrix. 1 Gain K*u Matrix Gain 2-153 Gain, Matrix Gain slref.book Page 154 Friday, June 21, 2002 5:58 PM Multiplication Specify the multiplication mode: Element-wise(K*u)—Each element of the input is multiplied by each element of the gain. The block performs expansions, if necessary, so that the input and gain have the same dimensions. Matrix(K*u)—The input and gain are matrix multiplied with the input as the second operand. Matrix(u*K)—The input and gain are matrix multiplied with the input as the first operand. Matrix(K*u)(u vector)—The input and gain are matrix multiplied with the input as the second operand. The input and the output are required to be vectors and their lengths are determined by the dimensions of the gain. Show additional parameters If selected, additional parameters specific to implementation of the block become visible as shown. 2-154 Gain, Matrix Gain slref.book Page 155 Friday, June 21, 2002 5:58 PM Parameter data type mode Set the data type and scaling of the gain to be the same as that of the input, or to be inherited via an internal rule. Alternatively, choose to specify the data type and scaling of the gain through the Parameter data type, Parameter scaling mode, and Parameter scaling parameters in the dialog. Parameter data type Set the gain data type. This parameter is only visible if Specify via dialog is selected for the Parameter data type mode parameter. Parameter scaling mode Set the mode to determine the scaling of the gain. Use specified scaling—This mode allows you to set the scaling of the gain in the Parameter scaling parameter. 2-155 Gain, Matrix Gain slref.book Page 156 Friday, June 21, 2002 5:58 PM Best Precision: Element-wise—This mode sets radix points for the elements of the gain such that the precision of each element is maximized. Best Precision: Row-wise—This mode sets a common radix point within each row of the gain such that the largest element of each row has the best possible precision. Best Precision: Column-wise—This mode sets a common radix point within each column of the gain such that the largest element of each column has the best possible precision. Best Precision: Matrix-wise—This mode sets a common radix point for all the elements of the gain such that the largest element has the best possible precision. This parameter is only visible if Specify via dialog is selected for the Parameter data type mode parameter. Parameter scaling Set the gain scaling using either radix point-only or [Slope Bias] scaling. This parameter is only visible if Specify via dialog is selected for the Parameter data type mode parameter, and if Use specified scaling is selected for the Parameter scaling mode parameter. Output data type mode Set the data type and scaling of the output to be the same as that of the input, or to be inherited via an internal rule or by backpropagation. Alternatively, choose to specify the data type and scaling of the output through the Output data type and Output scaling value parameters in the dialog. If you select Inherit via internal rule for this parameter, Simulink chooses a combination of output scaling and data type that requires the smallest amount of memory consistent with accommodating the output range and maintaining the output precision of the block. If the Production hardware characteristics parameter on the Advanced pane of the Simulation Parameters dialog is set to Unconstrained integer sizes, Simulink chooses the output data type without regard to hardware constraints. If the parameter is set to Microprocessor, Simulink chooses the smallest available hardware data type capable of meeting the range and precision constraints. For example, if the block multiplies an input of type int8 by a gain of int16 and Unconstrained integer sizes is 2-156 Gain, Matrix Gain slref.book Page 157 Friday, June 21, 2002 5:58 PM specified, the output data type is sfix24. If Microprocessor is specified and the microprocessor supports 8-bit, 16-bit, and 32-bit words, the output data type is int32. If none of the word lengths provided by the target microprocessor can accommodate the output range, Simulink displays an error message in the Simulink Diagnostic Viewer. Output data type Set the output data type. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Output scaling value Set the output scaling using either radix point-only or [Slope Bias] scaling. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Lock output scaling against changes by the autoscaling tool If selected, scaling of outputs is locked. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Round integer calculations toward Select the rounding mode for integer output. Saturate on integer overflow If selected, overflows saturate. Conversions and Operations The gain is converted from doubles to the specified data type offline using round-to-nearest and saturation. Refer to “Parameter Conversions” in the Fixed-Point Blockset documentation for more information about parameter conversions. The input and gain are then multiplied, and the result is converted to the output data type using the specified rounding and overflow modes. Refer to “Rules for Arithmetic Operations” in the Fixed-Point Blockset documentation for more information about the rules that this block obeys when performing fixed-point operations. 2-157 Gain, Matrix Gain slref.book Page 158 Friday, June 21, 2002 5:58 PM Characteristics Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Of input and Gain parameter for Element-wise multiplication Zero Crossing No 2-158 Goto slref.book Page 159 Friday, June 21, 2002 5:58 PM 2Goto Purpose Pass block input to From blocks Library Signal Routing Description The Goto block passes its input to its corresponding From blocks. The input can be a real- or complex-valued signal or vector of any data type. From and Goto blocks allow you to pass a signal from one block to another without actually connecting them. A Goto block can pass its input signal to more than one From block, although a From block can receive a signal from only one Goto block. The input to that Goto block is passed to the From blocks associated with it as though the blocks were physically connected. For limitations on the use of From and Goto blocks, see From on page 2-141. Goto blocks and From blocks are matched by the use of Goto tags, defined in the Tag parameter. The Tag visibility parameter determines whether the location of From blocks that access the signal is limited: local, the default, means that From and Goto blocks using the same tag must be in the same subsystem. A local tag name is enclosed in brackets ([]). scoped means that From and Goto blocks using the same tag must be in the same subsystem or in any subsystem below the Goto Tag Visibility block in the model hierarchy. A scoped tag name is enclosed in braces ({}). global means that From and Goto blocks using the same tag can be anywhere in the model. Note A scoped Goto block in a masked system is visible only in that subsystem and in the subsystems it contains. Simulink generates an error if you run or update a diagram that has a Goto Tag Visibility block at a higher level in the block diagram than the corresponding scoped Goto block in the masked subsystem. Use local tags when the Goto and From blocks using the same tag name reside in the same subsystem. You must use global or scoped tags when the Goto and From blocks using the same tag name reside in different subsystems. When you define a tag as global, all uses of that tag access the same signal. A tag 2-159 Goto slref.book Page 160 Friday, June 21, 2002 5:58 PM defined as scoped can be used in more than one place in the model. This example shows a model that uses two scoped tags with the same name (A). Data Type Support A Goto block accepts real or complex signals of any data type, including fixed-point data types, except int64 and uint64. 2-160 Goto slref.book Page 161 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Tag The Goto block identifier. This parameter identifies the Goto block whose scope is defined in this block. Tag visibility The scope of the Goto block tag: local, scoped, or global. The default is local. Corresponding From blocks List of the From blocks connected to this Goto block. Double-clicking any entry in this list displays and highlights the corresponding From block. Characteristics Sample Time Inherited from driving block Dimensionalized Yes 2-161 Goto Tag Visibility slref.book Page 162 Friday, June 21, 2002 5:58 PM 2Goto Tag Visibility Purpose Define scope of Goto block tag Library Signal Routing Description The Goto Tag Visibility block defines the accessibility of Goto block tags that have scoped visibility. The tag specified as the Goto tag parameter is accessible by From blocks in the same subsystem that contains the Goto Tag Visibility block and in subsystems below it in the model hierarchy. A Goto Tag Visibility block is required for Goto blocks whose Tag visibility parameter value is scoped. No Goto Tag Visibility block is needed if the tag visibility is either local or global. The block icon shows the tag name enclosed in braces ({}). Data Type Support Not applicable. Parameters and Dialog Box Goto tag The Goto block tag whose visibility is defined by the location of this block. Characteristics Sample Time N/A Dimensionalized N/A 2-162 Ground slref.book Page 163 Friday, June 21, 2002 5:58 PM 2Ground Purpose Ground an unconnected input port Library Sources Description The Ground block can be used to connect blocks whose input ports are not connected to other blocks. If you run a simulation with blocks having unconnected input ports, Simulink issues warning messages. Using Ground blocks to ground those blocks avoids warning messages. The Ground block outputs a signal with zero value. The data type of the signal is the same as that of the port to which it is connected. Data Type Support A Ground block outputs a signal of the same numeric type and data type as the port to which it is connected. For example, consider the following model. In this example, the output of the Constant block determines the data type (int8) of the port to which the Ground block is connected. That port in turn determines the type of the signal output by the Ground block. The Ground block supports fixed-point data types. Parameters and Dialog Box Characteristics Sample Time Inherited from driven block Dimensionalized Yes 2-163 Hit Crossing slref.book Page 164 Friday, June 21, 2002 5:58 PM 2Hit Crossing Purpose Detect crossing point Library Discontinuities Description The Hit Crossing block detects when the input reaches the Hit crossing offset parameter value in the direction specified by the Hit crossing direction parameter. The block accepts one input of type double. If the Show output port check box is selected, the block output indicates when the crossing occurs. If the input signal is exactly the value of the offset value after the hit crossing is detected, the block continues to output a value of 1. If the input signals at two adjacent points bracket the offset value (but neither value is exactly equal to the offset), the block outputs a value of 1 at the second time step. If the Show output port check box is not selected, the block ensures that the simulation finds the crossing point but does not generate output. When the block’s Hit crossing direction parameter is set to either, the block serves as an “Almost Equal” block, useful in working around limitations in finite mathematics and computer precision. Used for these reasons, this block might be more convenient than adding logic to your model to detect this condition. The hardstop and clutch demos illustrate the use of the Hit Crossing block. In the hardstop demo, the Hit Crossing block is in the Friction Model subsystem. In the clutch demo, the Hit Crossing block is in the Lockup Detection subsystem. Data Type Support A Hit Crossing block outputs a signal of type boolean if Boolean logic signals are enabled (see “Enabling Strict Boolean Type Checking”). Otherwise, the block outputs a signal of type double. 2-164 Hit Crossing slref.book Page 165 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Hit crossing offset The value whose crossing is to be detected. Hit crossing direction The direction from which the input signal approaches the hit crossing offset for a crossing to be detected. Show output port If selected, draw an output port. Enable zero crossing detection Select to enable zero crossing detection. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Yes Dimensionalized Yes 2-165 IC slref.book Page 166 Friday, June 21, 2002 5:58 PM 2IC Purpose Set the initial value of a signal Library Signal Attributes Description The IC block sets the value of the signal at its output port at t=0. The IC block is also useful for providing an initial guess for the algebraic state variables in the loop. For more information, see “Algebraic “Loops” in Using Simulink. Data Type Support An IC block accepts and outputs a signal of type double. Dialog Box Initial value Specify the initial value for the input signal. Examples These blocks illustrate how the IC block initializes a signal labeled “test signal.” At t = 0, the signal value is 3. Afterwards, the signal value is 6. [1] IC 2-166 IC slref.book Page 167 Friday, June 21, 2002 5:58 PM Characteristics Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Of parameter only Zero Crossing No 2-167 If slref.book Page 168 Friday, June 21, 2002 5:58 PM 2If Purpose Implement a C-like if-else control flow statement in Simulink Library Ports & Subsystems Description The If block, along with If Action subsystems containing Action Port blocks, implements standard C-like if-else logic. The following shows a completed if-else control flow statement. In this example, the inputs to the If block determine the values of conditions represented as output ports. Each output port is attached to an If Action subsystem. The conditions are evaluated top down starting with the if condition. If a condition is true, its If Action subsystem is executed and the If block does not evaluate any remaining conditions. The preceding if-else control flow statement can be represented by the following pseudocode. if (u1 > 0) { body_1; } elseif (u2 > 0){ body_2; } else { body_3; } 2-168 If slref.book Page 169 Friday, June 21, 2002 5:58 PM You construct a Simulink if-else control flow statement like the preceding example as follows: 1 Place an If block in the current system. 2 Open the Block Parameters dialog of the If block and enter as follows: - Enter the Number of inputs field with the required number of inputs necessary to define conditions for the if-else control flow statement. Elements of vector inputs can be accessed for conditions using (row, column) arguments. For example, you can specify the fifth element of the vector u2 in the condition u2(5) > 0 in an If expression or Elseif expressions field. - Enter the expression for the if condition of the if-else control flow statement in the If expression field. This creates an if output port for the If block with a label of the form if(condition). This is the only required If Action signal output for an If block. - Enter expressions for any elseif conditions of the if-else control flow statement in the Elseif expressions field. Use a comma to separate one condition from another. Entering these conditions creates an output port for the If block for each condition, with a label of the form elseif(condition). elseif ports are optional and not required for operation of the If block. - Check the Show else condition check box to create an else output port. The else port is optional and not required for the operation of the If block. 3 Create If Action subsystems to connect to each of the if, else, and elseif ports. These consist of a subsystem with an Action Port block. When you place an Action Port block inside each subsystem, an input port named Action is added to the subsystem. 4 Connect each if, else, and elseif port of the If block to the Action port of an If Action subsystem. When you make the connection, the icon for the If Action block is renamed to the type of the condition that it attaches to. 2-169 If slref.book Page 170 Friday, June 21, 2002 5:58 PM Note During simulation of an if-else control flow statement, the Action signal lines from the If block to the If Action subsystems turn from solid to dashed. 5 In each If Action subsystem, enter the Simulink blocks appropriate to the body to be executed for the condition it handles. In the preceding example, this is shown as body_1, body_2, and body_3. Data Type Support Inputs u1,u2,...,un can be scalar or vector of any data type, including fixed-point data types, except int64 and uint64. Outputs from the if, else, and elseif ports are Action signals to If Action subsystems that are created with Action Port blocks and subsystems. See Action Port on page 2-5. 2-170 If slref.book Page 171 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Number of inputs The number of inputs to the If block. These appear as data input ports labeled with a 'u' character followed by a number, 1,2,...,n, where n equals the number of inputs that you specify. If expression The condition for the if output port. This condition appears on the If block adjacent to the if output port. The if expression can use any of the following operators: <. <=, ==, ~=, >, >=, &, |, ~, (), unary-minus. The If Action subsystem attached to the if port executes if its condition is true. Elseif expressions A string list of elseif conditions delimited by commas. These conditions appear below the if port and above the else port if the Show else condition check box is selected. elseif expressions can use any of the following operators: <. <=, ==, ~=, >, >=, &, |, ~, (), unary-minus. The If Action subsystem attached to an elseif port executes if its condition is true and all of the if and elseif conditions are false. 2-171 If slref.book Page 172 Friday, June 21, 2002 5:58 PM Show else condition If this box is selected, an else port is created. The If Action subsystem attached to the else port executes if the if port and all the elseif ports are false. Enable zero crossing detection Select to enable zero crossing detection. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes 2-172 If Action Subsystem slref.book Page 173 Friday, June 21, 2002 5:58 PM 2If Action Subsystem Purpose Represent a subsystem whose execution is triggered by an If block Library Ports & Subsystems Description This block is a Subsystem block that is preconfigured to serve as a starting point for creating a subsystem whose execution is triggered by an If block. For more information, see the If block and “Control Flow Blocks” in Using Simulink. 2-173 Inport slref.book Page 174 Friday, June 21, 2002 5:58 PM 2Inport Purpose Create an input port for a subsystem or an external input Library Ports & Subsystems, Sources Description Inport blocks are the links from outside a system into the system. Simulink assigns Inport block port numbers according to these rules: It automatically numbers the Inport blocks within a top-level system or subsystem sequentially, starting with 1. If you add an Inport block, it is assigned the next available number. If you delete an Inport block, other port numbers are automatically renumbered to ensure that the Inport blocks are in sequence and that no numbers are omitted. If you copy an Inport block into a system, its port number is not renumbered unless its current number conflicts with an Inport block already in the system. If the copied Inport block port number is not in sequence, you must renumber the block or you will get an error message when you run the simulation or update the block diagram. You can specify the dimensions of the input to the Inport block using the Port dimensions parameter, or let Simulink determine it automatically by providing a value of -1. The Sample time parameter is the rate at which the signal is coming into the system. The value of -1 causes the block to inherit its sample time from the block driving it. It might be appropriate to set this parameter for Inport blocks in the top-level system or in models where Inport blocks are driven by blocks whose sample times cannot be determined. See “Specifying Sample Time” in the online documentation for more information. Inport Blocks in a Subsystem Inport blocks in a subsystem represent inputs to the subsystem. A signal arriving at an input port on a Subsystem block flows out of the associated Inport block in that subsystem. The Inport block associated with an input port on a Subsystem block is the block whose Port number parameter matches the relative position of the input port on the Subsystem block. For example, the Inport block whose Port number parameter is 1 gets its signal from the block connected to the topmost port on the Subsystem block. 1 In1 2-174 Inport slref.book Page 175 Friday, June 21, 2002 5:58 PM If you renumber the Port number of an Inport block, the block becomes connected to a different input port, although the block continues to receive its signal from the same block outside the subsystem. The Inport block name appears in the Subsystem block icon as a port label. To suppress display of the label, select the Inport block, choose Hide Name from the Format menu, then choose Update Diagram from the Edit menu. Inport Blocks in a Top-Level System Inport blocks in a top-level system have two uses: to supply external inputs from the workspace, which you can do by using either the Simulation Parameters dialog box or the sim command, and to provide a means for analysis functions to perturb the model. To supply external inputs from the workspace, use either the Simulation Parameters dialog (see “Loading Input from the Base Workspace”) or the ut argument of the sim command (see sim) to specify the inputs. To provide a means for perturbation of the model by the linmod and trim analysis functions. Inport blocks define the points where inputs are injected into the system. For information about using Inport blocks with analysis commands, see “Analyzing Simulation Results” in Using Simulink. Data and Numeric Type Support An Inport block accepts complex or real signals of any data type including fixed-point data types. The numeric and data types of the block’s output are the same as those of its input. You can specify the signal type, data type, and sampling mode of an external input to a root-level Inport block using the Signal type, Data type, and Sampling mode parameters. The elements of a signal array connected to a root-level Inport block must be of the same numeric and data types. Signal elements connected to a subsystem inport can be of differing numeric and data types except in the following circumstance: If the subsystem contains an Enable or Trigger block and the 2-175 Inport slref.book Page 176 Friday, June 21, 2002 5:58 PM inport is connected directly to an outport, the input elements must be of the same type. For example, consider the follow enabled subsystem. In this example, the elements of a signal vector connected to In1 must be of the same type. The elements connected to In2, however, can be of differing types. Parameters and Dialog Box Port number Specify the port number of the Inport block. Port dimensions Specify the dimensions of the input signal to the Inport block. Valid values are -1—Dimensions are inherited from input signal n—Vector signal of width n accepted [m n]—Matrix signal having m rows and n columns accepted 2-176 Inport slref.book Page 177 Friday, June 21, 2002 5:58 PM Sample time Specify the sample time of the input signal. Valid values are -1—Any sample time accepted period >= 0 [offset, period] [0, -1] [-1, -1] where period is the sample rate and offset is the offset of the sample period from time zero. See “Specifying Sample Time” in the online documentation for more information. Show additional parameters If selected, additional parameters specific to implementation of the block become visible as shown: 2-177 Inport slref.book Page 178 Friday, June 21, 2002 5:58 PM Latch (buffer) input This field is enabled only if the Inport block resides in a triggered subsystem. If selected, the block outputs the value of the input signal at the previous time step. Data type Specify the data type of the external input. To accept any data type, set this parameter to auto. Output data type Specify any data type, including fixed-point data types. This parameter is only visible if Specify via dialog is selected for the Data type parameter. Output scaling value Set the output scaling using radix point-only or [Slope Bias] scaling. This parameter is only visible if Specify via dialog is selected for the Data type parameter. Signal type Specify the numeric type (real or complex) of the external input. To accept any numeric type, set this parameter to auto. Sampling mode Specify the sampling mode (Sample based or Frame based) that the input signal must match. To accept any sampling mode, set this parameter to auto. Interpolate data Select this parameter to cause the block to interpolate or extrapolate output at time steps for which no corresponding workspace data exists when loading data from the workspace. See “Loading Input from the Base Workspace” for more information. Characteristics Dimensionalized Yes Sample Time Inherited from driving block 2-178 Integrator slref.book Page 179 Friday, June 21, 2002 5:58 PM 2Integrator Purpose Integrate a signal Library Continuous Description The Integrator block outputs the integral of its input at the current time step. The following equation represents the output of the block y as a function of its input u and an initial condition y 0 , where y and u are vector functions of the current simulation time t. Simulink can use a number of different numerical integration methods to compute the Integrator block’s output, each with advantages in particular applications. The Solver pane of the Simulation parameters dialog box (see “The Solver Pane”) allows you to select the technique best suited to your application. Simulink treats the Integrator block as a dynamic system with one state, its output. The Integrator block’s input is the state’s time derivative. The currently selected solver computes the output of the Integrator block at the current time step, using the current input value and the value of the state at the previous time step. To support this computational model, the Integrator block saves its output at the current time step for use by the solver to compute its output at the next time step. The block also provides the solver with an initial condition for use in computing the block’s initial state at the beginning of a simulation run. The default value of the initial condition is 0. The block’s parameter dialog box allows you to specify another value for the initial condition or create an initial value input port on the block. yt() ut() td t 0 t ∫ y 0 += xyt()= x 0 y 0 = x · ut()= 2-179 Integrator slref.book Page 180 Friday, June 21, 2002 5:58 PM The parameter dialog box also allows you to Define upper and lower limits on the integral Create an input that resets the block’s output (state) to its initial value, depending on how the input changes Create an optional state output that allows you to use the value of the block’s output to trigger a block reset Use the Discrete-Time Integrator block to create a purely discrete system. Defining Initial Conditions You can define the initial conditions as a parameter on the block dialog box or input them from an external signal: To define the initial conditions as a block parameter, specify the Initial condition source parameter as internal and enter the value in the Initial condition parameter field. To provide the initial conditions from an external source, specify the Initial condition source parameter as external. An additional input port appears under the block input, as shown in this figure. Note If the integrator limits its output (see “Limiting the Integral”), the initial condition must fall inside the integrator’s saturation limits. If the initial condition is outside the block’s saturation limits, the block displays an error message. 2-180 Integrator slref.book Page 181 Friday, June 21, 2002 5:58 PM Limiting the Integral To prevent the output from exceeding specifiable levels, select the Limit output check box and enter the limits in the appropriate parameter fields. Doing so causes the block to function as a limited integrator. When the output reaches the limits, the integral action is turned off to prevent integral wind up. During a simulation, you can change the limits but you cannot change whether the output is limited. The output is determined as follows: When the integral is less than or equal to the Lower saturation limit and the input is negative, the output is held at the Lower saturation limit. When the integral is between the Lower saturation limit and the Upper saturation limit, the output is the integral. When the integral is greater than or equal to the Upper saturation limit and the input is positive, the output is held at the Upper saturation limit. To generate a signal that indicates when the state is being limited, select the Show saturation port check box. A saturation port appears below the block output port, as shown on this figure. The signal has one of three values: 1 indicates that the upper limit is being applied. 0 indicates that the integral is not limited. -1 indicates that the lower limit is being applied. When this option is selected, the block has three zero crossings: one to detect when it enters the upper saturation limit, one to detect when it enters the lower saturation limit, and one to detect when it leaves saturation. Resetting the State The block can reset its state to the specified initial condition based on an external signal. To cause the block to reset its state, select one of the External 2-181 Integrator slref.book Page 182 Friday, June 21, 2002 5:58 PM reset choices. A trigger port appears below the block’s input port and indicates the trigger type, as shown in this figure. Select rising to trigger the state reset when the reset signal has a rising edge. Select falling to trigger the state reset when the reset signal has a falling edge. Select either to trigger the reset when either a rising or falling signal occurs. Select level to trigger the reset and hold the output to the initial condition while the reset signal is nonzero. The reset port has direct feedthrough. If the block output is fed back into this port, either directly or through a series of blocks with direct feedthrough, an algebraic loop results (see “Algebraic Loops”). The Integrator block’s state port allows you to feed back the block’s output without creating an algebraic loop. About the State Port Selecting the Show state port option on the Integrator block’s parameter dialog box causes an additional output port, the state port, to appear atop the Integrator block. The output of the state port is the same as the output of the block’s standard output port except for the following case. If the block is reset in the current time step, the output of the state port is the value that would have appeared at the block’s standard output if the block had not been reset. The state port’s output appears earlier in the time step than the output of the Integrator block’s output 2-182 Integrator slref.book Page 183 Friday, June 21, 2002 5:58 PM port. This allows you to avoid creating algebraic loops in the following modeling scenarios: Self-resetting integrators (see “Creating Self-Resetting Integrators” on page 2-183) Handing off a state from one enabled subsystem to another (see “Handing Off States Between Enabled Subsystems” on page 2-184) Note The state port is intended to be used specifically in these two scenarios. When updating a model, Simulink checks to ensure that the state port is being used in one of these two scenarios. If not, Simulink signals an error. Creating Self-Resetting Integrators The Integrator block’s state port allows you to avoid creating algebraic loops when creating an integrator that resets itself based on the value of its output. Consider, for example, the following model. This model tries to create a self-resetting integrator by feeding the integrator’s output, subtracted from 1, back into the integrator’s reset port. In so doing, however, the model creates an algebraic loop. To compute the integrator block’s output, Simulink needs to know the value of the block’s reset signal, and vice versa. Because the two values are mutually dependent, Simulink cannot determine either. It therefore signals an error if you try to simulate or update this model. 2-183 Integrator slref.book Page 184 Friday, June 21, 2002 5:58 PM The following model uses the integrator’s state port to avoid the algebraic loop. In this version, the value of the reset signal depends on the value of the state port. The value of the state port is available earlier in the current time step than the value of the integrator block’s output port. Thus, Simulink can determine whether the block needs to be reset before computing the block’s output, thereby avoiding the algebraic loop. Handing Off States Between Enabled Subsystems The state port allows you to avoid an algebraic loop when passing a state between two enabled subsystems. Consider, for example, the following model. State Reset on crossing zero. 2-184 Integrator slref.book Page 185 Friday, June 21, 2002 5:58 PM In this model, a constant input signal drives two enabled subsystems that integrate the signal. A pulse generator generates an enabling signal that causes execution to alternate between the two subsystems. The enable port of each subsystem is set to reset. This causes the subsystem to reset its integrator when it becomes active. Resetting the integrator causes the integrator to read the value of its initial condition port. The initial condition port of the integrator in each subsystem is connected to the output port of the integrator in the other subsystem. This connection is intended to enable continuous integration of the input signal as execution alternates between the two subsystems. However, the connection creates an algebraic loop. To compute the output of A, Simulink needs to know the output of B, and vice versa. Because the outputs are mutually dependent, Simulink cannot compute them. It therefore generates an error if you attempt to update or simulate this model. 2-185 Integrator slref.book Page 186 Friday, June 21, 2002 5:58 PM The following version of the same model uses the integrator state port to avoid creating an algebraic loop when handing off the state. In this model, the initial condition of the integrator in A depends on the value of the state port of the integrator in B, and vice versa. The values of the state ports are updated earlier in the simulation time step than the values of the integrator output ports. Thus, Simulink can compute the initial condition of either integrator without knowing the final output value of the other integrator. For another example of using the state port to hand off states between conditionally executed subsystems, see the clutch model. Note Simulink does not permit three or more enabled subsystems to hand off a model state. If Simulink detects that a model is handing off a state among more than two enabled subsystems, it generates an error. Specifying the Absolute Tolerance for the Block’s Outputs By default Simulink uses the absolute tolerance value specified in the Simulation Parameters dialog box (see “Error Tolerances”) to compute the 2-186 output of the Integrator block. If this value does not provide sufficient error Integrator slref.book Page 187 Friday, June 21, 2002 5:58 PM control, specify a more appropriate value in the Absolute tolerance field of the Integrator block’s dialog box. The value that you specify is used to compute all of the block’s outputs. Choosing All Options When all options are selected, the icon looks like this. Data Type Support An Integrator block accepts and outputs signals of type double on its data ports. Its external reset port accepts signals of type double or boolean. Parameters and Dialog Box External reset Resets the states to their initial conditions when a trigger event (rising, falling, either, or level) occurs in the reset signal. Initial condition source Gets the states’ initial conditions from the Initial condition parameter (if set to internal) or from an external block (if set to external). 2-187 Integrator slref.book Page 188 Friday, June 21, 2002 5:58 PM Initial condition The states’ initial conditions. Set the Initial condition source parameter value to internal. Limit output If selected, limits the states to a value between the Lower saturation limit and Upper saturation limit parameters. Upper saturation limit The upper limit for the integral. The default is inf. Lower saturation limit The lower limit for the integral. The default is -inf. Show saturation port If selected, adds a saturation output port to the block. Show state port If selected, adds an output port to the block for the block’s state. Absolute tolerance Absolute tolerance used to compute the block’s outputs. You can enter auto or a numeric value. If you enter auto, Simulink determines the absolute tolerance (see “Error Tolerances”). If you enter a numeric value, Simulink uses the specified value to compute the block’s outputs. Note that a numeric value overrides the setting for the absolute tolerance in the Simulation Parameters dialog box. Characteristics Direct Feedthrough Yes, of the reset and external initial condition source ports Sample Time Continuous Scalar Expansion Of parameters States Inherited from driving block or parameter Dimensionalized Yes Zero Crossing If the Limit output option is selected, one for detecting reset, one each to detect upper and lower saturation limits, one when leaving saturation 2-188 Interpolation (n-D) Using PreLook-Up slref.book Page 189 Friday, June 21, 2002 5:58 PM 2Interpolation (n-D) Using PreLook-Up Purpose Perform high-performance constant or linear interpolation, mapping N input values to a sampled representation of a function in N variables via output from PreLook-Up Index Search block Library Look-Up Tables Description The Interpolation (n-D) Using PreLook-Up block uses the precalculated indices and interval fractions from the PreLook-Up Index Search block to perform the equivalent operation that the Look-Up Table (n-D) performs. This combination of blocks allows multiple Interpolation (n-D) blocks to feed a set of PreLook-Up Index Search blocks. In models that have many interpolation blocks, simulation performance can be greatly increased. This block supports two interpolation methods: flat (constant) interval lookup and linear interpolation. These operations can be applied to 1-D, 2-D, 3-D, 4-D and higher dimensioned tables. You define a set of output values as the Table data parameter. These table values must correspond to the breakpoint data sets that are in the PreLook-Up Index Search block. The block generates its output by interpolating the table values based on the (index,fraction) pairs fed into the block by each PreLook-Up Index Search block. The block generates output based on the input values: If the inputs match breakpoint parameter values, the output is the table value at the intersection of the row, column, and higher dimensions’ breakpoints. If the inputs do not match row and column parameter values, the block generates output by interpolating between the appropriate table values. If either or both block inputs are less than the first or greater than the last row or column parameter values, the block extrapolates from the first two or last two points in each corresponding dimension. Data Type Support An Interpolation (n-D) Using PreLook-Up block accepts signals of types double or single, but for any given block, the inputs must all be of the same type. The Table data parameter must be of the same type as the inputs. The output data type is set to the Table data data type. 2-189 Interpolation (n-D) Using PreLook-Up slref.book Page 190 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Number of table dimensions The number of dimensions that the Table data parameter must have. This determines the number of independent variables for the table and hence the number of inputs to the block (see descriptions for “Explicit Number of dimensions” and “Use one (vector) input port instead of N ports,” below). Table data The table of output values. The matrix size must match the dimensions defined by the N breakpoint set parameter or by the Explicit number of dimensions parameter when the number of dimensions exceeds four. During block diagram editing, you can leave the Table data field empty, but for running the simulation, you must match the number of dimensions in the Table data parameter to the Number of table dimensions. For information about how to construct multidimensional arrays in MATLAB, see Multidimensional Arrays in MATLAB’s online documentation. Interpolation method None (flat) or Linear. 2-190 Interpolation (n-D) Using PreLook-Up slref.book Page 191 Friday, June 21, 2002 5:58 PM Extrapolation method None (clip) or Linear. Action for out of range input None, Warning, Error. Characteristics Direct Feedthrough Yes Sample Time Inherited from driving blocks Scalar Expansion Yes Zero Crossing No 2-191 Logical Operator slref.book Page 192 Friday, June 21, 2002 5:58 PM 2Logical Operator Purpose Perform the specified logical operation on the input Library Simulink Math Operations and Fixed-Point Blockset Logic & Comparison Description The Logical Operator block performs the specified logical operation on its inputs. An input value is TRUE (1) if it is nonzero and FALSE (0) if it is zero. You select the Boolean operation connecting the inputs with the Operator parameter list. The block icon updates to display the selected operator. The supported operations are given below. The number of input ports is specified with the Number of input ports parameter. The output type is specified with the Output data type mode and/ or the Output data type parameters. An output value is 1 if TRUE and 0 if FALSE. Note The output data type should represent zero exactly. Data types that satisfy this condition include signed and unsigned integers, and any floating-point data type. The size of the output depends on input vector size and the selected operator: AND Logical Operator Operation Description AND TRUE if all inputs are TRUE OR TRUE if at least one input is TRUE NAND TRUE if at least one input is FALSE NOR TRUE when no inputs are TRUE XOR TRUE if an odd number of inputs are TRUE NOT TRUE if the input is FALSE 2-192 Logical Operator slref.book Page 193 Friday, June 21, 2002 5:58 PM If the block has more than one input, any nonscalar inputs must have the same dimensions. For example, if any input is a 2-by-2 array, all other nonscalar inputs must also be 2-by-2 arrays. Scalar inputs are expanded to have the same dimensions as the nonscalar inputs. If the block has more than one input, the output has the same dimensions as the inputs (after scalar expansion) and each output element is the result of applying the specified logical operation to the corresponding input elements. For example, if the specified operation is AND and the inputs are 2-by-2 arrays, the output is a 2-by-2 array whose top left element is the result of applying AND to the top left elements of the inputs, etc. For a single vector input, the block applies the operation (except the NOT operator) to all elements of the vector. The output is always a scalar. The NOT operator accepts only one input, which can be a scalar or a vector. If the input is a vector, the output is a vector of the same size containing the logical complements of the input vector elements. When configured as a multi-input XOR gate, this block performs an addition- modulo-two operation as mandated by the IEEE Standard for Logic Elements. When the Show additional parameters check box is selected, some of the parameters that become visible are common to many blocks. For a detailed description of these parameters, refer to “Block Parameters” in the Fixed-Point Blockset documentation. Data Type Support A Logical Operator block accepts real or complex signals of any data type except int64 and uint64. However, if the Output data type mode parameter is set to Logical, the input may only be boolean or double. 2-193 Logical Operator slref.book Page 194 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Operator The logical operator to be applied to the block inputs. Valid choices are the operators listed previously. Number of input ports The number of block inputs. The value must be appropriate for the selected operator. Show additional parameters If selected, additional parameters specific to implementation of the block become visible as shown. 2-194 Logical Operator slref.book Page 195 Friday, June 21, 2002 5:58 PM Require all inputs and output to have same data type Select to require all inputs and the output to have the same data type. Output data type mode Set the output data type to Boolean, or choose to specify the data type through the Output data type parameter. Alternatively, you can select Logical to have the output data type determined by the Boolean Logic Signals parameter in the Advanced tab of the Simulation Parameters Interface. If you select Logical and Boolean Logic Signals is on, then the output data type is always Boolean. If you select Logical and Boolean Logic Signals is off, then the output data type will match the input data type, which may be Boolean or double. Output data type Output data type. You should only use data types that represent zero exactly. Data types that satisfy this condition include signed and unsigned integers and any floating-point data type. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Characteristics Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from the driving block Scalar Expansion Of inputs Zero Crossing No 2-195 Look-Up Table slref.book Page 196 Friday, June 21, 2002 5:58 PM 2Look-Up Table Purpose Approximate a one-dimensional function using the specified lookup method Library Simulink Look-Up Tables and Fixed-Point Blockset LookUp Description The Look-Up Table block computes an approximation to some function y=f(x) given data vectors x and y. Note To map two inputs to an output, use the Look-Up Table (2-D) block. The length of the x and y data vectors provided to this block must match. Also, the x data vector must be strictly monotonically increasing after conversion to the input’s fixed-point data type, except in the following case. If the input x and the output signal are both either single or double, and if the lookup method is Interpolation-Extrapolation, then x may be monotonically increasing rather than strictly monotonically increasing. Note that due to quantization, the x data vector may be strictly monotonic in doubles format, but not so after conversion to a fixed-point data type. You define the table by specifying the Vector of input values parameter as a 1-by-n vector and the Vector of output values parameter as a 1-by-n vector. The block generates output based on the input values using one of these methods selected from the Look-up method parameter list: Interpolation-Extrapolation—This is the default method; it performs linear interpolation and extrapolation of the inputs. - If a value matches the block’s input, the output is the corresponding element in the output vector. - If no value matches the block’s input, then the block performs linear interpolation between the two appropriate elements of the table to determine an output value. If the block input is less than the first or greater than the last input vector element, then the block extrapolates using the first two or last two points. Interpolation-Use End Values—This method performs linear interpolation as described above but does not extrapolate outside the end points of the input vector. Instead, the end-point values are used. Look?Up Table 2-196 Look-Up Table slref.book Page 197 Friday, June 21, 2002 5:58 PM Use Input Nearest—This method does not interpolate or extrapolate. Instead, the element in x nearest the current input is found. The corresponding element in y is then used as the output. Use Input Below—This method does not interpolate or extrapolate. Instead, the element in x nearest and below the current input is found. The corresponding element in y is then used as the output. If there is no element in x below the current input, then the nearest element is found. Use Input Above—This method does not interpolate or extrapolate. Instead, the element in x nearest and above the current input is found. The corresponding element in y is then used as the output. If there is no element in x above the current input, then the nearest element is found. To create a table with step transitions, repeat an input value with different output values. For example, these input and output parameter values create the input/output relationship described by the plot that follows: Vector of input values: [-2 -1 -1 0 0 0 1 1 2] Vector of output values: [-1 -1 -2 -2 1 2 2 1 1] This example has three step discontinuities: at u = -1, 0, and +1. When there are two points at a given input value, the block generates output according to these rules: When the input signal u is less than zero, the output is the value connected with the point first encountered when moving away from the origin in a negative direction. In this example, when u is -1, y is -2, marked with a solid circle. The output value 2-197 Look-Up Table slref.book Page 198 Friday, June 21, 2002 5:58 PM When u is greater than zero, the output is the value connected with the point first encountered when moving away from the origin in a positive direction. In this example, when u is 1, y is 2, marked with a solid circle. When u is at the origin and there are two output values specified for zero input, the actual output is their average. In this example, if there were no point at u = 0 and y = 1, the output would be 0, the average of the two points at u = 0. If there are three points at zero, the block generates the output associated with the middle point. In this example, the output at the origin is 1. The Look-Up Table block icon displays a graph of the input vector versus the output vector. When a parameter is changed on the block’s dialog box, the graph is automatically redrawn when you click the Apply or Close button. When the Show additional parameters check box is selected, some of the parameters that become visible are common to many blocks. For a detailed description of these parameters, refer to “Block Parameters” in the Fixed-Point Blockset documentation. To avoid parameter saturation errors, the automatic scaling script autofixexp employs a special rule for the Look-Up Table block. autofixexp modifies the scaling by using the output look-up values in addition to the logged minimum and maximum simulation values. This prevents the data from being saturated to different values. The look-up values are given by the Vector of output values parameter (the YDataPoints variable). Parameters and Dialog Box 2-198 Look-Up Table slref.book Page 199 Friday, June 21, 2002 5:58 PM Vector of input values Specify the vector of input values. The input values vector must be the same size as the output values vector. Also, the input values vector must be strictly monotonically increasing after conversion to the input’s fixed-point data type, except in the following case. If the input values vector and the output signal are both either single or double, and if the lookup method is Interpolation-Extrapolation, then the input values vector may be monotonically increasing rather than strictly monotonically increasing. Note that due to quantization, the input values vector may be strictly monotonic in doubles format, but not so after conversion to a fixed-point data type. Vector of output values Specify the vector of output values. The output values vector must be the same size as the input values vector. Show additional parameters If selected, additional parameters specific to implementation of the block become visible as shown. 2-199 Look-Up Table slref.book Page 200 Friday, June 21, 2002 5:58 PM Look-up method Specify the lookup method. See “Description” on page 2-196 for a discussion of the options for this parameter. Output data type mode You can set the output signal to a built-in data type from this drop-down list, or you can choose the output data type and scaling to be the same as the input. Alternatively, you can choose to inherit the output data type and scaling by backpropagation. Lastly, if you choose Specify via dialog, the Output data type, Output scaling value, and Lock output scaling against changes by the autoscaling tool parameters become visible. Output data type Specify any data type, including fixed-point data types. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Output scaling value Set the output scaling using radix point-only or [Slope Bias] scaling. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Lock output scaling against changes by the autoscaling tool If selected, scaling of outputs is locked. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Round integer calculations toward Select the rounding mode for the fixed-point output. Saturate on integer overflow If selected, overflows saturate. Conversions and Operations The Vector of input values parameter is converted from doubles to the input data type. The Vector of output values parameter is converted from doubles to the output data type. Both conversion are performed offline using round-to-nearest and saturation. Refer to “Parameter Conversions” in the Fixed-Point Blockset documentation for more information about parameter conversions. 2-200 Look-Up Table slref.book Page 201 Friday, June 21, 2002 5:58 PM Examples Suppose the Look-Up Table block in the above model is configured to use a vector of input values given by [-5:5], and a vector of output values given by sinh([-5:5]). The following results are generated. Characteristics See Also Look-Up Table (2-D), Look-Up Table (n-D) Look-Up Method Input Output Comment Interpolation- Extrapolation 1.4 2.153 N/A 5.2 83.59 N/A Interpolation- Use End Values 1.4 2.153 N/A 5.2 74.2 The value for sinh(5.0) was used. Use Input Above 1.4 3.627 The value for sinh(2.0) was used. 5.2 74.2 The value for sinh(5.0) was used. Use Input Below 1.4 1.175 The value for sinh(1.0) was used. -5.2 -74.2 The value for sinh(-5.0) was used. Use Input Nearest 1.4 1.175 The value for sinh(1.0) was used. Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion No Zero Crossing No 2-201 Look-Up Table (2-D) slref.book Page 202 Friday, June 21, 2002 5:58 PM 2Look-Up Table (2-D) Purpose Approximate a two-dimensional function using a selected look-up method Library Simulink Look-Up Tables and Fixed-Point Blockset LookUp Description The Look-Up Table (2-D) block computes an approximation to some function z=f(x,y) given x, y, z data points. The Row index input values parameter is a 1-by-m vector of x data points, the Column index input values parameter is a 1-by-n vector of y data points, and the Matrix of output values parameter is an m-by-n matrix of z data points. Both the row and column vectors must be monotonically increasing. These vectors must be strictly monotonically increasing in the following cases: The input and output data types are both fixed-point. The input and output data types are different. The lookup method is not Interpolation-Extrapolation. The matrix of output values is complex. Minimum, maximum, and overflow logging is on. The block generates output based on the input values using one of these methods selected from the Look-up method parameter list: Interpolation-Extrapolation—This is the default method; it performs linear interpolation and extrapolation of the inputs. - If the inputs match row and column parameter values, the output is the value at the intersection of the row and column. - If the inputs do not match row and column parameter values, then the block generates output by linearly interpolating between the appropriate row and column values. If either or both block inputs are less than the first or greater than the last row or column values, the block extrapolates using the first two or last two points. Interpolation-Use End Values—This method performs linear interpolation as described above but does not extrapolate outside the end points of x and y. Instead, the end-point values are used. Use Input Nearest—This method does not interpolate or extrapolate. Instead, the elements in x and y nearest the current inputs are found. The corresponding element in z is then used as the output. 2?D Lookup Table Look?Up Table (2?D) 2-202 Look-Up Table (2-D) slref.book Page 203 Friday, June 21, 2002 5:58 PM Use Input Below—This method does not interpolate or extrapolate. Instead, the elements in x and y nearest and below the current inputs are found. The corresponding element in z is then used as the output. If there are no elements in x or y below the current inputs, then the nearest elements are found. Use Input Above—This method does not interpolate or extrapolate. Instead, the elements in x and y nearest and above the current inputs are found. The corresponding element in z is then used as the output. If there are no elements in x or y above the current inputs, then the nearest elements are found. To avoid parameter saturation errors, the automatic scaling script autofixexp employs a special rule for the Look-Up Table (2-D) block. autofixexp modifies the scaling by using the output look-up values in addition to the logged minimum and maximum simulation values. The output look-up values are converted to the specified output data type. This prevents the data from being saturated to different values. When the Show additional parameters check box is selected, some of the parameters that become visible are common to many blocks. For a detailed description of these parameters, refer to “Block Parameters” in the Fixed-Point Blockset documentation. Parameters and Dialog Box 2-203 Look-Up Table (2-D) slref.book Page 204 Friday, June 21, 2002 5:58 PM Row index input values The row values for the table, entered as a vector. The vector values must increase monotonically. Column index input values The column values for the table, entered as a vector. The vector values must increase monotonically. Matrix of output values The table of output values. The matrix size must match the dimensions defined by the Row and Column parameters. Show additional parameters If selected, additional parameters specific to implementation of the block become visible as shown. 2-204 Look-Up Table (2-D) slref.book Page 205 Friday, June 21, 2002 5:58 PM Look-up method Specify the lookup method. See “Description” on page 2-202 for a discussion of the options for this parameter. Require all inputs to have same data type Select to require all inputs to have the same data type. Output data type mode You can set the output signal to a built-in data type from this drop-down list, or you can choose the output data type and scaling to be the same as the input. Alternatively, you can choose to inherit the output data type and scaling by backpropagation. Lastly, if you choose Specify via dialog, the Output data type, Output scaling value, and Lock output scaling against changes by the autoscaling tool parameters become visible. Output data type Specify any data type, including fixed-point data types. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Output scaling value Set the output scaling using radix point-only or [Slope Bias] scaling. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Lock output scaling against changes by the autoscaling tool If selected, scaling of outputs is locked. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Round integer calculations toward Select the rounding mode for the fixed-point output. Saturate on integer overflow If selected, overflows saturate. 2-205 Look-Up Table (2-D) slref.book Page 206 Friday, June 21, 2002 5:58 PM Examples In this example, the block parameters are defined as Row: [1 2] Column: [3 4] Table: [10 20; 30 40] The first figure shows the block outputting a value at the intersection of block inputs that match row and column values. The first input is 1 and the second input is 4. These values select the table value at the intersection of the first row (row parameter value 1) and second column (column parameter value 4). In the second figure, the first input is 1.7 and the second is 3.4. These values cause the block to interpolate between row and column values, as shown in the table at the left. The value at the intersection (28) is the output value. Characteristics See Also Look-Up Table, Look-Up Table (n-D) 34 11020 23040 1 2 3 4 10 20 30 40 1.7 24 34 3.4 14 34 28 Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from driving blocks Scalar Expansion Of one input if the other is a vector Zero Crossing No 2-206 Look-Up Table (n-D) slref.book Page 207 Friday, June 21, 2002 5:58 PM 2Look-Up Table (n-D) Purpose Perform constant, linear, or spline interpolated mapping of N input values to a sampled representation of a function in N variables Library Look-Up Tables Description The Look-Up Table (n-D) block evaluates a sampled representation of a function in N variables by interpolating between samples to give an approximate value for , even when the function F is known only empirically. The block efficiently maps the block inputs to the output value using interpolation on a table of values defined by the block’s parameters. Interpolation methods supported are Flat (constant) Linear Natural (cubic) spline You can apply any of these methods to 1-D, 2-D, 3-D, or higher dimensional tables. You define a set of output values as the Table data parameter and the values that correspond to its rows, columns, and higher dimensions with the Nth breakpoint set parameter. The block generates an output value by comparing the block inputs with the breakpoint set parameters. The first input identifies the first dimension (row) breakpoints, the second breakpoint set identifies a column, and so on, as shown by this figure. If you are unfamiliar with how to construct N-dimensional arrays in MATLAB, see Multidimensional Arrays in MATLAB’s online documentation. yFx1 x2 x3 … xn,,,,()= 2-207 Look-Up Table (n-D) slref.book Page 208 Friday, June 21, 2002 5:58 PM The block generates output based on the input values: If the inputs match breakpoint parameter values, the output is the table value at the intersection of the row, column, and higher dimensions breakpoints. If the inputs do not match row and column parameter values, the block generates output by interpolating between the appropriate table values. If any of the block inputs are outside the ranges of their respective breakpoint sets, the block limits the input values to the breakpoint set’s range in that dimension. If extrapolation is enabled, it extrapolates linearly or by using a cubic polynomial (if you selected cubic spline extrapolation). Note As an alternative, you can use the Look-Up Table (n-D) block with the PreLook-Up Index Search block to have more flexibility and potentially much higher performance for linear interpolations in certain circumstances. For noninterpolated table lookups, use the Direct Look-Up Table (n-D) block when the lookup operation is a simple array access, for example, if you have an integer value k and you merely want the kth element of a table, y = table(k). Data Type Support A Look-Up Table (n-D) block accepts signals of types double or single, but for any given Look-Up Table (n-D) block, the inputs must all be of the same type. Table data and Breakpoint set parameters must be of the same type as the inputs. The output data type is also set to the input data type. 2-208 Look-Up Table (n-D) slref.book Page 209 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Number of table dimensions The number of dimensions that the Table data parameter is to have. This determines the number of independent variables for the table and hence the number of inputs to the block (see descriptions for “Explicit Number of dimensions” and “Use one (vector) input port instead of N ports”, following). First input (row) breakpoint set The row values represented in the table, entered as a vector. The vector values must increase monotonically. This field is always visible. Second (column) input breakpoint set The column values for the table, entered as a vector. The vector values must increase monotonically. This field is visible if the Number of table dimensions value is 2, 3, 4, or More. 2-209 Look-Up Table (n-D) slref.book Page 210 Friday, June 21, 2002 5:58 PM Third ... Nth input breakpoint set The values corresponding to the third dimension for the table, entered as a vector. The vector values must increase monotonically. This field is visible if the Number of table dimensions is 3, 4, or More. Fourth input breakpoint set The values corresponding to the fourth dimension for the table, entered as a vector. The vector values must increase monotonically. This field is visible if the Number of table dimensions is 4 or More. Fifth..Nth input breakpoint sets (cell array) The cell array of values corresponding to the third, fourth, or higher dimensions for the table, entered as a 1-D cell array of vectors. For example, {[10:10:30], [0:10:100]} is a cell array of two vectors that are used for the fifth and sixth dimensions’ breakpoint sets. The vector values must increase monotonically. This field is visible if the Number of table dimensions is More. Explicit number of dimensions The number of table dimensions when the number is 5 or more. This is indicated when you set the Number of table dimensions field to More. Index search method Choose Evenly Spaced Points, Linear Search, or Binary Search (the default). Each search method has speed advantages over the others in different circumstances. A suboptimal choice of index search method can lead to slow performance in models that rely heavily on lookup tables. If the breakpoint data is evenly spaced, e.g., 10, 20, 30, ..., you can achieve the greatest speed by selecting Evenly Spaced Points to directly calculate the indices into the table. For irregularly spaced breakpoint sets, if the input signals do not vary much from one time step to the next, selecting Linear Search and Begin index searches using previous index results at the same time will produce the best performance. For irregularly spaced breakpoint sets with rapidly varying input signals that jump more than one or two table intervals per time step, selecting Binary Search gives the best performance. Note that the Evenly Spaced Points algorithm only makes use of the first two breakpoints in determining the offset and spacing of the rest of the points. 2-210 Look-Up Table (n-D) slref.book Page 211 Friday, June 21, 2002 5:58 PM Begin index searches using previous index results Activating this option causes the block to initialize index searches using the index found on the previous time step. This is a huge performance improvement for the block when the input signals do not change much with respect to its position in the table from one time step to the next. When this option is deactivated, the linear search and binary search methods can take significantly longer, especially for large breakpoint data sets. Use one (vector) input port instead of N ports Instead of having one input port per independent variable, the block is configured with just one input port that expects a signal that is N elements wide for an N-dimensional table. This might be useful in removing line clutter on a block diagram with large numbers of tables. Table data The table of output values. To execute a model with this block, the matrix size must match the dimensions defined by the N breakpoint set parameter or by the Explicit number of dimensions parameter when the number of dimensions exceeds 4. During block diagram editing, you can leave this field blank because only the Number of table dimensions field is required to set the number of ports on the block. Interpolation method None (flat), Linear, or Cubic Spline. Extrapolation method None (clip), Linear, or Cubic Spline. Action for out of range input None, Warning, or Error. An out-of-range condition during simulation results in warning messages in the command window if “Warning” is selected, and the simulation halts with an error message if “Error” is selected. 2-211 Look-Up Table (n-D) slref.book Page 212 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving blocks Scalar Expansion No Dimensionalized No Zero Crossing No 2-212 Magnitude-Angle to Complex slref.book Page 213 Friday, June 21, 2002 5:58 PM 2Magnitude-Angle to Complex Purpose Convert a magnitude and/or a phase angle signal to a complex signal Library Math Operations Description The Magnitude-Angle to Complex block converts magnitude and/or phase angle inputs to a complex-valued output signal. The inputs must be real-valued signals of type double. The angle input is assumed to be in radians. The data type of the complex output signal is double. The inputs can both be signals of equal dimensions, or one input can be an array and the other a scalar. If the block has an array input, the output is an array of complex signals. The elements of a magnitude input vector are mapped to magnitudes of the corresponding complex output elements. An angle input vector is similarly mapped to the angles of the complex output signals. If one input is a scalar, it is mapped to the corresponding component (magnitude or angle) of all the complex output signals. Data Type Support See the preceding block description. Parameters and Dialog Box Input Specifies the kind of input: a magnitude input, an angle input, or both. Angle (Magnitude) If the input is an angle signal, specifies the constant magnitude of the output signal. If the input is a magnitude, specifies the constant phase angle in radians of the output signal. 2-213 Magnitude-Angle to Complex slref.book Page 214 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Of the input when the function requires two inputs Dimensionalized Yes Zero Crossing No 2-214 Manual Switch slref.book Page 215 Friday, June 21, 2002 5:58 PM 2Manual Switch Purpose Switch between two inputs Library Signal Routing Description The Manual Switch block is a toggle switch that selects one of its two inputs to pass through to the output. To toggle between inputs, double-click the block icon (there is no dialog box). The selected input is propagated to the output, while the unselected input is discarded. You can set the switch before the simulation is started or throw it while the simulation is executing to interactively control the signal flow. The Manual Switch block retains its current state when the model is saved. Data Type Support A Manual Switch block accepts signals of any complexity and data type, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box None Characteristics Manual Switch Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion N/A Zero Crossing No 2-215 Math Function slref.book Page 216 Friday, June 21, 2002 5:58 PM 2Math Function Purpose Perform a mathematical function Library Math Operations Description The Math Function block performs numerous common mathematical functions. You can select one of these functions from the Function list: exp, log, 10 u , log10, magnitude2, square, sqrt, pow, conj, reciprocal, hypot, rem, mod, transpose, and hermitian. The block output is the result of the operation of the function on the input or inputs. The name of the function appears on the block icon. Simulink automatically draws the appropriate number of input ports. Use the Math Function block instead of the Fcn block when you want vector or matrix output, because the Fcn block can produce only scalar output. Data Type Support A Math Function block accepts complex or real-valued signals or signal vectors of type double. The output signal type is real or complex, depending on the setting of the Output signal type parameter. Parameters and Dialog Box Function The mathematical function. 2-216 Math Function slref.book Page 217 Friday, June 21, 2002 5:58 PM Output signal type The dialog allows you to select the output signal type of the Math Function block as real, complex, or auto. Characteristics Input Output Signal Type Function Signal Auto Real Complex Exp, log, 10u, log10, square, sqrt, pow, reciprocal, conjugate, transpose, hermitian real complex real complex real error complex complex magnitude squared real complex real real real real complex complex hypot, rem, mod real complex real error real error complex error Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Of the input when the function requires two inputs Dimensionalized Yes Zero Crossing No 2-217 MATLAB Fcn slref.book Page 218 Friday, June 21, 2002 5:58 PM 2MATLAB Fcn Purpose Apply a MATLAB function or expression to the input Library User-Defined Functions Description The MATLAB Fcn block applies the specified MATLAB function or expression to the input. The output of the function must match the output dimensions of the block or an error occurs. Here are some sample valid expressions for this block. sin atan2(u(1), u(2)) u(1)^u(2) Note This block is slower than the Fcn block because it calls the MATLAB parser during each integration step. Consider using built-in blocks (such as the Fcn block or the Math Function block) instead, or writing the function as an M-file or MEX-file S-function, then accessing it using the S-Function block. Data Type Support A MATLAB Fcn block accepts one complex- or real-valued input of type double and generates real or complex output of type double, depending on the setting of the Output signal type parameter. Parameters and Dialog Box 2-218 MATLAB Fcn slref.book Page 219 Friday, June 21, 2002 5:58 PM MATLAB function The function or expression. If you specify a function only, it is not necessary to include the input argument in parentheses. Output dimensions Dimensions of the signal output by this block. If the output dimensions are to be the same as the dimensions of the input signal, specify -1. Otherwise, enter the dimensions of the output signal, e.g., 2 for a two-element vector. In either case, the output dimensions must match the dimensions of the value returned by the function or expression in the MATLAB function field. Output signal type The dialog allows you to select the output signal type of the MATLAB Fcn as real, complex, or auto. A value of auto sets the block’s output type to be the same as the type of the input signal. Collapse 2-D results to 1-D Outputs a 2-D array as a 1-D array containing the 2-D array’s elements in column-major order. Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion N/A Dimensionalized Yes Zero Crossing No 2-219 Matrix Concatenation slref.book Page 220 Friday, June 21, 2002 5:58 PM 2Matrix Concatenation Purpose Concatenate inputs horizontally or vertically Library Math Operations Description The Matrix Concatenation block concatenates input matrices u 1 , u 2 ,...,u n along rows or columns, where n is specified by the Number of inputs parameter. The block accepts inputs with any combination of built-in Simulink data types and/or fixed-point data types. If all inputs are sample-based, the output is sample-based. Otherwise, the output is frame-based. Horizontal Matrix Concatenation When the Concatenation method parameter is set to Horizontal, the block concatenates the input matrices along rows. y = [u1 u2 u3 ... un] % Equivalent MATLAB code For horizontal concatenation, inputs must all have the same row dimension, M, but can have different column dimensions. The output matrix has dimension M-by-ΣN i , where N i is the number of columns in input u i (i = 1, 2, ..., n). When some of the inputs are length-M 1-D vectors while others are M-by-N i matrices, the vector inputs are treated as M-by-1 matrices. Vertical Matrix Concatenation When the Concatenation method parameter is set to Vertical, the block concatenates the input matrices along columns. y = [u1;u2;u3;...;un] % Equivalent MATLAB code For vertical concatenation, inputs must all have the same column dimension, N, but can have different row dimensions. The output matrix has dimension ΣM i -by-N, where M i is the number of rows in input u i (i = 1, 2, ..., n). When some of the inputs are length-M i 1-D vectors while others are M i -by-1 matrices, the vector inputs are treated as M i -by-1 matrices. (1-D vector inputs are not accepted for vertical concatenation when the other inputs have column dimension greater than 1.) 2-220 Matrix Concatenation slref.book Page 221 Friday, June 21, 2002 5:58 PM 1-D Vector Concatenation When all inputs to the Matrix Concatenation block are length-M i 1-D vectors, the output is a ΣM i -by-1 matrix containing all input elements concatenated in port order: the elements in the vector input to the top port appear as the first elements in the output, and the elements in the vector input to the bottom port appear as the last elements in the output. Dialog Box Number of inputs The number of matrices to concatenate. Concatenation method The dimension along which to concatenate the inputs. 2-221 Memory slref.book Page 222 Friday, June 21, 2002 5:58 PM 2Memory Purpose Output the block input from the previous integration step Library Discrete Description The Memory block outputs its input from the previous time step, applying a one integration step sample-and-hold to its input signal. This sample model demonstrates how to display the step size used in a simulation. The Sum block subtracts the time at the previous step, generated by the Memory block, from the current time, generated by the clock. Note Avoid using the Memory block when integrating with ode15s or ode113, unless the input to the block does not change. Data Type Support A Memory block accepts signals of any data type and complexity, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box Initial condition The output at the initial integration step. This must be set to 0 if the input data type is user-defined. 2-222 Memory slref.book Page 223 Friday, June 21, 2002 5:58 PM Inherit sample time Check this check box to cause the sample time to be inherited from the driving block. Direct feedthrough of input during linearization Causes the block to output its input during linearization and trim. This sets the block’s mode to direct feedthrough. Characteristics Dimensionalized Yes Direct Feedthrough No, except when Direct feedthrough of input during linearization is enabled. Sample Time Continuous, but inherited from the driving block if the Inherit sample time check box is selected Scalar Expansion Yes, of the Initial condition parameter Zero Crossing No 2-223 Merge slref.book Page 224 Friday, June 21, 2002 5:58 PM 2Merge Purpose Combine multiple signals into a single signal Library Signal Routing Description The Merge block combines its inputs into a single output line whose value at any time is equal to the most recently computed output of its driving blocks. You can specify any number of inputs by setting the block’s Number of inputs parameter. Note Merge blocks facilitate creation of alternately executing subsystems. See “Creating Alternately Executing Subsystems” for an application example. A Merge block does not accept signals whose elements have been reordered. For example, in the following diagram, the Merge block does not accept the output of the Selector block because the Selector block interchanges the first and fourth elements of the vector signal. If the Allow unequal port widths parameter is not selected, the block accepts only inputs of equal dimensions and outputs a signal of the same dimensions as the inputs. If the Allow unequal port widths option is selected, the block accepts scalars and vectors (but not matrices) having differing numbers of elements. Further, the block allows you to specify an offset for each input signal relative to the beginning of the output signal. The width of the output signal is max(w 1 +o 1 , w 2 +o 2 , ... w n +o n ) Merge Merge 2-224 Merge where w 1 , ... w n are the widths of the input signals and o 1 , ... o n are the offsets for the input signals. For example, the Merge block in the following slref.book Page 225 Friday, June 21, 2002 5:58 PM diagram merges signals v1 and v2 to produce signal v3. In this example, the offset of v1 is 0 and the offset of v2 is 2, resulting in an output signal six elements wide. The Merge block maps the elements of v1 to the first two elements of v3 and the elements of v2 to the last four elements of v3. You can specify an initial output value by setting the block’s Initial output parameter. If you do not specify an initial output and one or more of the driving blocks do, the Merge block’s initial output equals the most recently evaluated initial output of the driving blocks. Merging S-Function Outputs The Merge block does can merge a signal from an S-Function block only if the memory used to store the S-Function block’s output is reusable. Simulink displays an error message if you attempt to update or simulate a model that connects a nonreusable port of an S-Function block to a Merge block. See ssSetOutputPortReusable for more information. 2-225 Merge slref.book Page 226 Friday, June 21, 2002 5:58 PM Muxing Signals to be Merged Instead of connecting signals directly to a Merge block, you can connect them via a Mux block as illustrated in the following example. This example connects three amplifiers to a Merge block via a Mux block. The top and bottom amplifiers trigger on a rising pulse; the middle, on a falling pulse. The trigger signal connected to the bottom amplifier has a phase delay of .5 s compared to the trigger signal connected to the bottom amplifier. The output of the Merge block at each time step equals that of the amplifier triggered at that time step. Muxing the signals to be merged rather than connecting them directly to the Merge block can result in a clearer diagram. Data Type Support A Merge block accepts signals of any complexity and data type, including fixed-point data types, except int64 and uint64. 2-226 Merge slref.book Page 227 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Number of inputs The number of input ports to merge. Initial output Initial value of output. If unspecified, the initial output equals the initial output, if any, of one of the driving blocks. Allow unequal port widths Allows the block to accept inputs having different numbers of elements. Input port offsets Vector specifying the offset of each input signal relative to the beginning of the output signal. Characteristics Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from the driving block Scalar Expansion No Zero Crossing No 2-227 MinMax slref.book Page 228 Friday, June 21, 2002 5:58 PM 2MinMax Purpose Output the minimum or maximum input value Library Math Operations Description The MinMax block outputs either the minimum or the maximum element or elements of the inputs. You can choose the function to apply by selecting one of the choices from the Function parameter list. If the block has one input port, the input must be a scalar or a vector. The block outputs a scalar equal to the minimum or maximum element of the input vector. If the block has multiple input ports, the nonscalar inputs must all have the same dimensions. The block expands any scalar inputs to have the same dimensions as the nonscalar inputs. The block outputs a signal having the same dimensions as the input. Each output element equals the minimum or maximum of the corresponding input elements. Data Type Support A MinMax block accepts and outputs real-valued signals of any data type except int64 and uint64. Parameters and Dialog Box Function The function (min or max) to apply to the input. Number of input ports The number of inputs to the block. 2-228 MinMax slref.book Page 229 Friday, June 21, 2002 5:58 PM Enable zero crossing detection Select to enable zero crossing detection to detect minimum and maximum values. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Characteristics Direct Feedthrough Yes Sample Time Inherited from the driving block Scalar Expansion Of the inputs Dimensionalized Yes 2-229 Model Info slref.book Page 230 Friday, June 21, 2002 5:58 PM 2Model Info Purpose Display revision control information in a model Library Model-Wide Utilities Description The Model Info block displays revision control information about a model as an annotation block in the model’s block diagram. The following diagram illustrates use of a Model Info block to display information about the vdp model. A Model Info block can show revision control information embedded in the model itself and/or information maintained by an external revision control or configuration management system. A Model Info block’s dialog allows you to specify the content and format of the text displayed by the block. Data Type Support Not applicable. 2-230 Model Info slref.book Page 231 Friday, June 21, 2002 5:58 PM Dialog Box The Model Info block dialog box includes the following fields: Editable text. Enter the text to be displayed by the Model Info block in this field. You can freely embed variables of the form %<propname>, where propname is the name of a model or revision control system property, in the entered text. The value of the property replaces the variable in the displayed text. For example, suppose that the current version of the model is 1.1. Then the entered text Version %<ModelVersion> appears as Version 1.1 in the displayed text. The model and revision control system properties that you can reference in this way are listed in the Model properties and Configuration manager properties fields. Model properties. Lists revision control properties stored in the model. Selecting a property and then selecting the adjacent arrow button enters the corresponding variable in the Editable text field. For example, selecting CreatedBy enters %<CreatedBy%> in the Editable text field. See “Version 2-231 Model Info slref.book Page 232 Friday, June 21, 2002 5:58 PM Control Properties” for a description of the usage of the properties specified in this field. Configuration manager properties. This field appears only if you previously specified an external configuration manager for this model on the MATLAB Preferences dialog box for the model (see “Selecting and Viewing the Source Control System” in the online documentation) or by setting the model’s ConfigurationManager property. The field lists version control information maintained by the external system that you can include in the Model Info block. To include an item from the list, select it and then click the adjacent arrow button. Note The selected item does not appear in the Model Info block until you check the model in or out of the repository maintained by the configuration manager and you have closed and reopened the model. 2-232 Multi-Port Switch slref.book Page 233 Friday, June 21, 2002 5:58 PM 2Multi-Port Switch Purpose Choose between multiple block inputs Library Simulink Signal Routing and Fixed-Point Blockset Select Description The Multi-Port Switch block chooses between a number of inputs. The first (top) input is called the control input, while the rest of the inputs are called data inputs. The value of the control input determines which data input is passed through to the output port. If the control input is an integer value, then the specified data input is passed through to the output. For example, suppose the Use zero-based indexing parameter is not selected. If the control input is 1, then the first data input is passed through to the output. If the control input is 2, then the second data input is passed through to the output, and so on. If the control input is not an integer value, the block first truncates the value to an integer by rounding to floor. If the truncated control input is less than 1 or greater than the number of input ports, an out-of-bounds error is returned. You specify the number of data inputs with the Number of input ports parameter. The data inputs can be scalar or vector. The block output is determined by these rules: If you specify only one data input and that input is a vector, the block behaves as an “index selector,” and not as a multi-port switch. The block output is the vector element that corresponds to the value of the control input. If you specify more than one data input, the block behaves like a multi-port switch. The block output is the data input that corresponds to the value of the control input. If at least one of the data inputs is a vector, the block output is a vector. Any scalar inputs are expanded to vectors. If the inputs are scalar, the output is a scalar. When the Show additional parameters check box is selected, some of the parameters that become visible are common to many blocks. For a detailed description of these parameters, refer to “Block Parameters” in the Fixed-Point Blockset documentation. The Index Vector block, also in the Fixed-Point Blockset Select library, is another implementation of the Multi-Port Switch block that has different default parameter settings. Multiport Switch 2-233 Multi-Port Switch slref.book Page 234 Friday, June 21, 2002 5:58 PM Data type support The control input of a Multi-Port Switch block can be a real-valued signal of any data type, including fixed-point data types, except int64 and uint64. The data inputs can be of any complexity and data type, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box Number of input ports Specify the number of data inputs to the block. Show additional parameters If selected, additional parameters specific to implementation of the block become visible as shown. 2-234 Multi-Port Switch slref.book Page 235 Friday, June 21, 2002 5:58 PM Use zero based indexing If selected, the block uses zero-based indexing. Otherwise, the block uses one-based indexing. Require all data port inputs to have same data type Select to require all data port inputs to have the same data type. Output data type mode You can choose to inherit the output data type and scaling by backpropagation or by an internal rule. The internal rule causes the output of the block to have the same data type and scaling as the input with the larger positive range. Round integer calculations toward Select the rounding mode for the fixed-point output. Saturate on integer overflow If selected, overflows saturate. Characteristics Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from driving blocks Scalar Expansion Yes Zero Crossing No 2-235 Mux slref.book Page 236 Friday, June 21, 2002 5:58 PM 2Mux Purpose Combine several input signals into a vector or bus output signal Library Signal Routing Description The Mux block combines its inputs into a single output. An input can be a scalar, vector, or matrix signal. Depending on its inputs, the output of a Mux block is a vector or a composite signal, i.e., a signal containing both matrix and vector elements. If all of a Mux block’s inputs are vectors or vector-like, the block’s output is a vector. A vector-like signal is any signal that is a scalar (one-element vector), a vector, or a single-column or single-row matrix. If any input is a non-vector-like matrix signal, the output of the Mux block is a bus signal. Bus signals can drive only virtual blocks, e.g., Demux, Subsystem, or Goto blocks. The Mux block’s Number of Inputs parameter allows you to specify input signal names and dimensionality as well as the number of inputs. You can use any of the following formats to specify this parameter: Scalar Specifies the number of inputs to the Mux block. When this format is used, the block accepts signals of any dimensionality. Simulink assigns each input the name signalN, where N is the input port number. Vector The length of the vector specifies the number of inputs. Each element specifies the dimensionality of the corresponding input. A positive value specifies that the corresponding port can accept only vectors of that size. For example, [2 3] specifies two input ports of sizes 2 and 3, respectively. If an input signal width does not match the expected width, Simulink displays an error message. A value of -1 specifies that the corresponding port can accept vectors or matrices of any dimensionality. Cell array The length of the cell array specifies the number of inputs. The value of each cell specifies the dimensionality of the corresponding input. A scalar value N specifies a vector of size N. A vector value [M N] specifies an M-by-N matrix. A value of -1 means that the corresponding port can accept signals of any dimensionality. 2-236 Mux slref.book Page 237 Friday, June 21, 2002 5:58 PM Signal name list You can enter a list of signal names separated by commas. Simulink assigns each name to the corresponding port and signal. For example, if you enter position,velocity, the Mux block will have two inputs, named position and velocity. Note Simulink hides the name of a Mux block when you copy it from the Simulink block library to a model. Data Type Support A Mux block accepts real or complex signals of any data type, including fixed-point data types, except int64 and uint64. The Mux block supports mixed-type vectors. Parameters and Dialog Box Number of inputs The number and dimensionality of inputs. You can enter a comma-separated list of signal names for this parameter field. Display option The appearance of the block icon in your model. Display Option Appearance of Block in Model none Mux appears inside block icon signals Displays signal names next to each port bar Displays the block icon in a solid foreground color 2-237 Outport slref.book Page 238 Friday, June 21, 2002 5:58 PM 2Outport Purpose Create an output port for a subsystem or an external output Library Ports & Subsystems, Sinks Description Outport blocks are the links from a system to a destination outside the system. Simulink assigns Outport block port numbers according to these rules: It automatically numbers the Outport blocks within a top-level system or subsystem sequentially, starting with 1. If you add an Outport block, it is assigned the next available number. If you delete an Outport block, other port numbers are automatically renumbered to ensure that the Outport blocks are in sequence and that no numbers are omitted. If you copy an Outport block into a system, its port number is not renumbered unless its current number conflicts with an Outport block already in the system. If the copied Outport block port number is not in sequence, you must renumber the block or you will get an error message when you run the simulation or update the block diagram. Outport Blocks in a Subsystem Outport blocks in a subsystem represent outputs from the subsystem. A signal arriving at an Outport block in a subsystem flows out of the associated output port on that Subsystem block. The Outport block associated with an output port on a Subsystem block is the block whose Port number parameter matches the relative position of the output port on the Subsystem block. For example, the Outport block whose Port number parameter is 1 sends its signal to the block connected to the topmost output port on the Subsystem block. If you renumber the Port number of an Outport block, the block becomes connected to a different output port, although the block continues to send the signal to the same block outside the subsystem. When you create a subsystem by selecting existing blocks, if more than one Outport block is included in the grouped blocks, Simulink automatically renumbers the ports on the blocks. 1 Out1 2-238 Outport slref.book Page 239 Friday, June 21, 2002 5:58 PM The Outport block name appears in the Subsystem block icon as a port label. To suppress display of the label, select the Outport block and choose Hide Name from the Format menu. Outport Blocks in a Conditionally Executed Subsystem When an Outport block is in an enabled subsystem, you can specify what happens to its output when the subsystem is disabled: it can be reset to an initial value or held at its most recent value. The Output when disabled pop-up menu provides these options. The Initial output parameter is the value of the output before the subsystem executes and, if the reset option is chosen, while the subsystem is disabled. Outport Blocks in a Top-Level System Outport blocks in a top-level system have two uses: to supply external outputs to the workspace, which you can do by using either the Simulation Parameters dialog box or the sim command, and to provide a means for analysis functions to obtain output from the system. To supply external outputs to the workspace, use the Simulation Parameters dialog box (see “Saving Output to the Workspace”) or the sim command (see sim). For example, if a system has more than one Outport block and the save format is array, the following command [t,x,y] = sim(...); writes y as a matrix, with each column containing data for a different Outport block. The column order matches the order of the port numbers for the Outport blocks. If you specify more than one variable name after the second (state) argument, data from each Outport block is written to a different variable. For example, if the system has two Outport blocks, to save data from Outport block 1 to speed and the data from Outport block 2 to dist, you could specify this command: [t,x,speed,dist] = sim(...); To provide a means for the linmod and trim analysis functions to obtain output from the system (see “Running a Simulation”) 2-239 Outport slref.book Page 240 Friday, June 21, 2002 5:58 PM Data Type Support An Outport block accepts complex or real signals of any data type except int64 and uint64 as input, with the following exception. An Outport block can only accept fixed-point data types if it is not a root-level outport. The complexity and data type of the block’s output are the same as those of its input. The elements of a signal array connected to an Outport block can be of differing complexity and data types except in the following circumstance: If the outport is in a conditionally executed subsystem and the initial output is specified, all elements of an input array must be of the same complexity and data types. Typical Simulink data type conversion rules apply to an outport’s Initial output parameter. If the initial output value is in the range of the block’s output data type, Simulink converts the initial output to the output data type. If the specified initial output is out of the range of the output data type, Simulink halts the simulation and signals an error. Parameters and Dialog Box Port number Specify the port number of the Outport block. Output when disabled For conditionally executed subsystems, specify what happens to the block output when the system is disabled. 2-240 Outport slref.book Page 241 Friday, June 21, 2002 5:58 PM Initial output For conditionally executed subsystems, specify the block output before the subsystem executes and while it is disabled. Characteristics Dimensionalized Yes Sample Time Inherited from driving block 2-241 Polynomial slref.book Page 242 Friday, June 21, 2002 5:58 PM 2Polynomial Purpose Perform evaluation of polynomial coefficients on input values Library Math Operations Description The Polynomial block uses a coefficients parameter to evaluate a real polynomial for the input value. You define a set of polynomial coefficients in the form accepted by MATLAB’s polyval command. The block then calculates P(u) at each time step for the input u. Inputs and coefficients must be real. Data Type Support The Polynomial block accepts real signals of types double or single. The Polynomial coefficients parameter must be of the same type as the inputs. The output data type is set to the input data type. Parameters and Dialog Box Polynomial coefficients Values are in coefficients of a polynomial in MATLAB polyval form, with the first coefficient representing x N , then decreasing in order until the last coefficient, which represents the constant for the polynomial. See polyval in the MATLAB documentation for more information. 2-242 Polynomial slref.book Page 243 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-243 Prelook-Up Index Search slref.book Page 244 Friday, June 21, 2002 5:58 PM 2Prelook-Up Index Search Purpose First stage of high-performance constant or linear interpolation that performs index search and interval fraction calculation for input on a breakpoint set Library Look-Up Tables Description The PreLook-Up Index Search block calculates the indices and interval fractions for the input value in the Breakpoint data parameter. By using this combination of blocks, you can replace multiple Interpolation (n-D) blocks with one set of PreLook-Up Index Search blocks. In models that have many interpolation blocks simulation performance can be greatly increased. To use this block, you must define a set of breakpoint values. In normal use, this breakpoint data set corresponds to one dimension of a Table data parameter in an Interpolation (n-D) using PreLook-Up block. The block generates a pair of outputs for each input value by calculating the index of the breakpoint set element that is less than or equal to the input value and the resulting fractional value that is a number 0 ≤ f < 1 that represents the input value’s normalized position between the index and the next index value for in-range input. For example, if the breakpoint data is [ 0 5 10 20 50 100 ] and the input value u is 55, the (index, fraction) pair is (4, 0.1), denoted as k and f on the block icon. Note that the index value is zero-based. Note The interval fraction can be negative or greater than 1 for out-of-range input. See the documentation for the block’s Process out of range input parameter for more information. Data Type Support A PreLook-Up Index Search block accepts signals of types double or single, but for any given block the inputs must all be of the same type. The Breakpoint data parameter must be of the same type as the inputs. The output data type is set to the input data type. 2-244 Prelook-Up Index Search slref.book Page 245 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Breakpoint data The set of numbers to search. Index search method Binary search, evenly spaced points, or linear search. Use linear search in combination with Begin index search using previous index result for higher performance than a binary search when the input values do not change much from one time step to the next. For large breakpoint sets, a linear search can be very slow if the input value changes by more than a few intervals from one time step to the next. Begin index search using previous index result Select this option if you want the block to start its search using the index that was found on the previous time step. For inputs that change slowly with respect to the interval size, you can realize a large performance gain. Output only the index If this block is not being used to feed an Interpolation (n-D) Using PreLook-Up block, the interval fraction output can be dropped and the resulting index value output is a uint32 instead. 2-245 Prelook-Up Index Search slref.book Page 246 Friday, June 21, 2002 5:58 PM Process out of range input Specifies how to handle out-of-range input. Options include: Clip to Range If the input is less than the first breakpoint, return the index of the first breakpoint (i.e., 0) and 0 for the interval fraction. If the input is greater than the last breakpoint, return the index of the next-to-the-last breakpoint and 1 for the interval fraction. For example, suppose the range is [1 2 3] and this option is selected. Then, if the input is 0.5, the block returns [0 0]; if the input is 3.5, the block returns [1 1]. Linear Extrapolation If the input is less than the first breakpoint, return the index of the first breakpoint and an interval fraction representing the linear distance from the input to the first breakpoint. If the input is greater than the last breakpoint, return the index of the next-to-the-last breakpoint and an interval fraction that represents the linear distance from the next-to-the-last breakpoint to the input. For example, suppose the range is [1 2 3] and this option is selected. Then, if the input is 0.5, the block returns [0 -0.5]; if the input is 3.5, the block returns [1 1.5]. Action for out of range input Specifies whether to produce a warning or error message if the input is out of range. The options are None (the default, no warning or error message), Warning (display a warning message in the MATLAB command window and continue the simulation), Error (halt the simulation and display an error message in the Simulink Diagnostic Viewer). Characteristics Direct Feedthrough Yes Sample Time Inherited from driving blocks Scalar Expansion Yes Dimensionalized Yes Zero Crossing No 2-246 Product slref.book Page 247 Friday, June 21, 2002 5:58 PM 2Product Purpose Multiply or divide inputs Library Simulink Math Operations and Fixed-Point Blockset Math Description The Product block performs multiplication or division of its inputs. This block produces outputs using either element-wise or matrix multiplication, depending on the value of the Multiplication parameter. You specify the operations with the Number of inputs parameter. Multiply(*) and divide(/) characters indicate the operations to be performed on the inputs: If there are two or more inputs, then the number of characters must equal the number of inputs. For example, “*/*” requires three inputs. For this example, if the Multiplication parameter is set to Element-wise, the block divides the elements of the first (top) input by the elements of the second (middle) input, and then multiplies by the elements of the third (bottom) input. In this case, all nonscalar inputs to this block must have the same dimensions. If, however, the Multiplication parameter is set to Matrix, the block output is the matrix product of the inputs marked “*” and the inverse of inputs marked “/”, with the order of operations following the entry in the Number of inputs parameter. The dimensions of the inputs must be such that the matrix product is defined. Note To perform a dot product on input vectors, use the Dot Product block. If only multiplication of inputs is required, then a numeric parameter value equal to the number of inputs can be supplied instead of “*” characters. This may be used in conjunction with either element-wise or matrix multiplication. If a single vector is input and the Multiplication parameter is set to Element-wise, then a single “*” will cause the block to output the scalar product of the vector elements. A single “/” will cause the block to output the inverse of the scalar product of the vector elements. If a single matrix is input and the Multiplication parameter is set to Element-wise, then a single “*” or “/” will cause the block to error out. If, Product Product 2-247 Product slref.book Page 248 Friday, June 21, 2002 5:58 PM however, the Multiplication parameter is set to Matrix, then a single “*” will cause the block to output the matrix unchanged, and a single “/” will cause the block to output the inverse of the matrix. When the Show additional parameters check box is selected, some of the parameters that become visible are common to many blocks. For a detailed description of these parameters, refer to “Block Parameters” in the Fixed-Point Blockset documentation. Data Type Support The Product block accepts signals of any complexity and data type, including fixed-point data types except int64 and uint64. All input signals must be of the same data type. Parameters and Dialog Box Number of inputs Enter the number of inputs or a combination of “*” and “/” symbols. See “Description” above for a complete discussion of this parameter. Multiplication Specify element-wise or matrix multiplication. See “Description” above for a complete discussion of this parameter. Show additional parameters If selected, additional parameters specific to implementation of the block become visible as shown. 2-248 Product slref.book Page 249 Friday, June 21, 2002 5:58 PM Require all inputs to have same data type Select this parameter to require that all inputs must have the same data type. Output data type mode Specify the output data type and scaling to be the same as the first input, or inherit the data type and scaling by an internal rule or by backpropagation. You can also choose a built-in data type from the drop-down list. Lastly, if you choose Specify via dialog, the Output data type, Output scaling value, and Lock output scaling against changes by the autoscaling tool parameters become visible. If you select Inherit via internal rule for this parameter, Simulink chooses a combination of output scaling and data type that requires the smallest amount of memory consistent with accommodating the output range and maintaining the output precision (and avoiding underflow in the case of division operations). If the Production hardware characteristics 2-249 Product slref.book Page 250 Friday, June 21, 2002 5:58 PM parameter on the Advanced pane of the Simulation Parameters dialog is set to Unconstrained integer sizes, Simulink chooses the data type without regard to hardware constraints. If the parameter is set to Microprocessor, Simulink chooses the smallest available hardware data type capable of meeting range, precision, and underflow constraints. For example, if the block multiplies inputs of type int8 and int16 and Unconstrained integer sizes is specified, the output data type is sfix24. If Microprocessor is specified and the microprocessor supports 8-bit, 16-bit, and 32-bit words, the output data type is int32. If none of the word lengths provided by the target microprocessor can accommodate the output range, Simulink displays an error message in the Simulink Diagnostic Viewer. Output data type Specify any data type, including fixed-point data types. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Output scaling value Set the output scaling using radix point-only or [Slope Bias] scaling. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Lock output scaling against changes by the autoscaling tool If selected, Output scaling is locked. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Round integer calculations toward Select the rounding mode for fixed-point output. Saturate on integer overflow If selected, overflows saturate. 2-250 Product slref.book Page 251 Friday, June 21, 2002 5:58 PM Conversions and Operations The Product block first performs the specified multiply or divide operations on the inputs, and then converts the results to the output data type using the specified rounding and overflow modes. Refer to “Rules for Arithmetic Operations” in the Fixed-Point Blockset documentation for more information about the rules that this block obeys when performing fixed-point operations. Characteristics Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Yes Zero Crossing No 2-251 Probe slref.book Page 252 Friday, June 21, 2002 5:58 PM 2Probe Purpose Output a signal’s attributes, including width, dimensionality, sample time, and/or complex signal flag Library Signal Attributes Description The Probe block outputs selected information about the signal on its input. The block can output the input signal’s width, dimensionality, sample time, and/or a flag indicating whether the input is a complex-valued signal. The block has one input port. The number of output ports depends on the information that you select for probing, that is, signal dimensionality, sample time, and/or complex signal flag. Each probed value is output as a separate signal on a separate output port. The block accepts real or complex-valued signals of any built-in data type. It outputs signals of type double. During simulation, the block’s icon displays the probed data. Data Type Support A Probe block accepts and outputs any data type, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box Probe width If selected, output the width (number of elements) of the probed signal. Probe sample time If selected, output the sample time of the probed signal. Probe complex signal If selected, output 1 if the probed signal is complex; otherwise, 0. Probe signal dimensions If selected, output the dimensions of the probed signal. 2-252 Probe slref.book Page 253 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Yes Dimensionalized Yes Zero Crossing No 2-253 Pulse Generator slref.book Page 254 Friday, June 21, 2002 5:58 PM 2Pulse Generator Purpose Generate square wave pulses at regular intervals Library Sources Description The Pulse Generator block generates square wave pulses at regular intervals. The block’s waveform parameters, Amplitude, Pulse Width, Period, and Phase Delay, determine the shape of the output waveform. The following diagram shows how each parameter affects the waveform. The Pulse Generator can emit scalar, vector, or matrix signals of any real data type. To cause the block to emit a scalar signal, use scalars to specify the waveform parameters. To cause the block to emit a vector or matrix signal, use vectors or matrices, respectively, to specify the waveform parameters. Each element of the waveform parameters affects the corresponding element of the output signal. For example, the first element of a vector amplitude parameter determines the amplitude of the first element of a vector output pulse. All the waveform parameters must have the same dimensions after scalar expansion. The data type of the output is the same as the data type of the Amplitude parameter. The block’s Pulse type parameter allows you to specify whether the block’s output is time-based or sample-based. If you select sample-based, the block computes its outputs at fixed intervals that you specify. If you select time-based, Simulink computes the block’s outputs only at times when the output actually changes. This can result in fewer computations being required to compute the block’s output over the simulation time period. A m pl itud e PeriodPhase Width 2-254 Pulse Generator slref.book Page 255 Friday, June 21, 2002 5:58 PM Depending on the pulse’s waveform characteristics, the intervals between changes in the block’s output can vary. For this reason, Simulink cannot use a fixed solver to compute the output of a time-based pulse generator. Simulink allows you to specify a fixed-step solver for models that contain time-based pulse generators. However, in this case, Simulink computes a fixed sample time for the time-based pulse generators. It then simulates the time-based pulse generators as sample-based. Note If you use a fixed-step solver and the Pulse type is time-based, you must choose the step size such that the period, phase delay, and pulse width (in seconds) are integer multiples of the step size. For example, suppose that the period is 4 seconds, the pulse width is 75% (i.e., 3 s), and the phase delay is 1 s. In this case, the computed sample time is 1 s. Therefore, you must choose a fixed-step size that is 1 or that divides 1 exactly (e.g., 0.25). You can guarantee this by setting the fixed-step solver’s step size to auto on the Simulation Parameters dialog box. If you select time-based as the block’s pulse type, you must specify the pulse’s phase delay and period in units of seconds. If you specify sample-based, you must specify the block’s sample time in seconds, using the Sample Time parameter, then specify the block’s phase delay and period as integer multiples of the sample time. For example, suppose that you specify a sample time of 0.5 second. And suppose you want the pulse to repeat every two seconds. In this case, you would specify 4 as the value of the block’s Period parameter. Data Type Support A Pulse Generator block outputs real signals of any data type except int64 and uint64. The data type of the output signal is the same as that of the Amplitude parameter. 2-255 Pulse Generator slref.book Page 256 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Pulse type The pulse type for this block: time-based or sample-based. The default is time-based. Amplitude The pulse amplitude. The default is 1. Period The pulse period specified in seconds if the pulse type is time-based or as number of sample times if the pulse type is sample-based. The default is 2. Pulse width The duty cycle specified as the percentage of the pulse period that the signal is on if time-based or as number of sample times if sample-based. The default is 50 percent. Phase delay The delay before the pulse is generated specified in seconds if the pulse type is time-based or as number of sample times if the pulse type is sample-based. The default is 0 seconds. 2-256 Pulse Generator slref.book Page 257 Friday, June 21, 2002 5:58 PM Sample Time The length of the sample time for this block in seconds. This parameter appears only if the block’s pulse type is sample-based. See “Specifying Sample Time” for more information. Interpret vector parameters as 1-D If this option is selected and the other parameters are one-row or one-column matrices, after scalar expansion, the block outputs a 1-D signal (vector). Otherwise the output dimensionality is the same as that of the other parameters. Characteristics Sample Time Inherited Scalar Expansion Of parameters Dimensionalized Yes Zero Crossing No 2-257 Quantizer slref.book Page 258 Friday, June 21, 2002 5:58 PM 2Quantizer Purpose Discretize input at a specified interval Library Discontinuities Description The Quantizer block passes its input signal through a stair-step function so that many neighboring points on the input axis are mapped to one point on the output axis. The effect is to quantize a smooth signal into a stair-step output. The output is computed using the round-to-nearest method, which produces an output that is symmetric about zero. y = q * round(u/q) where y is the output, u the input, and q the Quantization interval parameter. Data Type Support A Quantizer block accepts and outputs real or complex signals of type single or double. Parameters and Dialog Box Quantization interval The interval around which the output is quantized. Permissible output values for the Quantizer block are n*q, where n is an integer and q the Quantization interval. The default is 0.5. Treat as gain when linearizing Simulink by default treats the Quantizer block as unity gain when linearizing. This is the large signal linearization case. If you clear this box, the linearization routines assume the small signal case and set the gain to zero. 2-258 Quantizer slref.book Page 259 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Of parameter Dimensionalized Yes Zero Crossing No 2-259 Ramp slref.book Page 260 Friday, June 21, 2002 5:58 PM 2Ramp Purpose Generate constantly increasing or decreasing signal Library Sources Description The Ramp block generates a signal that starts at a specified time and value and changes by a specified rate. The block’s Slope, Start time, Duty Cycle, and Initial output parameters determine the characteristics of the output signal. All must have the same dimensions after scalar expansion. Data Type Support A Ramp block outputs signals of type double. Parameters and Dialog Box Slope The rate of change of the generated signal. The default is 1. Start time The time at which the signal begins to be generated. The default is 0. Initial output The initial value of the signal. The default is 0. Interpret vector parameters as 1-D If this option is selected and the other parameters are one-row or one-column matrices, after scalar expansion, the block outputs a 1-D signal (vector). Otherwise, the output dimensionality is the same as that of the other parameters. 2-260 Ramp slref.book Page 261 Friday, June 21, 2002 5:58 PM Characteristics Sample Time Inherited from driven block Scalar Expansion Yes Dimensionalized Yes Zero Crossing Yes 2-261 Random Number slref.book Page 262 Friday, June 21, 2002 5:58 PM 2Random Number Purpose Generate normally distributed random numbers Library Sources Description The Random Number block generates normally distributed random numbers. The seed is reset to the specified value each time a simulation starts. By default, the sequence produced has a mean of 0 and a variance of 1, although you can vary these parameters. The sequence of numbers is repeatable and can be produced by any Random Number block with the same seed and parameters. To generate a vector of random numbers with the same mean and variance, specify the Initial seed parameter as a vector. To generate uniformly distributed random numbers, use the Uniform Random Number block. Avoid integrating a random signal, because solvers are meant to integrate relatively smooth signals. Instead, use the Band-Limited White Noise block. All the block’s numeric parameters must be of the same dimension after scalar expansion. Data Type Support A Random Number block accepts and outputs signals of type double. Parameters and Dialog Box 2-262 Random Number slref.book Page 263 Friday, June 21, 2002 5:58 PM Mean The mean of the random numbers. The default is 0. Variance The variance of the random numbers. The default is 1. Initial seed The starting seed for the random number generator. The seed must be 0 or a positive integer. The default is 0. Sample time The time interval between samples. The default is 0, causing the block to have continuous sample time. See “Specifying Sample Time” in the online documentation for more information. Interpret vector parameters as 1-D If this option is selected and the other parameters are one-row or one-column matrices, after scalar expansion, the block outputs a 1-D signal (vector). Otherwise, the output dimensionality is the same as that of the other parameters. Characteristics Sample Time Continuous or discrete Scalar Expansion Of parameters Dimensionalized Yes Zero Crossing No 2-263 Rate Limiter slref.book Page 264 Friday, June 21, 2002 5:58 PM 2Rate Limiter Purpose Limit the rate of change of a signal Library Discontinuities Description The Rate Limiter block limits the first derivative of the signal passing through it. The output changes no faster than the specified limit. The derivative is calculated using this equation. u(i) and t(i) are the current block input and time, and y(i-1) and t(i-1) are the output and time at the previous step. The output is determined by comparing rate to the Rising slew rate and Falling slew rate parameters: If rate is greater than the Rising slew rate parameter (R), the output is calculated as If rate is less than the Falling slew rate parameter (F), the output is calculated as If rate is between the bounds of R and F, the change in output is equal to the change in input: Data Type Support A Rate Limiter block accepts and outputs signals of type double. Parameters and Dialog Box ate ui() y–()i 1–(+ ti() t–()i 1–()+ -------------------------------------------= yi() ?tR yi 1–()+?= yi() ?tF yi 1–()+?= yi() ui()= 2-264 Rate Limiter slref.book Page 265 Friday, June 21, 2002 5:58 PM Rising slew rate The limit of the derivative of an increasing input signal. Falling slew rate The limit of the derivative of a decreasing input signal. Characteristics Direct Feedthrough Yes Sample Time Continuous Scalar Expansion Of input and parameters Dimensionalized Yes Zero Crossing No 2-265 Rate Transition slref.book Page 266 Friday, June 21, 2002 5:58 PM 2Rate Transition Purpose Handle transfer of data between blocks operating at different rates Library Signal Attributes Description Transfers data from the output of a block operating at one rate to the input of another block operating at a different rate. The Rate Transition block’s parameters allows you to specify options that trade data integrity and deterministic transfer for faster response and/or lower memory requirements. Note See “Data Transfer Problems” in the online Real-Time Workshop documentation for a discussion of data integrity and deterministic data transfer. In particular, the block supports the following options: Deterministic transfer of data with data integrity between blocks operating at different speeds at the cost of maximum latency of data transfer This is the default option. Nondeterministic data transfer with minimum latency and assured data integrity but increased memory requirements To specify this option, check the Ensure data integrity during data transfer parameter and uncheck the Ensure deterministic data transfer parameter. Minimum latency and target size at the cost of nondeterministic data transfer and possible loss of data integrity To specify this option, uncheck the Ensure data integrity during data transfer and Ensure deterministic data transfer parameters. See “Sample Rate Transitions” in the online Real-Time Workshop documentation for more information. 2-266 Rate Transition slref.book Page 267 Friday, June 21, 2002 5:58 PM Note The Zero-Order Hold and Unit Delay blocks also enable transfer of data between blocks operating at different rates. However, you should use the Rate Transition block for this purpose because it is designed specifically for this purpose, offers a wider range of options, and is easier to use. Data Type Support A Rate Transition block accepts and outputs signals of any data type, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box Ensure data integrity during data transfer Selecting this option results in generation of code that ensures the integrity of data transferred by the Rate Transition block. If this option is selected and the transfer is nondeterministic (see Ensure deterministic data transfer option below), the generated code uses double-buffering to prevent the fast block from interrupting the data transfer. Otherwise the generated code uses a copy operation to effect the data transfer. The copy operation consumes less memory than double-buffering but is also interruptible and hence can lead to loss of data during nondeterministic data transfers. Thus, you should select this option if you want the generated code to operate both with maximum responsiveness (i.e., nondeterministically) and assured data integrity. See “Rate Transition Block Options” in the online Real-Time Workshop documentation for more information. 2-267 Rate Transition slref.book Page 268 Friday, June 21, 2002 5:58 PM Ensure deterministic data transfer (maximum delay) Selecting this option causes code generation to generate code that transfers data at the sample rate of the slower block, i.e., deterministically. If this option is not selected, data transfers occur as soon as new data is available from the source block and the receiving block is ready to receive the data. This avoids the need to delay transfers, thus ensuring that the system operates with maximum responsiveness. However, it also means that transfers can occur unpredictably, which is undesirable in some applications. See “Rate Transition Block Options” in the online Real-Time Workshop documentation for more information. Data rate transition Select Slow to fast if the block connected to the input of the Rate Transition block operates at a slower rate than the block connected to the Rate Transition block. Otherwise, select Fast to slow. Initial condition This parameter applies only to Slow to fast transitions. It specifies the Rate Transition’s initial output at the beginning of a transition when there is not yet any output from the slow block connected to the Rate Transition block’s input. Characteristics Direct Feedthrough No for slow-to-fast transitions that are protected, i.e., for which you have checked the Ensure data integrity during data transfer option; otherwise, yes. Sample Time This block supports discrete-to-discrete and discrete-to-continuous transitions. Scalar Expansion Of input. Dimensionalized Yes Zero Crossing No 2-268 Real-Imag to Complex slref.book Page 269 Friday, June 21, 2002 5:58 PM 2Real-Imag to Complex Purpose Convert real and/or imaginary inputs to a complex signal Library Math Operations Description The Real-Imag to Complex block converts real and/or imaginary inputs to a complex-valued output signal. The inputs can both be arrays (vectors or matrices) of equal dimensions, or one input can be an array and the other a scalar. If the block has an array input, the output is a complex array of the same dimensions. The elements of the real input are mapped to the real parts of the corresponding complex output elements. The imaginary input is similarly mapped to the imaginary parts of the complex output signals. If one input is a scalar, it is mapped to the corresponding component (real or imaginary) of all the complex output signals. The input signals and real or imaginary output parameter can be of any data type, including fixed-point data types, except int64 and uint64. The output is of the same type as the input or parameter that determines the output. Data Type Support See the preceding description. Parameters and Dialog Box Input Specifies the kind of input: a real input, an imaginary input, or both. Real (Imag) part If the input is a real-part signal, this parameter specifies the constant imaginary part of the output signal. If the input is the imaginary part, this parameter specifies the constant real part of the output signal. Note that the title of this field changes to reflect its usage. 2-269 Real-Imag to Complex slref.book Page 270 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Of the input when the function requires two inputs Dimensionalized Yes Zero Crossing No 2-270 Relational Operator slref.book Page 271 Friday, June 21, 2002 5:58 PM 2Relational Operator Purpose Perform the specified relational operation on the inputs Library Simulink Math Operations and Fixed-Point Blockset Logic & Comparison Description The Relational Operator block performs the specified comparison of its two inputs. The relational operator connecting the two inputs is selected with the Relational Operator parameter. The block icon updates to display the selected operator. The supported operations are given below. You can specify inputs as scalars, arrays, or a combination of a scalar and an array: For scalar inputs, the output is a scalar. For array inputs, the output is an array of the same dimensions, where each element is the result of an element-by-element comparison of the input arrays. For mixed scalar/array inputs, the output is an array, where each element is the result of a comparison between the scalar and the corresponding array element. The output data type is specified with the Output data type mode and Output data type parameters. The output equals 1 for TRUE and 0 for FALSE. <= Relational Operator Operation Description == TRUE if the first input is equal to the second input ~= TRUE if the first input is not equal to the second input < TRUE if the first input is less than the second input <= TRUE if the first input is less than or equal to the second input >= TRUE if the first input is greater than or equal to the second input > TRUE if the first input is greater than the second input 2-271 Relational Operator slref.book Page 272 Friday, June 21, 2002 5:58 PM Note The output data type selected should represent zero exactly. Data types that satisfy this condition include signed and unsigned integers and any floating-point data type. Data Type Support A Relational Operator block accepts real or complex signals of any data type except int64 and uint64. However, if the Output data type mode parameter is set to Logical, the input may only be boolean or double. One input can be real and the other complex if the operator is == or !=. Parameters and Dialog Box Relational Operator Designate the relational operator used to compare the two inputs. Show additional parameters If selected, additional parameters specific to implementation of the block become visible as shown. 2-272 Relational Operator slref.book Page 273 Friday, June 21, 2002 5:58 PM Require all inputs to have same data type Select to require inputs to have the same data type. Output data type mode Set the output data type to boolean, or choose to specify the data type through the Output data type parameter. Alternatively, you can select Logical to have the output data type determined by the Boolean Logic Signals parameter in the Advanced tab of the Simulink Simulation Parameters Interface. If you select Logical and Boolean Logic Signals is on, then the output data type is always boolean. If you select Logical and Boolean Logic Signals is off, then the output data type will match the input data type is always double. Output data type Specify the output data type. You should only use data types that represent zero exactly. Data types that satisfy this condition include signed and unsigned integers and any floating-point data type. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Enable zero crossing detection Select to enable zero crossing detection. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. 2-273 Relational Operator slref.book Page 274 Friday, June 21, 2002 5:58 PM Conversions and Operations The input with the smaller positive range is converted to the data type of the other input offline using round-to-nearest and saturation. This conversion is performed prior to comparison. Refer to “Parameter Conversions” in the Fixed-Point Blockset documentation for more information about parameter conversions. Characteristics Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Of inputs Zero Crossing No, unless Enable zero crossing detection is selected. 2-274 Relay slref.book Page 275 Friday, June 21, 2002 5:58 PM 2Relay Purpose Switch output between two constants Library Simulink Discontinuities and Fixed-Point Blockset Nonlinear Description The Relay block allows its output to switch between two specified values. When the relay is on, it remains on until the input drops below the value of the Switch off point parameter. When the relay is off, it remains off until the input exceeds the value of the Switch on point parameter. The block accepts one input and generates one output. The Switch on point value must be greater than or equal to the Switch off point. Specifying a Switch on point value greater than the Switch off point value models hysteresis, whereas specifying equal values models a switch with a threshold at that value. When the Show additional parameters check box is selected, some of the parameters that become visible are common to many blocks. For a detailed description of these parameters, refer to “Block Parameters” in the Fixed-Point Blockset documentation. Data Type Support This block supports any data type, including fixed-point, except int64 and uint64. Parameters and Dialog Box Relay 2-275 Relay slref.book Page 276 Friday, June 21, 2002 5:58 PM Switch on point The “on” threshold for the relay. Switch off point The “off” threshold for the relay. Output when on The output when the relay is on. Output when off The output when the relay is off. Show additional parameters If selected, additional parameters specific to implementation of the block become visible as shown. 2-276 Relay slref.book Page 277 Friday, June 21, 2002 5:58 PM Output data type mode Specify the output data type and scaling to be the same as the inputs, or inherit the data type and scaling by backpropagation. Lastly, if you choose Specify via dialog, the Output data type, Output scaling value, and Parameter Scaling parameters become visible. Output data type Specify any data type, including fixed-point data types. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Output scaling value Set the output scaling using radix point-only or [Slope Bias] scaling. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter, and is only enabled if Use specified scaling is selected for the Parameter Scaling parameter. Parameter Scaling Use Specified Scaling—This mode allows you to specify the output scaling in the Output scaling value parameter Best Precision: Vector-wise—This mode produces a common radix point for each element of the output vector based on the best precision for the largest value of the vector. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Enable zero crossing detection Select to enable zero crossing detection to detect switch-on and switch-off points. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Conversions and Operations The Switch on point and Switch off point parameters are converted to the input data type offline using round-to-nearest and saturation. 2-277 Relay slref.book Page 278 Friday, June 21, 2002 5:58 PM Characteristics Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Yes 2-278 Repeating Sequence slref.book Page 279 Friday, June 21, 2002 5:58 PM 2Repeating Sequence Purpose Generate an arbitrarily shaped periodic signal Library Sources Description The Repeating Sequence block outputs a periodic scalar signal having a waveform that you specify. You can specify any waveform, using the block dialog’s Time values and Output values parameters. The Times value parameter specifies a vector of sample times. The Output values parameter specifies a vector of signal amplitudes at the corresponding sample times. Together, the two parameters specify a sampling of the output waveform at points measured from the beginning of the interval over which the waveform repeats (i.e., the signal’s period). For example, by default, the Time values and Output values parameters are both set to [0 2]. This default setting specifies a sawtooth waveform that repeats every 2 seconds from the start of the simulation and has a maximum amplitude of 2. The Repeating Sequence block uses linear interpolation to compute the value of the waveform between the specified sample points. Data Type Support A Repeating Sequence block outputs real signals of type double. Parameters and Dialog Box Time values A vector of monotonically increasing time values. The default is [0 2]. Output values A vector of output values. Each corresponds to the time value in the same column. The default is [0 2]. 2-279 Repeating Sequence slref.book Page 280 Friday, June 21, 2002 5:58 PM Characteristics Sample Time Continuous Scalar Expansion No Dimensionalized No Zero Crossing No 2-280 Reshape slref.book Page 281 Friday, June 21, 2002 5:58 PM 2Reshape Purpose Change the dimensionality of a signal Library Math Operations Description The Reshape block changes the dimensionality of the input signal to a dimensionality that you specify, using the block’s Output dimensionality parameter. For example, you can use the block to change an N-element vector to a 1-by-N or N-by-1 matrix signal, and vice versa. The Output dimensionality parameter lets you select any of the following output options. Output Dimensionality Description 1-D array Converts a matrix (2-D array) to a vector (1-D array) array signal. The output vector consists of the first column of the input matrix followed by the second column, etc. (This option leaves a vector input unchanged.) Column vector Converts a vector or matrix input signal to a column matrix, i.e., an M-by-1 matrix, where M is the number of elements in the input signal. For matrices, the conversion is done in column-major order. 2-281 Reshape slref.book Page 282 Friday, June 21, 2002 5:58 PM Data Type Support The Reshape block accepts and outputs signals of any data type, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box Output dimensionality The dimensionality of the output signal. Output dimensions Specifies a custom output dimensionality. This option is enabled only if you select Customize as the value of the Output dimensionality parameter. Row vector Converts a vector or matrix input signal to a row matrix, i.e., a 1-by-N matrix where N is the number of elements in the input signal. For matrices, the conversion is done in column-major order. Customize Converts the input signal to an output signal whose dimensions you specify, using the Output dimensions parameter. The value of the Output dimensions parameter can be a one- or two-element vector. A value of [N] outputs a vector of size N. A value of [M N] outputs an M-by-N matrix. The number of elements of the input signal must match the number of elements specified by the Output dimensions parameter. For matrices, the conversion is done in column-major order. Output Dimensionality Description 2-282 Reshape slref.book Page 283 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion N/A Dimensionalized Yes Zero Crossing No 2-283 Rounding Function slref.book Page 284 Friday, June 21, 2002 5:58 PM 2Rounding Function Purpose Apply a rounding function to a signal Library Math Operations Description The Rounding Function block applies a rounding function to the input signal to produce the output signal. You can select one of the following rounding functions from the Function list: floor Rounds each element of the input signal to the nearest integer value towards minus infinity. ceil Rounds each element of the input signal to the nearest integer towards positive infinity. round Rounds each element of the input signal to the nearest integer. fix Rounds each element of the input signal to the nearest integer towards zero. The name of the selected function appears on the block icon. The input signal can be a scalar, vector, or matrix signal having real- or complex-valued elements of type double. The output signal has the same dimensions, data type, and numeric type as the input. Each element of the output signal is the result of applying the selected rounding function to the corresponding element of the input signal. Use the Rounding Function block instead of the Fcn block when you want vector or matrix output, because the Fcn block can produce only scalar output. Data Type Support A Rounding Function block accepts and outputs real signals of type double or single. 2-284 Rounding Function slref.book Page 285 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Function The rounding function. Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion N/A Dimensionalized Yes Zero Crossing No 2-285 Saturation slref.book Page 286 Friday, June 21, 2002 5:58 PM 2Saturation Purpose Limit the range of a signal Library Simulink Discontinuities and Fixed-Point Blockset Nonlinear Description The Saturation block imposes upper and lower bounds on a signal. When the input signal is within the range specified by the Lower limit and Upper limit parameters, the input signal passes through unchanged. When the input signal is outside these bounds, the signal is clipped to the upper or lower bound. When the Lower limit and Upper limit parameters are set to the same value, the block outputs that value. Data Type Support A Saturation block accepts and outputs real signals of any data type, including fixed-point data types, except int64 and uint64. The output data type is the same as the input data type. Parameters and Dialog Box Upper limit Specify the upper bound on the input signal. When the input signal to the Saturation block is above this value, the output of the block is clipped to this value. Lower limit Specify the lower bound on the input signal. When the input signal to the Saturation block is below this value, the output of the block is clipped to this value. Saturation 2-286 Saturation slref.book Page 287 Friday, June 21, 2002 5:58 PM Treat as gain when linearizing Linearization commands in Simulink treat this block as a gain in state space. Select this parameter to cause the linearization commands to treat the gain as 1; otherwise, the commands treat the gain as 0. Enable zero crossing detection Select to enable zero crossing detection. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Conversions and Operations Both the Upper limit and Lower limit parameters are converted to the input data type offline using round-to-nearest and saturation. Characteristics Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Of parameters and input Zero Crossing No, unless Enable zero crossing detection is selected 2-287 Scope, Floating Scope slref.book Page 288 Friday, June 21, 2002 5:58 PM 2Scope, Floating Scope Purpose Display signals generated during a simulation Library Sinks Description The Scope block displays its input with respect to simulation time. The Scope block can have multiple axes (one per port); all axes have a common time range with independent y-axes. The Scope allows you to adjust the amount of time and the range of input values displayed. You can move and resize the Scope window and you can modify the Scope’s parameter values during the simulation. When you start a simulation, Simulink does not open Scope windows, although it does write data to connected Scopes. As a result, if you open a Scope after a simulation, the Scope’s input signal or signals will be displayed. If the signal is continuous, the Scope produces a point-to-point plot. If the signal is discrete, the Scope produces a stair-step plot. The Scope provides toolbar buttons that enable you to zoom in on displayed data, display all the data input to the Scope, preserve axis settings from one simulation to the next, limit data displayed, and save data to the workspace. The toolbar buttons are labeled in this figure, which shows the Scope window as it appears when you open a Scope block. Zoom in x and y directions Zoom in x direction Zoom in y direction Autoscale Save axes settings Print Scope parameters Restore axes settings Floating scope Signal Selection Unlock axis selection 2-288 Scope, Floating Scope slref.book Page 289 Friday, June 21, 2002 5:58 PM Note Do not use Scope blocks inside library blocks that you create. Instead, provide the library blocks with output ports to which scopes can be connected to display internal data. Displaying Vector Signals When displaying a vector or matrix signal, the Scope assigns colors to each signal element in this order: yellow, magenta, cyan, red, green, and dark blue. When more than six signals are displayed, the Scope cycles through the colors in the order listed. Y-Axis Limits You set y-limits by right-clicking an axis and choosing Axes Properties. The following dialog box appears. Y-min Enter the minimum value for the y-axis. Y-max Enter the maximum value for the y-axis. Title Enter the title of the plot. You can include a signal label in the title by typing %<SignalLabel> as part of the title string (%<SignalLabel> is replaced by the signal label). 2-289 Scope, Floating Scope slref.book Page 290 Friday, June 21, 2002 5:58 PM Time Offset This figure shows the Scope block displaying the output of the vdp model. The simulation was run for 40 seconds. Note that this scope shows the final 20 seconds of the simulation. The Time offset field displays the time corresponding to 0 on the horizontal axis. Thus, you have to add the offset to the fixed time range values on the x-axis to get the actual time. 2-290 Scope, Floating Scope slref.book Page 291 Friday, June 21, 2002 5:58 PM Autoscaling the Scope Axes This figure shows the same output after you click the Autoscale toolbar button, which automatically scales both axes to display all stored simulation data. In this case, the y-axis was not scaled because it was already set to the appropriate limits. If you click the Autoscale button while the simulation is running, the axes are autoscaled based on the data displayed on the current screen, and the autoscale limits are saved as the defaults. This enables you to use the same limits for another simulation. Note Simulink does not buffer the data that it displays on a floating Scope. It can therefore scale the contents of a floating Scope only when data is being displayed, i.e., when a simulation is running. When a simulation is not running, Simulink disables (grays) the Zoom button on the toolbar of a floating Scope to indicate that it cannot scale its contents. Autoscale button 2-291 Scope, Floating Scope slref.book Page 292 Friday, June 21, 2002 5:58 PM Zooming You can zoom in on data in both the x and y directions at the same time, or in either direction separately. The zoom feature is not active while the simulation is running. To zoom in on data in both directions at the same time, make sure the leftmost Zoom toolbar button is selected. Then, define the zoom region using a bounding box. When you release the mouse button, the Scope displays the data in that area. You can also click a point in the area you want to zoom in on. If the scope has multiple y-axes, and you zoom in on one set of x-y axes, the x-limits on all sets of x-y axes are changed so that they match, because all x-y axes must share the same time base (x-axis). This figure shows a region of the displayed data enclosed within a bounding box. Zoom in both directions 2-292 Scope, Floating Scope slref.book Page 293 Friday, June 21, 2002 5:58 PM This figure shows the zoomed region, which appears after you release the mouse button. To zoom in on data in just the x direction, click the middle Zoom toolbar button. Define the zoom region by positioning the pointer at one end of the region, pressing and holding down the mouse button, then moving the pointer to the other end of the region. This figure shows the Scope after you define the zoom region, but before you release the mouse button. Zoom in on x 2-293 Scope, Floating Scope slref.book Page 294 Friday, June 21, 2002 5:58 PM When you release the mouse button, the Scope displays the magnified region. You can also click a point in the area you want to zoom in on. Zooming in the y direction works the same way except that you click the rightmost Zoom toolbar button before defining the zoom region. Again, you can also click a point in the area you want to zoom in on. Note Simulink does not buffer the data that it displays on a floating scope. It therefore cannot zoom the contents of a floating scope. To indicate this, Simulink disables (grays) the Zoom button on the toolbar of a floating scope. Saving the Axes Settings The Save axes settings toolbar button enables you to store the current x- and y-axis settings so you can apply them to the next simulation. You might want to do this after zooming in on a region of the displayed data so you can see the same region in another simulation. The time range is inferred from the current x-axis limits. Scope Parameters You can change axis limits, set the number of axes, time range, tick labels, sampling parameters, and saving options by choosing the Parameters toolbar button. Save axes settings Parameters 2-294 Scope, Floating Scope slref.book Page 295 Friday, June 21, 2002 5:58 PM When you click the Parameters button, this dialog box appears. The dialog box has two panes: General and Data history. General Parameters You can set the axis parameters, time range, and tick labels in the General tab. You can also choose the floating scope option with this tab. Number of axes Set the number of y-axes in this data field. With the exception of the floating scope, there is no limit to the number of axes the Scope block can contain. All axes share the same time base (x-axis), but have independent y-axes. Note that the number of axes is equal to the number of input ports. Time range Change the x-axis limits by entering a number or auto in the Time range field. Entering a number of seconds causes each screen to display the amount of data that corresponds to that number of seconds. Enter auto to set the x-axis to the duration of the simulation. Do not enter variable names in these fields. Tick labels You can choose to have tick labels on all axes, on one axis, or on the bottom axis only, using the Tick labels list. Floating scope Selecting this option turns a Scope block into a floating scope. A floating scope is a Scope block that can display the signals carried on one or more lines. You can create a Floating Scope block in a model either by copying a 2-295 Scope, Floating Scope slref.book Page 296 Friday, June 21, 2002 5:58 PM Scope block from the Simulink Sinks library into a model and selecting this option or, more simply, by copying the Floating Scope block from the Sinks library into the model window. The Floating Scope block has the Floating scope parameter selected by default. To use a floating scope during a simulation, first open the scope. To display the signals carried on a line, select the line. Hold down the Shift key while clicking another line to select multiple lines. It might be necessary to click the Autoscale data button on the floating scope’s toolbar to find the signal and adjust the axes to the signal values. Or you can use the floating scope’s Signal Selector (see “Signal Selector” on page 2-299) to select signals for display. The Signal Selector allows you to select signals anywhere in your model, including unopened subsystems. You can have more than one floating scope in a model, but only one set of axes in one scope can be active at a given time. Active floating scopes show the active axes by making them blue. Selecting or deselecting lines affects the active floating scope only. Other floating scopes continue to display the signals that you selected when they were active. In other words, nonactive floating scopes are locked, in that their signal displays cannot change. To specify display of a signal on one of the axes of a multiaxis floating scope, click the axis. Simulink draws a blue border around the axis. 2-296 Scope, Floating Scope slref.book Page 297 Friday, June 21, 2002 5:58 PM Then click the signal you want to display in the block diagram or the Signal Selector. When you run the model, the selected signal appears in the selected axis. If you plan to use a floating scope during a simulation, you should disable signal storage reuse. See “Signal storage reuse” in “Optimizations” for more information. Sampling To specify a decimation factor, enter a number in the data field to the right of the Decimation choice. To display data at a sampling interval, select the Sample time choice and enter a number in the data field. 2-297 Scope, Floating Scope slref.book Page 298 Friday, June 21, 2002 5:58 PM Controlling Data Collection and Display You can control the amount of data that the Scope stores and displays by setting fields on the Data History pane. You can also choose to save data to the workspace in this tab. You apply the current parameters and options by clicking the Apply or OK button. The values that appear in these fields are the values that are used in the next simulation. Limit data points to last You can limit the number of data points saved to the workspace by selecting the Limit data points to last check box and entering a value in its data field. The Scope relies on its data history for zooming and autoscaling operations. If the number of data points is limited to 1,000 and the simulation generates 2,000 data points, only the last 1,000 are available for regenerating the display. Save data to workspace You can automatically save the data collected by the Scope at the end of the simulation by selecting the Save data to workspace check box. If you select this option, the Variable name and Format fields become active. Variable name Enter a variable name in the Variable name field. The specified name must be unique among all data logging variables being used in the model. Other data logging variables are defined on other Scope blocks, To Workspace blocks, and simulation return variables such as time, states, and outputs. Being able to save Scope data to the workspace means that it 2-298 Scope, Floating Scope slref.book Page 299 Friday, June 21, 2002 5:58 PM is not necessary to send the same data stream to both a Scope block and a To Workspace block. Format Data can be saved in one of three formats: Array, Structure, or Structure with time. Use Array only for a Scope with one set of axes. For Scopes with more than one set of axes, use Structure if you do not want to store time data and use Structure with time if you want to store time data. Printing the Contents of a Scope Window To print the contents of a Scope window, open the Scope Properties dialog by clicking the Print icon, the rightmost icon on the Scope toolbar. Signal Selector The Signal Selector allows you to select the signals to be displayed in the floating scope. You can use it to select any signal in you model, including signals in unopened subsystems. To display the Signal Selector, first start simulation of your model with the floating scope open. Then right-click your mouse in the floating scope and select Signal Selection from the pop-up menu that appears. The Signal Selector appears. Print 2-299 Scope, Floating Scope slref.book Page 300 Friday, June 21, 2002 5:58 PM The Signal Selector contains two panes. The left pane allows you to display signals of any subsystem in your model. The signals appear in the right pane. The right pane allows you to select the signals to display in the floating scope. To select a subsystem for viewing, click its entry in the Model hierarchy tree or use the up or down arrow keys to move the selection highlight to the entry. To show or hide the subsystems contained by the currently selected subsystem, click the +/- button next to the subsystem’s name or press the forward or backward arrow keys on your keyboard. To view subsystems included as library links in your model, click the Library Links button at the top of the Model hierarchy pane. To view the subsystems contained by masked subsystems, click the Look Under Masks button at the top of the pane. The Signals pane shows all the signals in the currently selected subsystem by default. To show named signals only, select Named signals only from the List contents control at the top of the pane. To show test point signals only, select Test point signals only from the List contents control. To show only signals whose signals match a specified string of characters, enter the characters in the Show signals matching control at the bottom of the Signals pane and press the Enter key. To show the selected types of signals for all subsystems below the currently selected subsystem in the model hierarchy, select the Current and Below button at the top of the Signals pane. The Signals pane by default shows the name of each signal and the number of the port that emits the signal. To display more information on each signal, select the Detailed view button at the top of the pane. The detailed view shows the path and data type of each signal and whether the signal is a test point. To select or deselect a signal in the Signals pane, click its entry or use the arrow keys to move the selection highlight to the signal entry and press the Enter key. You can also move the selection highlight to a signal entry by typing the first few characters of its name (enough to uniquely identify it). 2-300 Scope, Floating Scope slref.book Page 301 Friday, June 21, 2002 5:58 PM Note You can continue to select and deselect signals on the block diagram with the Signal Selector open. For example, shift-clicking a line in the block diagram adds the corresponding signal to the set of signals that you previously selected with the Signal Selector. Simulink updates the Signal Selector to reflect signal selection changes you have made on the block diagram. However, the changes do not appear until you select the Signal Selector window itself. Data Type Support A Scope block accepts real signals of any data type, including fixed-point data types, except int64 and uint64. The Scope block accepts homogeneous vectors. Characteristics Sample Time Inherited from driving block or can be set States 0 2-301 Selector slref.book Page 302 Friday, June 21, 2002 5:58 PM 2Selector Purpose Select input elements from a vector or matrix signal Library Signal Routing Description The Selector block generates as output selected elements of an input vector or matrix. A Selector block accepts either vector or matrix signals as input. Set the Input Type parameter to the type of signal (vector or matrix) that the block should accept in your model. The parameter dialog box and the block icon change to reflect the type of input that you select. The way the block determines the elements to select differs slightly, depending on the type of input. Vector Input If the input type is vector, a Selector block outputs a vector of selected elements. The block determines the indices of the elements to select either from the block’s Elements parameter or from an external signal. Set the Source of element indices parameter to the source (internal, i.e., parameter value, or external) that you prefer. If you select external, the block adds an input port for the external index signal. In either case, the elements to be selected must be specified as a vector unless only one element is being selected. For example, this model shows the Selector block icon and the output for an input vector of [2 4 6 8 10] and an Elements parameter value of [5 1 3]. If the block icon is large enough, it displays the ordering of input vector elements graphically. If you select external as the source for element indices, the block adds an input port for the element indices signal. The signal should specify the elements to be selected in the same way they are specified, using the Elements parameter. 2-302 Selector slref.book Page 303 Friday, June 21, 2002 5:58 PM If the input type is vector, you must specify the width of the input signal or -1, using the Input port width parameter. If you specify a width greater than 0, the width of the input signal must equal the specified width. Otherwise, the block reports an error. If you specify a width of -1, the block accepts a vector signal of any width. Matrix Input If the input type is matrix, the Selector block outputs a matrix of elements selected from the input matrix. The block determines the row and column indices of the elements to select either from its Rows and Columns parameters or from external signals. Set the block’s Source of row indices and Source of column indices to the source that you prefer (internal or external). If you set either source to external, the block adds an input port for the external indices signal. If you set both sources to external, the block adds two input ports. In either case, the indices of the row and columns to be selected must be specified as vectors (or a scalar if only one row or column is to be selected). For example, the Rows expression [2 1] and the Columns expression [1 3] specify output of a 2-by-2 matrix whose first row contains the first and third elements of the input matrix’s second row and whose second row contains the first and third elements of the input matrix’s first row. Data Type Support The Selector block accepts signals of any signal and data type, including fixed-point data types. The Selector block supports mixed-type signal vectors. The elements of the output vector have the same type as the corresponding selected input elements. Parameters and Dialog Box The parameter dialog box appears as follows when vector input mode is selected. 2-303 Selector slref.book Page 304 Friday, June 21, 2002 5:58 PM Input Type The type of the input signal: vector or matrix. Source of element indices The source of the indices specifying the elements to select, either internal, i.e., the Elements parameter, or external, i.e., an input signal. Elements The elements to be included in the output vector. Input port width The number of elements in the input vector. The dialog box appears as follows when matrix input mode is selected. 2-304 Selector slref.book Page 305 Friday, June 21, 2002 5:58 PM Input Type The type of the input signal: vector or matrix. Source of row indices The source of the indices specifying the rows to select from the input matrix, either internal, i.e., the Rows parameter, or external, i.e., an input signal. Rows Indices of the rows from which to select elements to be included in the output matrix. Source of column indices The source of the indices specifying the columns to select from the input matrix, either internal, i.e., the Columns parameter, or external, i.e., an input signal. Columns Indices of the columns from which to select elements to be included in the output matrix. Characteristics Sample Time Inherited from driving block Dimensionalized Yes 2-305 S-Function slref.book Page 306 Friday, June 21, 2002 5:58 PM 2S-Function Purpose Access an S-function Library User-Defined Functions Description The S-Function block provides access to S-functions from a block diagram. The S-function named as the S-function name parameter can be an M-file or MEX-file written as an S-function (see “Overview of S-Functions” in Writing S-Functions for information on how to create S-functions). The S-Function block allows additional parameters to be passed directly to the named S-function. The function parameters can be specified as MATLAB expressions or as variables separated by commas. For example, A, B, C, D, [eye(2,2);zeros(2,2)] Note that although individual parameters can be enclosed in brackets, the list of parameters must not be enclosed in brackets. The S-Function block displays the name of the specified S-function and is always drawn with one input port and one output port, regardless of the number of inputs and outputs of the contained subsystem. Vector lines are used when the S-function contains more than one input or output. The input vector width must match the number of inputs contained in the S-function. The block directs the first element of the input vector to the first input of the S-function, the second element to the second input, and so on. Likewise, the output vector width must match the number of S-function outputs. Data Type Support Depends on the implementation of the S-Function block. 2-306 S-Function slref.book Page 307 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box S-function name The S-function name. S-function parameters Additional S-function parameters. See the preceding block description for information on how to specify the parameters. Characteristics Direct Feedthrough Depends on contents of S-function Sample Time Depends on contents of S-function Scalar Expansion Depends on contents of S-function Dimensionalized Depends on contents of S-function Zero Crossing No 2-307 S-Function Builder slref.book Page 308 Friday, June 21, 2002 5:58 PM 2S-Function Builder Purpose Create an S-function from C code that you provide Library User-Defined Functions Description The S-Function Builder block creates a C MEX-file S-function from specifications and C source code that you provide. See “Building S-Functions Automatically” for detailed instructions on using the S-Function Builder block to generate an S-function. Instances of the S-Function Builder block also serve as wrappers for generated S-functions in Simulink models. When simulating a model containing instances of an S-Function Builder block, Simulink invokes the generated S-function associated with each instance to compute the instance’s output at each time step. Data Type Support The S-Function Builder cab accept and output complex, 1-D or 2-D signals of any built-in data type except int64 and uint64. Parameters and Dialog Box See “S-Function Builder Dialog Box” in the online documentation for information on using the S-Function Builder block’s parameter dialog box. 2-308 Sign slref.book Page 309 Friday, June 21, 2002 5:58 PM 2Sign Purpose Indicate the sign of the input Library Simulink Math Operations and Fixed-Point Blockset Nonlinear Description The Sign block indicates the sign of the input: The output is 1 when the input is greater than zero. The output is 0 when the input is equal to zero. The output is -1 when the input is less than zero. Data Type Support The Sign block accepts signals of any data type, including fixed-point data types. The output is a signed data type with the same number of bits as the input, and with nominal scaling (a slope of one and a bias of zero). Parameters and Dialog Box Enable zero crossing detection Select to enable zero crossing detection. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Characteristics Sign Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from the driving block Scalar Expansion N/A 2-309 Signal Builder slref.book Page 310 Friday, June 21, 2002 5:58 PM 2Signal Builder Purpose Create and generate interchangeable groups of signals whose waveforms are piecewise linear Library Sources Description The Signal Builder allows you to create interchangeable groups of piecewise linear signal sources and use them in a model. See “Working with Signal Groups” in Using Simulink for more information. Data Type Support A Signal Builder block outputs a scalar or array of real signals of type double. Parameters and Dialog Box The Signal Builder block has the same dialog box as that of a Subsystem block. To display the dialog box, select Block Parameters from the block’s context menu. Characteristics Sample Time Continuous Scalar Expansion Of parameters Dimensionalized Yes Zero Crossing No 2-310 Signal Generator slref.book Page 311 Friday, June 21, 2002 5:58 PM 2Signal Generator Purpose Generate various waveforms Library Sources Description The Signal Generator block can produce one of three different waveforms: sine wave, square wave, and sawtooth wave. The signal parameters can be expressed in Hertz (the default) or radians per second. This figure shows each signal displayed on a Scope using default parameter values. Square Wave Sine Wave Sawtooth Wave 2-311 Signal Generator slref.book Page 312 Friday, June 21, 2002 5:58 PM A negative Amplitude parameter value causes a 180-degree phase shift. You can generate a phase-shifted wave at other than 180 degrees in a variety of ways, including connecting a Clock block signal to a MATLAB Fcn block and writing the equation for the particular wave. You can vary the output settings of the Signal Generator block while a simulation is in progress. This is useful to determine quickly the response of a system to different types of inputs. The block’s Amplitude and Frequency parameters determine the amplitude and frequency of the output signal. The parameters must be of the same dimensions after scalar expansion. If the Interpret vector parameters as 1-D option is off, the block outputs a signal of the same dimensions as the Amplitude and Frequency parameters (after scalar expansion). If the Interpret vector parameters as 1-D option is on, the block outputs a vector (1-D) signal if the Amplitude and Frequency parameters are row or column vectors, i.e. single row or column 2-D arrays. Otherwise, the block outputs a signal of the same dimensions as the parameters. Data Type Support A Signal Generator block outputs a scalar or array of real signals of type double. Parameters and Dialog Box Wave form The wave form: a sine wave, square wave, or sawtooth wave. The default is a sine wave. This parameter cannot be changed while a simulation is running. 2-312 Signal Generator slref.book Page 313 Friday, June 21, 2002 5:58 PM Amplitude The signal amplitude. The default is 1. Frequency The signal frequency. The default is 1. Units The signal units: Hertz or radians/sec. The default is Hertz. Interpret vector parameters as 1-D If selected, column or row matrix values for the Amplitude and Frequency parameters result in a vector output signal. Characteristics Sample Time Continuous Scalar Expansion Of parameters Dimensionalized Yes Zero Crossing No 2-313 Signal Specification slref.book Page 314 Friday, June 21, 2002 5:58 PM 2Signal Specification Purpose Verify that an input signal has the specified dimensions, sample time, data type, and numeric type Library Signal Attributes Description The Signal Specification block checks that the input signal has certain specified attributes. If so, the block outputs the input signal unchanged. Otherwise, it halts the simulation and displays an error message. The Signal Specification block can be used as a mechanism to ensure that the attributes of a signal meet the desired attributes for certain sections of your model. For example, consider two people working on different parts of a model. The Signal Specification block is useful for indicating which attributes of various signals are needed by the different sections of the model. If there is a miscommunication and data types are changed unexpectedly, the attributes do not match and Simulink reports an appropriate error. Using the Signal Specification block helps ensure that you do not introduce unexpected problems into your models. If you are familiar with the assert mechanism in languages such as C, you can see that the Signal Specification block serves a similar purpose. The Signal Specification block can also be used to ensure correct propagation of signal attributes throughout a model. Simulink’s capability of allowing many attributes to be propagated from block to block is very powerful. However, when using user-written S-functions, it is possible to create models that don't have enough information to correctly propagate attributes around the model. For these cases, the Signal Specification block is a good way of providing the information Simulink needs. Using the Signal Specification block also helps speed up model compilation when blocks are missing signal attributes. Data Type Support Accepts signals of any data type, including fixed-point data types but not int64 and uint64, that matches the data type specified by the Data type parameter. Inherit Signal Specification 2-314 Signal Specification slref.book Page 315 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Dimensions Specify the dimensions that the input signal must match. Valid values are -1—Any dimension accepted n—Vector signal of width n accepted [m n]—Matrix signal having m rows and n columns accepted Sample Time Specify the sample time that the input signal must match. Valid values are -1—Any sample time accepted period >= 0 [offset, period] [0, -1] [-1, -1] where period is the sample rate and offset is the offset of the sample period from time zero (see “Sample Time”). Data type Specify the data type that the input signal must match. To accept any data type, set this parameter to auto. 2-315 Signal Specification slref.book Page 316 Friday, June 21, 2002 5:58 PM Output data type Specify any data type, including fixed-point data types. This parameter is only visible if Specify via dialog is selected for the Data type parameter. Output scaling value Set the output scaling using radix point-only or [Slope Bias] scaling. This parameter is only visible if Specify via dialog is selected for the Data type parameter. Signal type Specify the numeric type (real or complex) that the input signal must match. To accept any numeric type, set this parameter to auto. Sampling mode Specify the sampling mode (sample-based or frame-based) that the input signal must match. To accept any sampling mode, set this parameter to auto. Characteristics Dimensionalized Yes Direct Feedthrough Yes Sample Time Continuous Scalar Expansion No Zero Crossing No 2-316 Sine Wave slref.book Page 317 Friday, June 21, 2002 5:58 PM 2Sine Wave Purpose Generate a sine wave Library Sources Description The Sine Wave block provides a sinusoid. The block can operate in either time-based or sample-based mode. Time-Based Mode The output of the Sine Wave block is determined by Time-based mode has two submodes: continuous mode or discrete mode. The value of the Sample time parameter determines whether the block operates in continuous mode or discrete mode: 0 (the default) causes the block to operate in continuous mode. >0 causes the block to operate in discrete mode. See “Specifying Sample Time” in the online documentation for more information. Using the Sine Wave Block in Continuous Mode A Sample time parameter value of 0 causes the block to operate in continuous mode. When operating in continuous mode, the Sine Wave block can become inaccurate due to loss of precision as time becomes very large. Using the Sine Wave Block in Discrete Mode A Sample time parameter value greater than zero causes the block to behave as if it were driving a Zero-Order Hold block whose sample time is set to that value. Using the Sine Wave block in this way allows you to build models with sine wave sources that are purely discrete, rather than models that are hybrid continuous/discrete systems. Hybrid systems are inherently more complex and as a result take longer to simulate. The Sine Wave block in discrete mode uses an incremental algorithm rather than one based on absolute time. As a result, the block can be useful in models y Amplitude frequency time× phase+()sin× bias+= 2-317 Sine Wave slref.book Page 318 Friday, June 21, 2002 5:58 PM intended to run for an indefinite length of time, such as in vibration or fatigue testing. The incremental algorithm computes the sine based on the value computed at the previous sample time. This method makes use of the following identities: These identities can be written in matrix form: Since ?t is constant, the following expression is a constant: Therefore the problem becomes one of a matrix multiplication of the value of sin(t) by a constant matrix to obtain sin(t+?t). Discrete mode reduces but does not eliminate accumulation of roundoff errors. This is because the computation of the block’s output at each time step depends on the value of the output at the previous time step. Sample-Based Mode Sample-based mode uses the following formula to compute the output of the Sine Wave block. where A is the amplitude of the sine wave. p is the number of time samples per sine wave period. k is a repeating integer value that ranges from 0 to p-1. o is the offset (phase shift) of the signal. b is the signal bias. t ?t+()sin t() ?t()cossin ?t() t()cossin+= t ?t+()cos t() ?t()coscos t() ?t()sinsin–= t ?t+()sin t ?t+()cos ?t()cos ?t()sin ?t()sin– ?t()cos t()sin t()cos = ?t()cos ?t()sin ?t()sin– ?t()cos yA 2 π× ko+()× p?()sin× b+= 2-318 Sine Wave slref.book Page 319 Friday, June 21, 2002 5:58 PM In this mode, Simulink sets k equal to 0 at the first time step and computes the block’s output, using the preceding formula. At the next time step, Simulink increments k and recomputes the output of the block. When k reaches p, Simulink resets k to 0 before computing the block’s output. This process continues until the end of the simulation. The sample-based method of computing the block’s output does not depend on the result of the previous time step to compute the result at the current time step. It therefore avoids roundoff error accumulation. However, it has one potential drawback. If the block is in a conditionally executed subsystem and the conditionally executed subsystem pauses and then resumes execution, the output of the Sine Wave block might no longer be in sync with the rest of the simulation. Thus, if the accuracy of your model requires that the output of conditionally executed Sine Wave blocks remain in sync with the rest of the model, you should use time-based mode for computing the output of the conditionally executed blocks. Parameter Dimensions The block’s numeric parameters must be of the same dimensions after scalar expansion. If the Interpret vector parameters as 1-D option is off, the block outputs a signal of the same dimensions and dimensionality as the parameters. If the Interpret vector parameters as 1-D option is on and the numeric parameters are row or column vectors (i.e., single row or column 2-D arrays), the block outputs a vector (1-D array) signal; otherwise, the block outputs a signal of the same dimensionality and dimensions as the parameters. Data Type Support A Sine Wave block accepts and outputs real signals of type double. 2-319 Sine Wave slref.book Page 320 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Sine type Type of sine wave generated by this block, either time- or sample-based. Some of the other options presented by the Sine Wave dialog box depend on whether you select time-based or sample-based as the value of Sine type parameter. Amplitude The amplitude of the signal. The default is 1. Bias Constant value added to the sine to produce the output of this block. Frequency The frequency, in radians/second. The default is 1 rad/s. This parameter appears only if you choose time-based as the Sine type of the block. Samples per period Number of samples per period. This parameter appears only if you choose sample-based as the Sine type of the block. 2-320 Sine Wave slref.book Page 321 Friday, June 21, 2002 5:58 PM Phase The phase shift, in radians. The default is 0 radians. This parameter appears only if you choose time-based as the Sine type of the block. Number of offset samples The offset (discrete phase shift) in number of sample times. This parameter appears only if you choose sample-based as the Sine type of the block. Sample time The sample period. The default is 0. If the sine type is sample-based, the sample time must be greater than 0. See “Specifying Sample Time” in the online documentation for more information. Interpret vector parameters as 1-D If selected, column or row matrix values for the Sine Wave block’s numeric parameters result in a vector output signal; otherwise, the block outputs a signal of the same dimensionality as the parameters. If this option is not selected, the block always outputs a signal of the same dimensionality as the block’s numeric parameters. Characteristics Sample Time Continuous, discrete, or inherited for time-based and discrete for sample-based Scalar Expansion Of parameters Dimensionalized Yes Zero Crossing No 2-321 Slider Gain slref.book Page 322 Friday, June 21, 2002 5:58 PM 2Slider Gain Purpose Vary a scalar gain using a slider Library Math Operations Description The Slider Gain block allows you to vary a scalar gain during a simulation using a slider. The block accepts one input and generates one output. Data Type Support Data type support for the Slider Gain block is the same as that for the Gain block (see Gain, Matrix Gain on page 2-153). Dialog Box Low The lower limit of the slider range. The default is 0. High The upper limit of the slider range. The default is 2. The edit fields indicate (from left to right) the lower limit, the current value, and the upper limit. You can change the gain in two ways: by manipulating the slider, or by entering a new value in the current value field. You can change the range of gain values by changing the lower and upper limits. Close the dialog box by clicking the Close button. If you click the slider’s left or right arrow, the current value changes by about 1% of the slider’s range. If you click the rectangular area to either side of the slider’s indicator, the current value changes by about 10% of the slider’s range. To apply a vector or matrix gain to the block input, consider using the Gain block. 2-322 Slider Gain slref.book Page 323 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Of the gain States 0 Dimensionalized Yes Zero Crossing No 2-323 State-Space slref.book Page 324 Friday, June 21, 2002 5:58 PM 2State-Space Purpose Implement a linear state-space system Library Continuous Description The State-Space block implements a system whose behavior is defined by where x is the state vector, u is the input vector, and y is the output vector. The matrix coefficients must have these characteristics, as illustrated in the following diagram: A must be an n-by-n matrix, where n is the number of states. B must be an n-by-m matrix, where m is the number of inputs. C must be an r-by-n matrix, where r is the number of outputs. D must be an r-by-m matrix. The block accepts one input and generates one output. The input vector width is determined by the number of columns in the B and D matrices. The output vector width is determined by the number of rows in the C and D matrices. Simulink converts a matrix containing zeros to a sparse matrix for efficient multiplication. Specifying the Absolute Tolerance for the Block’s States By default Simulink uses the absolute tolerance value specified in the Simulation Parameters dialog box (see “Error Tolerances”) to solve the states of the State-Space block. If this value does not provide sufficient error control, specify a more appropriate value in the Absolute tolerance field of the State-Space block’s dialog box. The value that you specify is used to solve all the block’s states. x · Ax Bu+= yCxDu+= AB C D n n m r 2-324 State-Space slref.book Page 325 Friday, June 21, 2002 5:58 PM Data Type Support A State-Space block accepts and outputs real signals of type double. Parameters and Dialog Box A, B, C, D The matrix coefficients. Initial conditions The initial state vector. Absolute tolerance Absolute tolerance used to solve the block’s states. You can enter auto or a numeric value. If you enter auto, Simulink determines the absolute tolerance (see “Error Tolerances”). If you enter a numeric value, Simulink uses the specified value to solve the block’s states. Note that a numeric value overrides the setting for the absolute tolerance in the Simulation Parameters dialog box. 2-325 State-Space slref.book Page 326 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Only if D ≠ 0 Sample Time Continuous Scalar Expansion Of the initial conditions States Depends on the size of A Dimensionalized Yes Zero Crossing No 2-326 Step slref.book Page 327 Friday, June 21, 2002 5:58 PM 2Step Purpose Generate a step function Library Sources Description The Step block provides a step between two definable levels at a specified time. If the simulation time is less than the Step time parameter value, the block’s output is the Initial value parameter value. For simulation time greater than or equal to the Step time, the output is the Final value parameter value. The block’s numeric parameters must be of the same dimensions after scalar expansion. If the Interpret vector parameters as 1-D option is off, the block outputs a signal of the same dimensions and dimensionality as the parameters. If the Interpret vector parameters as 1-D option is on and the numeric parameters are row or column vectors (i.e., single row or column 2-D arrays), the block outputs a vector (1-D array) signal; otherwise, the block outputs a signal of the same dimensionality and dimensions as the parameters. Data Type Support A Step block outputs real signals of type double. Parameters and Dialog Box Step time The time, in seconds, when the output jumps from the Initial value parameter to the Final value parameter. The default is 1 second. 2-327 Step slref.book Page 328 Friday, June 21, 2002 5:58 PM Initial value The block output until the simulation time reaches the Step time parameter. The default is 0. Final value The block output when the simulation time reaches and exceeds the Step time parameter. The default is 1. Sample time Sample rate of step. See “Specifying Sample Time” in the online documentation for more information. Interpret vector parameters as 1-D If selected, column or row matrix values for the Step block’s numeric parameters result in a vector output signal; otherwise, the block outputs a signal of the same dimensionality as the parameters. If this option is not selected, the block always outputs a signal of the same dimensionality as the block’s numeric parameters. Enable zero crossing detection Select to enable zero crossing detection to detect step times. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Characteristics Sample Time Inherited from driven block Scalar Expansion Of parameters Dimensionalized Yes 2-328 Stop Simulation slref.book Page 329 Friday, June 21, 2002 5:58 PM 2Stop Simulation Purpose Stop the simulation when the input is nonzero Library Sinks Description The Stop Simulation block stops the simulation when the input is nonzero. The simulation completes the current time step before terminating. If the block input is a vector, any nonzero vector element causes the simulation to stop. You can use this block in conjunction with the Relational Operator block to control when the simulation stops. For example, this model stops the simulation when the input signal reaches 10. Data Type Support A Stop Simulation block accepts real signals of type double or boolean. Dialog Box Characteristics Sample Time Inherited from driving block Dimensionalized Yes 2-329 Subsystem, Atomic Subsystem slref.book Page 330 Friday, June 21, 2002 5:58 PM 2Subsystem, Atomic Subsystem Purpose Represent a system within another system Library Ports & Subsystems Description A Subsystem block represents a subsystem of the system that contains it. The Subsystem block can represent a virtual subsystem or a true (atomic) subsystem (see “Atomic Versus Virtual Subsystems”), depending on the value of its Treat as Atomic Unit parameter. An Atomic Subsystem block is a Subsystem block that has its Treat as Atomic Unit parameter selected by default. You create a subsystem in these ways: Copy the Subsystem (or Atomic Subsystem) block from the Ports & Subsystems library into your model. You can then add blocks to the subsystem by opening the Subsystem block and copying blocks into its window. Select the blocks and lines that are to make up the subsystem using a bounding box, then choose Create Subsystem from the Edit menu. Simulink replaces the blocks with a Subsystem block. When you open the block, the window displays the blocks you selected, adding Inport and Outport blocks to reflect signals entering and leaving the subsystem. The number of input ports drawn on the Subsystem block’s icon corresponds to the number of Inport blocks in the subsystem. Similarly, the number of output ports drawn on the block corresponds to the number of Outport blocks in the subsystem. See “Creating Subsystems” for more information about subsystems. Data Type Support A subsystem’s enable and trigger ports accept any data type, including fixed-point data types, except int64 and uint64. See Inport on page 2-174 for information on the data types accepted by a subsystem’s input ports. See Outport on page 2-238 for information on the data types output by a subsystem’s output ports. 2-330 Subsystem, Atomic Subsystem slref.book Page 331 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Show port labels Causes Simulink to display the labels of the subsystem’s ports in the subsystem’s icon. Treat as atomic unit Causes Simulink to treat the subsystem as a unit when determining block execution order. When it comes time to execute the subsystem, Simulink executes all blocks within the subsystem before executing any other block at the same level as the subsystem block. If this option is not selected, Simulink treats all blocks in the subsystem as being at the same level in the model hierarchy as the subsystem when determining block execution order. This can cause execution of blocks within the subsystem to be interleaved with execution of blocks outside the subsystem. See “Atomic Versus Virtual Subsystems” for more information. 2-331 Subsystem, Atomic Subsystem slref.book Page 332 Friday, June 21, 2002 5:58 PM Access Controls user access to the contents of the subsystem. You can select any of the following values. Name of error callback function Name of a function to be called if an error occurs while Simulink is executing the subsystem. Simulink passes two arguments to the function: the handle of the subsystem and a string that specifies the error type. If no function is specified, Simulink displays a generic error message if executing the subsystem causes an error. Note Parameters whose names begin with RTW are used by the Real-Time Workshop for code generation. See the Real-Time Workshop documentation for more information. Access Description ReadWrite User can open and modify the contents of the subsystem. ReadOnly User can open but not modify the subsystem. If the subsystem resides in a block library, a user can create and open links to the subsystem and can make and modify local copies of the subsystem but cannot change the permissions or modify the contents of the original library instance. NoReadOrWrite User cannot open or modify the subsystem. If the subsystem resides in a library, a user can create links to the subsystem in a model but cannot open, modify, change permissions, or create local copies of the subsystem. 2-332 Subsystem, Atomic Subsystem slref.book Page 333 Friday, June 21, 2002 5:58 PM Characteristics Sample Time Depends on the blocks in the subsystem Dimensionalized Depends on the blocks in the subsystem Zero Crossing Yes, for enable and trigger ports if present 2-333 Sum slref.book Page 334 Friday, June 21, 2002 5:58 PM 2Sum Purpose Add or subtract inputs Library Simulink Math Operations and Fixed-Point Blockset Math Description The Sum block performs addition or subtraction on its inputs. This block can add or subtract scalar, vector, or matrix inputs. It can also collapse the elements of a single input vector. You specify the operations of the block with the List of Signs parameter. Plus (+), minus (-), and spacer (|) characters indicate the operations to be performed on the inputs: If there are two or more inputs, then the number of characters must equal the number of inputs. For example, “+-+” requires three inputs and configures the block to subtract the second (middle) input from the first (top) input, and then add the third (bottom) input. All nonscalar inputs must have the same dimensions. Scalar inputs will be expanded to have the same dimensions as the other inputs. A spacer character creates extra space between ports on the block’s icon. If only addition of all inputs is required, then a numeric parameter value equal to the number of inputs can be supplied instead of “+” characters. If only one vector is input, then a single “+” or “-” will collapse the vector using the specified operation. When the Show additional parameters check box is selected, some of the parameters that become visible are common to many blocks. For a detailed description of these parameters, refer to “Block Parameters” in the Fixed-Point Blockset documentation. Data Type Support The Sum block accepts signals of any complexity and data type, including fixed-point data types, except int64 and uint64. The inputs may be of different data types unless the Require all inputs to have same data type parameter is selected. Sum 2-334 Sum slref.book Page 335 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Icon shape Designate the icon shape of the block. List of signs Enter as many plus (+) and minus (-) characters as there are inputs. Addition is the default operation, so if you only want to add the inputs, enter the number of input ports. For a single vector input, “+” or “-” will collapse the vector using the specified operation. You can manipulate the positions of the input ports on the block icon by inserting spacers (|) between the signs in the List of signs parameter. For example, “++|--” creates an extra space between the second and third input ports. Show additional parameters If selected, additional parameters specific to implementation of the block become visible as shown. 2-335 Sum slref.book Page 336 Friday, June 21, 2002 5:58 PM Require all inputs to have same data type Select this parameter to require that all inputs must have the same data type. Output data type mode Specify the output data type and scaling to be the same as the first input, or inherit the data type and scaling from an internal rule or by backpropagation. You can also choose a built-in data type from the drop-down list. Lastly, if you choose Specify via dialog, the Output data type, Output scaling value, and Lock output scaling against changes by the autoscaling tool parameters become visible. Output data type Specify any data type, including fixed-point data types. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. 2-336 Sum slref.book Page 337 Friday, June 21, 2002 5:58 PM Output scaling value Set the output scaling using radix point-only or [Slope Bias] scaling. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Lock output scaling against changes by the autoscaling tool If selected, scaling of outputs is locked. This parameter is only visible if Specify via dialog is selected for the Output data type mode parameter. Round integer calculations toward Select the rounding mode for fixed-point output. Saturate on integer overflow If selected, overflows saturate. Conversions and Operations The Sum block first converts the input data type(s) to the output data type using the specified rounding and overflow modes, and then performs the specified operations. Refer to “Rules for Arithmetic Operations” in the Fixed-Point Blockset documentation for more information about the rules that this block obeys when performing fixed-point operations. Characteristics Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from driving blocks Scalar Expansion Yes States 0 Zero Crossing No 2-337 Switch slref.book Page 338 Friday, June 21, 2002 5:58 PM 2Switch Purpose Switch output between the first input and the third input based on the value of the second input Library Simulink Signal Routing and Fixed-Point Blockset Select Description The Switch block passes through the first (top) input or the third (bottom) input based on the value of the second (middle) input. The first and third inputs are called data inputs. The second input is called the control input. You select the conditions under which the first input is passed with the Criteria for passing first input parameter. You can make the block check whether the control input is greater than or equal to the threshold value, purely greater than the threshold value, or nonzero. If the control input meets the condition set in the Criteria for passing first input parameter, then the first input is passed. Otherwise, the third input is passed. When the Show additional parameters check box is selected, some of the parameters that become visible are common to many blocks. For a detailed description of these parameters, refer to “Block Parameters” in the Fixed-Point Blockset documentation. Data Type Support A Switch block accepts real- or complex-valued signals of any data type except int64 and uint64 for data and control inputs. The data type of the threshold is double. Parameters and Dialog Box Switch 2-338 Switch slref.book Page 339 Friday, June 21, 2002 5:58 PM Criteria for passing first input Select the conditions under which the first input is passed. You can make the block check whether the control input is greater than or equal to the threshold value, purely greater than the threshold value, or nonzero. If the control input meets the condition set in this parameter, then the first input is passed. Otherwise, the third input is passed. Threshold Assign the switch threshold that determines which input is passed to the output. Show additional parameters If selected, additional parameters specific to implementation of the block become visible as shown. Require all data port inputs to have same data type Select to require all data inputs to have the same data type. Output data type mode Choose to inherit the output data type and scaling by backpropagation or by an internal rule. The internal rule causes the output of the block to have the same data type and scaling as the input with the larger positive range. 2-339 Switch slref.book Page 340 Friday, June 21, 2002 5:58 PM Round integer calculations toward Select the rounding mode for fixed-point output. Saturate on integer overflow If selected, overflows saturate. Enable zero crossing detection Select to enable zero crossing detection. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Characteristics See Also Multi-Port Switch Dimensionalized Yes Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Yes Zero Crossing No, unless Enable zero crossing detection is selected 2-340 Switch Case slref.book Page 341 Friday, June 21, 2002 5:58 PM 2Switch Case Purpose Implement a C-like switch control flow statement Library Ports & Subsystems Description The following shows a completed Simulink C-like switch control flow statement in the subsystem of the Switch Case block. A Switch Case block receives a single input, which it uses to form case conditions that determine which the subsystem to execute. Each output port case condition is attached to a Switch Case Action subsystem. The cases are evaluated top down starting with the top case. If a case value (in brackets) corresponds to the actual value of the input, its Switch Case Action subsystem is executed. The preceding switch control flow statement can be represented by the following pseudocode: switch (u1) { case [u1=1]: body_1; break; case [u1=2 or u1=3]: body_23; break; default: bodydefault; } 2-341 Switch Case slref.book Page 342 Friday, June 21, 2002 5:58 PM You construct a Simulink switch control flow statement like the example shown as follows: 1 Place a Switch Case block in the current system and attach the input port labeled u1 to the source of the data you are evaluating. 2 Open the Block Parameters dialog of the Switch Case block and enter as follows: a Enter the Case conditions field with the individual cases. Each case can be an integer or set of integers specified with MATLAB cell notation. See the Case conditions field in the “Parameters and Dialog Box” section of this reference. b Select the Show default case check box to show a default case output port on the Switch Case block. If all other cases are false, the default case is taken. 3 Create a Switch Case Action subsystem for each case port you added to the Switch Case block. These consist of subsystems with Action Port blocks inside them. When you place the Action Port block inside a subsystem, the subsystem becomes an atomic subsystem with an input port labeled Action. 4 Connect each case output port and the default output port of the Switch Case block to the Action port of an Action subsystem. Each connected subsystem becomes a case body. This is indicated by the change in label for the Switch Case Action subsystem block and the Action Port block inside of it to the name case{}. During simulation of a switch control flow statement, the Action signals from the Switch Case block to each Switch Case Action subsystem turn from solid to dashed. 5 In each Switch Case Action subsystem, enter the Simulink logic appropriate to the case it handles. 2-342 Switch Case slref.book Page 343 Friday, June 21, 2002 5:58 PM Note As demonstrated in the preceding pseudocode example, cases for the Switch Case block contain an implied break after their Switch Case Action subsystems are executed. There is no fall-through behavior for the Simulink switch control flow statement as found in standard C switch statements. Data Type Support Input to the port labeled u1 of a Switch Case block can be a scalar value of any data type, including fixed-point data types, except boolean, int64, and uint64. Noninteger inputs are truncated. Data outputs are action signals to Switch Case Action subsystems that are created with Action Port blocks and subsystems. Parameters and Dialog Box Case conditions Case conditions are specified using MATLAB cell notation where each cell is a case condition consisting of integers or arrays of integers. In the preceding dialog example, entering {1,[7,9,4]} specifies that output port case[1] is run when the input value is 1, and output port case[7 9 4] is run when the input value is 7, 9, or 4. You can use colon notation to specify a range of case conditions. For example, entering {[1:5]} specifies that output port case[1 2 3 4 5] is run when the input value is 1, 2, 3, 4, or 5. Depending on block size, cases with long lists of conditions are displayed in shortened form in the Switch Case block, using a terminating ellipsis (…). 2-343 Switch Case slref.book Page 344 Friday, June 21, 2002 5:58 PM Show default case If this check box is selected, the default output port appears as the last case on the Switch Case block. This case is run when the input value does not match any of the case values specified in the Case conditions field. Enable zero crossing detection Select to enable use of zero crossing detection. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion No Dimensionalized No Zero Crossing Yes, if zero-crossing detection is enabled. 2-344 Switch Case Action Subsystem slref.book Page 345 Friday, June 21, 2002 5:58 PM 2Switch Case Action Subsystem Purpose Represent a subsystem whose execution is triggered by a Switch Case block Library Ports & Subsystems Description This block is a Subsystem block that is preconfigured to serve as a starting point for creating a subsystem whose execution is triggered by a Switch Case block. See the Switch Case block and “Control Flow Blocks” for more information. 2-345 Terminator slref.book Page 346 Friday, June 21, 2002 5:58 PM 2Terminator Purpose Terminate an unconnected output port Library Sinks Description The Terminator block can be used to cap blocks whose output ports are not connected to other blocks. If you run a simulation with blocks having unconnected output ports, Simulink issues warning messages. Using Terminator blocks to cap those blocks avoids warning messages. Data Type Support A Terminator block accepts real or complex signals of any data type, including fixed-point data types, except int64 and uint64. Parameters and Dialog Box Characteristics Sample Time Inherited from driving block Dimensionalized Yes 2-346 Time-Based Linearization slref.book Page 347 Friday, June 21, 2002 5:58 PM 2Time-Based Linearization Purpose Generate linear models in the base workspace at specific times Library Model-Wide Utilities Description This block calls linmod or dlinmod to create a linear model for the system when the simulation clock reaches the time specified by the Linearization time parameter. No trimming is performed. The linear model is stored in the base workspace as a structure, along with information about the operating point at which the snapshot was taken. Multiple snapshots are appended to form an array of structures. The name of the structure used to save the snapshots is the name of the model appended by _Timed_Based_Linearization, for example, vdp_Timed_Based_Linearization. The structure has the follow fields: Field Description a The A matrix of the linearization b The B matrix of the linearization c The C matrix of the linearization d The D matrix of the linearization StateName Names of the model’s states OutputName Names of the model’s output ports InputName Names of the model’s input ports OperPoint A structure that specifies the operating point of the linearization. The structure specifies the value of the model’s states (OperPoint.x) and inputs (OperPoint.u) at the operating point time (OperPoint.t). Ts The sample time of the linearization for a discrete linearization 2-347 Time-Based Linearization slref.book Page 348 Friday, June 21, 2002 5:58 PM Use the Trigger-Based Linearization block if you need to generate linear models conditionally. Data Type Support Not applicable. Parameters and Dialog Box Linearization time Time at which you want the block to generate a linear model. Enter a vector of times if you want the block to generate linear models at more than one time step. Sample time (of linearized model) Specify a sample time to create discrete-time linearizations of the model (see “Discrete-Time System Linearization” on page 3-3). Characteristics Sample Time Inherited from driving block Dimensionalized No 2-348 To File slref.book Page 349 Friday, June 21, 2002 5:58 PM 2To File Purpose Write data to a file Library Sinks Description The To File block writes its input to a matrix in a MAT-file. The block writes one column for each time step: the first row is the simulation time; the remainder of the column is the input data, one data point for each element in the input vector. The matrix has this form. The From File block can use data written by a To File block without any modifications. However, the form of the matrix expected by the From Workspace block is the transposition of the data written by the To File block. The block writes the data as well as the simulation time after the simulation is completed. The block icon shows the name of the specified output file. The amount of data written and the time steps at which the data is written are determined by block parameters: The Decimation parameter allows you to write data at every nth sample, where n is the decimation factor. The default decimation, 1, writes data at every time step. The Sample time parameter allows you to specify a sampling interval at which to collect points. This parameter is useful when you are using a variable-step solver where the interval between time steps might not be the same. The default value of -1 causes the block to inherit the sample time from the driving block when determining the points to write. See “Specifying Sample Time” in the online documentation for more information. If the file exists at the time the simulation starts, the block overwrites its contents. Data Type Support A To File block accepts real signals of type double. t 1 t 2 …t final u1 1 u1 2 …u1 final … un 1 un 2 …un final 2-349 To File slref.book Page 350 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Filename The fully qualified pathname or filename of the MAT-file in which to store the output. On UNIX, the pathname may start with a tilde (~) character signifying your home directory. The default filename is untitled.mat. If you specify an unqualified filename, Simulink stores the file in MATLAB’s working directory. (To determine the working directory, type pwd at the MATLAB command line.) Variable name The name of the matrix contained in the named file. Decimation A decimation factor. The default value is 1. Sample time The sample period and offset at which to collect points. See “Specifying Sample Time” in the online documentation for more information. Characteristics Sample Time Inherited from driving block Dimensionalized Yes 2-350 To Workspace slref.book Page 351 Friday, June 21, 2002 5:58 PM 2To Workspace Purpose Write data to the workspace Library Sinks Description The To Workspace block writes its input to the workspace. The block writes its output to an array or structure that has the name specified by the block’s Variable name parameter. The Save format parameter determines the output format. Array Selecting this option causes the To Workspace block to save the input as an N-dimensional array where N is one more than the number of dimensions of the input signal. For example, if the input signal is a 1-D array (i.e., a vector), the resulting workspace array is two-dimensional. If the input signal is a 2-D array (i.e., a matrix), the array is three-dimensional. The way samples are stored in the array depends on whether the input signal is a scalar or vector or a matrix. If the input is a scalar or a vector, each input sample is output as a row of the array. For example, suppose that the name of the output array is simout. Then, simout(1,:) corresponds to the first sample, simout(2,:) corresponds to the second sample, etc. If the input signal is a matrix, the third dimension of the workspace array corresponds to the values of the input signal at specified sampling point. For example, suppose again that simout is the name of the resulting workspace array. Then, simout(:,:,1) is the value of the input signal at the first sample point; simout(:,:,2) is the value of the input signal at the second sample point; etc. The amount of data written and the time steps at which the data is written are determined by block parameters: The Limit data points to last parameter indicates how many sample points to save. If the simulation generates more data points than the specified maximum, the simulation saves only the most recently generated samples. To capture all the data, set this value to inf. The Decimation parameter allows you to write data at every nth sample, where n is the decimation factor. The default decimation, 1, writes data at every time step. 2-351 To Workspace slref.book Page 352 Friday, June 21, 2002 5:58 PM The Sample time parameter allows you to specify a sampling interval at which to collect points. This parameter is useful when you are using a variable-step solver where the interval between time steps might not be the same. The default value of -1 causes the block to inherit the sample time from the driving block when determining the points to write. See “Specifying Sample Time” in the online documentation for more information. During the simulation, the block writes data to an internal buffer. When the simulation is completed or paused, that data is written to the workspace. The block icon shows the name of the array to which the data is written. Structure This format consists of a structure with three fields: time, signals, and blockName. The time field is empty. The blockName field contains the name of the To Workspace block. The signals field contains a structure with three fields: values, dimensions, and label. The values field contains the array of signal values. The dimensions field specifies the dimensions of the values array. The label field contains the label of the input line. Structure with Time This format is the same as Structure except that the time field contains a vector of simulation time steps. Using Saved Data with a From Workspace Block If the data written using a To Workspace block is intended to be played back in another simulation using a From Workspace block, use the Structure with Time format to save the data. Examples In a simulation where the start time is 0, the Maximum number of sample points is 100, the Decimation is 1, and the Sample time is 0.5. The To Workspace block collects a maximum of 100 points, at time values of 0, 0.5, 1.0, 1.5, …, seconds. Specifying a Decimation value of 1 directs the block to write data at each step. 2-352 To Workspace slref.book Page 353 Friday, June 21, 2002 5:58 PM In a similar example, the Maximum number of sample points is 100 and the Sample time is 0.5, but the Decimation is 5. In this example, the block collects up to 100 points, at time values of 0, 2.5, 5.0, 7.5, …, seconds. Specifying a Decimation value of 5 directs the block to write data at every fifth sample. The sample time ensures that data is written at these points. In another example, all parameters are as defined in the first example except that the Limit data points to last is 3. In this case, only the last three sample points collected are written to the workspace. If the simulation stop time is 100, data corresponds to times 99.0, 99.5, and 100.0 seconds (three points). Data Type Support A To Workspace block can save real or complex inputs of any data type to the MATLAB workspace except int64 and uint64. This includes fixed-point data types. Parameters and Dialog Box Variable name The name of the array that holds the data. Limit data points to last The maximum number of input samples to be saved. The default is 1000 samples. Decimation A decimation factor. The default is 1. 2-353 To Workspace slref.book Page 354 Friday, June 21, 2002 5:58 PM Sample time The sample time at which to collect points. See “Specifying Sample Time” in the online documentation for more information. Save format Format in which to save simulation output to the workspace. The default is structure. Characteristics Sample Time Inherited Dimensionalized Yes 2-354 Transfer Fcn slref.book Page 355 Friday, June 21, 2002 5:58 PM 2Transfer Fcn Purpose Implement a linear transfer function Library Continuous Description The Transfer Fcn block implements a transfer function where the input (u) and output (y) can be expressed in transfer function form as the following equation where nn and nd are the number of numerator and denominator coefficients, respectively. num and den contain the coefficients of the numerator and denominator in descending powers of s. num can be a vector or matrix, den must be a vector, and both are specified as parameters on the block dialog box. The order of the denominator must be greater than or equal to the order of the numerator. A Transfer Fcn block takes a scalar input. If the numerator of the block’s transfer function is a vector, the block’s output is also scalar. However, if the numerator is a matrix, the transfer function expands the input into an output vector equal in width to the number of rows in the numerator. For example, a two-row numerator results in a block with scalar input and vector output. The width of the output vector is two. Initial conditions are preset to zero. If you need to specify initial conditions, convert to state-space form using tf2ss and use the State-Space block. The tf2ss utility provides the A, B, C, and D matrices for the system. For more information, type help tf2ss or consult the Control System Toolbox documentation. Transfer Fcn Block Icon The numerator and denominator are displayed on the Transfer Fcn block icon depending on how they are specified: If each is specified as an expression, a vector, or a variable enclosed in parentheses, the icon shows the transfer function with the specified coefficients and powers of s. If you specify a variable in parentheses, the variable is evaluated. For example, if you specify Numerator as [3,2,1] and Hs() ys() us() ----------- num s() den s() -------------------- num 1()s nn 1– num 2()s nn 2– … num nn()+++ den 1()s nd 1– den 2()s nd 2– … den nd() -------------------------------------------------------------------------------------------------------------------------------== = 2-355 Transfer Fcn slref.book Page 356 Friday, June 21, 2002 5:58 PM Denominator as (den) where den is [7,5,3,1], the block icon looks like this: If each is specified as a variable, the icon shows the variable name followed by (s). For example, if you specify Numerator as num and Denominator as den, the block icon looks like this: Specifying the Absolute Tolerance for the Block’s States By default Simulink uses the absolute tolerance value specified in the Simulation Parameters dialog box (see “Error Tolerances”) to solve the states of the Transfer Fcn block. If this value does not provide sufficient error control, specify a more appropriate value in the Absolute tolerance field of the Transfer Fcn block’s dialog box. The value that you specify is used to solve all the block’s states. Data Type Support A Transfer Fcn block accepts and outputs signals of type double. Parameters and Dialog Box Numerator The row vector of numerator coefficients. A matrix with multiple rows can be specified to generate multiple output. The default is [1]. 2-356 Transfer Fcn slref.book Page 357 Friday, June 21, 2002 5:58 PM Denominator The row vector of denominator coefficients. The default is [1 1]. Absolute tolerance Absolute tolerance used to solve the block’s states. You can enter auto or a numeric value. If you enter auto, Simulink determines the absolute tolerance (see “Error Tolerances”). If you enter a numeric value, Simulink uses the specified value to solve the block’s states. Note that a numeric value overrides the setting for the absolute tolerance in the Simulation Parameters dialog box. Characteristics Direct Feedthrough Only if the lengths of the Numerator and Denominator parameters are equal Sample Time Continuous Scalar Expansion No States Length of Denominator -1 Dimensionalized Yes, in the sense that the block expands scalar input into vector output when the transfer function numerator is a matrix. See the preceding block description. Zero Crossing No 2-357 Transport Delay slref.book Page 358 Friday, June 21, 2002 5:58 PM 2Transport Delay Purpose Delay the input by a given amount of time Library Continuous Description The Transport Delay block delays the input by a specified amount of time. It can be used to simulate a time delay. At the start of the simulation, the block outputs the Initial input parameter until the simulation time exceeds the Time delay parameter, when the block begins generating the delayed input. The Time delay parameter must be nonnegative. The block stores input points and simulation times during a simulation in a buffer whose initial size is defined by the Initial buffer size parameter. If the number of points exceeds the buffer size, the block allocates additional memory and Simulink displays a message after the simulation that indicates the total buffer size needed. Because allocating memory slows down the simulation, define this parameter value carefully if simulation speed is an issue. For long time delays, this block might use a large amount of memory, particularly for a dimensionalized input. When output is required at a time that does not correspond to the times of the stored input values, the block interpolates linearly between points. When the delay is smaller than the step size, the block extrapolates from the last output point, which can produce inaccurate results. Because the block does not have direct feedthrough, it cannot use the current input to calculate its output value. To illustrate this point, consider a fixed-step simulation with a step size of 1 and the current time at t = 5. If the delay is 0.5, the block needs to generate a point at t = 4.5. Because the most recent stored time value is at t = 4, the block performs forward extrapolation. The Transport Delay block does not interpolate discrete signals. Instead, it returns the discrete value at t - tdelay. This block differs from the Unit Delay block, which delays and holds the output on sample hits only. Using linmod to linearize a model that contains a Transport Delay block can be troublesome. For more information about ways to avoid the problem, see “Linearizing Models” in Using Simulink. 2-358 Transport Delay slref.book Page 359 Friday, June 21, 2002 5:58 PM Data Type Support A Transport Delay block accepts and outputs real signals of type double. Parameters and Dialog Box Time delay The amount of simulation time that the input signal is delayed before being propagated to the output. The value must be nonnegative. Initial input The output generated by the block between the start of the simulation and the Time delay. Initial buffer size The initial memory allocation for the number of points to store. Pade order (for linearization) The order of the Pade approximation for linearization routines. The default value is 0, which results in a unity gain with no dynamic states. Setting the order to a positive integer n adds n states to your model, but results in a more accurate linear model of the transport delay. Direct feedthrough of input during linearization Causes the block to output its input during linearization and trim. This sets the block’s mode to direct feedthrough. 2-359 Transport Delay slref.book Page 360 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough No Sample Time Continuous Scalar Expansion Of input and all parameters except Initial buffer size Dimensionalized Yes Zero Crossing No 2-360 Trigger slref.book Page 361 Friday, June 21, 2002 5:58 PM 2Trigger Purpose Add a trigger port to a subsystem Library Ports & Subsystems Description Adding a Trigger block to a subsystem makes it a triggered subsystem. A triggered subsystem executes once on each integration step when the value of the signal that passes through the trigger port changes in a specifiable way (described below). A subsystem can contain no more than one Trigger block. For more information about triggered subsystems, see “Creating a Model” in Using Simulink. The Trigger type parameter allows you to choose the type of event that triggers execution of the subsystem: rising triggers execution of the subsystem when the control signal rises from a negative or zero value to a positive value (or zero if the initial value is negative). falling triggers execution of the subsystem when the control signal falls from a positive or a zero value to a negative value (or zero if the initial value is positive). either triggers execution of the subsystem when the signal is either rising or falling. function-call causes execution of the subsystem to be controlled by logic internal to an S-function (for more information, see “Function-Call Subsystems”). You can output the trigger signal by selecting the Show output port check box. Selecting this option allows the system to determine what caused the trigger. The width of the signal is the width of the triggering signal. The signal value is 1 for a signal that causes a rising trigger -1 for a signal that causes a falling trigger 0 otherwise Data Type Support A Trigger block accepts signals of any data type except int64 and uint64. 2-361 Trigger slref.book Page 362 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Trigger type The type of event that triggers execution of the subsystem. Show output port If selected, Simulink draws the Trigger block output port and outputs the trigger signal. Output data type Specifies the data type (double or int8) of the trigger output. If you select auto, Simulink sets the data type to be the same as that of the port to which the output is connected. If the port’s data type is not double or int8, Simulink signals an error. Enable zero crossing detection Select to enable zero crossing detection. For more information, see “Zero Crossing Detection” in the Using Simulink documentation. Characteristics Sample Time Determined by the signal at the trigger port Dimensionalized Yes 2-362 Trigger-Based Linearization slref.book Page 363 Friday, June 21, 2002 5:58 PM 2Trigger-Based Linearization Purpose Generate linear models in the base workspace when triggered Library Model-Wide Utilities Description When triggered, this block calls linmod or dlinmod to create a linear model for the system at the current operating point. No trimming is performed. The linear model is stored in the base workspace as a structure, along with information about the operating point at which the snapshot was taken. Multiple snapshots are appended to form an array of structures. The name of the structure used to save the snapshots is the name of the model appended by _Trigger_Based_Linearization, for example, vdp_Trigger_Based_Linearization. The structure has the follow fields: Use the Time-Based Linearization block to generate linear models at predetermined times. Field Description a The A matrix of the linearization b The B matrix of the linearization c The C matrix of the linearization d The D matrix of the linearization StateName Names of the model’s states OutputName Names of the model’s output ports InputName Names of the model’s input ports OperPoint A structure that specifies the operating point of the linearization. The structure specifies the value of the model’s states (OperPoint.x) and inputs (OperPoint.u) at the operating point time (OperPoint.t). Ts The sample time of the linearization for a discrete linearization 2-363 Trigger-Based Linearization slref.book Page 364 Friday, June 21, 2002 5:58 PM Data Type Support The trigger port accepts signals of any data type except int64 and uint64. Parameters and Dialog Box Trigger type Type of event on the trigger input signal that triggers generation of a linear model. See the Trigger type parameter of the Trigger block for an explanation of the various trigger types that you can select. Sample time (of linearized model) Specify a sample time to create a discrete-time linearization of the model (see “Discrete-Time System Linearization” on page 3-3). Characteristics Sample Time Inherited from driving block Dimensionalized No 2-364 Triggered Subsystem slref.book Page 365 Friday, June 21, 2002 5:58 PM 2Triggered Subsystem Purpose Represent a subsystem whose execution is triggered by external input Library Ports & Subsystems Description This block is a Subsystem block that is preconfigured to serve as the starting point for creating a triggered subsystem (see “Triggered Subsystems”). 2-365 Trigonometric Function slref.book Page 366 Friday, June 21, 2002 5:58 PM 2Trigonometric Function Purpose Perform a trigonometric function Library Math Operations Description The Trigonometric Function block performs numerous common trigonometric functions. You can select one of these functions from the Function list: sin, cos, tan, asin, acos, atan, atan2, sinh, cosh, and tanh. The block output is the result of the operation of the function on the input or inputs. The name of the function appears on the block icon. Simulink automatically draws the appropriate number of input ports. The block accepts and outputs real or complex signals of type double. Use the Trigonometric Function block instead of the Fcn block when you want dimensionalized output, because the Fcn block can produce only scalar output. Data Type Support A Trigonometric Function block accepts and outputs real or complex signals of type double. Parameters and Dialog Box Function The trigonometric function. Output signal type Type of signal (complex or real) to output. 2-366 Trigonometric Function slref.book Page 367 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes Sample Time Inherited from driving block Scalar Expansion Of the input when the function requires two inputs Dimensionalized Yes Zero Crossing No 2-367 Uniform Random Number slref.book Page 368 Friday, June 21, 2002 5:58 PM 2Uniform Random Number Purpose Generate uniformly distributed random numbers Library Sources Description The Uniform Random Number block generates uniformly distributed random numbers over a specifiable interval with a specifiable starting seed. The seed is reset each time a simulation starts. The generated sequence is repeatable and can be produced by any Uniform Random Number block with the same seed and parameters. To generate normally distributed random numbers, use the Random Number block. Avoid integrating a random signal, because solvers are meant to integrate relatively smooth signals. Instead, use the Band-Limited White Noise block. The block’s numeric parameters must be of the same dimensions after scalar expansion. If the Interpret vector parameters as 1-D option is off, the block outputs a signal of the same dimensions and dimensionality as the parameters. If the Interpret vector parameters as 1-D option is on and the numeric parameters are row or column vectors (i.e., single row or column 2-D arrays), the block outputs a vector (1-D array) signal; otherwise, the block outputs a signal of the same dimensions as the parameters. Data Type Support A Uniform Random Number block outputs a real signal of type double. Parameters and Dialog Box 2-368 Uniform Random Number slref.book Page 369 Friday, June 21, 2002 5:58 PM Minimum The minimum of the interval. The default is -1. Maximum The maximum of the interval. The default is 1. Initial seed The starting seed for the random number generator. The default is 0. Sample time The sample period. The default is 0. See “Specifying Sample Time” in the online documentation for more information. Interpret vector parameters as 1-D If selected, column or row matrix values for the Step block’s numeric parameters result in a vector output signal; otherwise, the block outputs a signal of the same dimensionality as the parameters. If this option is not selected, the block always outputs a signal of the same dimensionality as the block’s numeric parameters. Characteristics Sample Time Continuous, discrete, or inherited Scalar Expansion No Dimensionalized Yes Zero Crossing No 2-369 Unit Delay slref.book Page 370 Friday, June 21, 2002 5:58 PM 2Unit Delay Purpose Delay a signal one sample period Library Simulink Discrete and Fixed-Point Blockset Delays & Holds Description The Unit Delay block delays its input by the specified sample period. This block is equivalent to the z -1 discrete-time operator. The block accepts one input and generates one output, which can be either both scalar or both vector. If the input is a vector, all elements of the vector are delayed by the same sample period. You specify the block output for the first sampling period with the Initial conditions parameter. Careful selection of this parameter can minimize unwanted output behavior. The time between samples is specified with the Sample time parameter. A setting of -1 means the sample time is inherited. The Unit Delay block provides a mechanism for discretizing one or more signals in time, or for resampling the signal at a different rate. If your model contains multirate transitions, then you must add Unit Delay blocks between the slow-to-fast transitions. The sample rate of the Unit Delay block must be set to that of the slower block. For fast-to-slow transitions, use the Zero Order Hold block. For more information about multirate transitions, refer to the Simulink or the Real-Time Workshop documentation. Note The Unit Delay block accepts continuous signals. When it has a continuous sample time, the block is equivalent to the Simulink Memory block. Data Type Support The Unit Delay block accepts real or complex signals of any data type except int64 and uint64, including fixed-point data types. If the data type of the input signal is user-defined, the initial condition must be zero. z 1 Unit Delay 2-370 Unit Delay slref.book Page 371 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Initial conditions The output of the simulation for the first sampling period, during which the output of the Unit Delay block is otherwise undefined. Sample time The time interval between samples. To inherit the sample time, set this parameter to -1. See “Specifying Sample Time” in the online documentation for more information. Conversions and Operations The Initial conditions parameter is converted from a double to the input data type offline using round-to-nearest and saturation. Characteristics Dimensionalized Yes Direct Feedthrough No Sample Time Discrete or continuous. When inheriting a continuous signal, this block acts as a Simulink Memory block. Scalar Expansion Of input or initial conditions States Yes—inherited from driving block for nonfixed-point data types. Zero Crossing No 2-371 Variable Transport Delay slref.book Page 372 Friday, June 21, 2002 5:58 PM 2Variable Transport Delay Purpose Delay the input by a variable amount of time Library Continuous Description The Variable Transport Delay block can be used to simulate a variable time delay. The block might be used to model a system with a pipe where the speed of a motor pumping fluid in the pipe is variable. The block accepts two inputs: the first input is the signal that passes through the block; the second input is the time delay, as shown in this icon. The Maximum delay parameter defines the largest value the time delay input can have. The block clips values of the delay that exceed this value. The Maximum delay must be greater than or equal to zero. If the time delay becomes negative, the block clips it to zero and issues a warning message. During the simulation, the block stores time and input value pairs in an internal buffer. At the start of the simulation, the block outputs the Initial input parameter until the simulation time exceeds the time delay input. Then, at each simulation step the block outputs the signal at the time that corresponds to the current simulation time minus the delay time. When output is required at a time that does not correspond to the times of the stored input values, the block interpolates linearly between points. If the time delay is smaller than the step size, the block extrapolates an output point. This can result in less accurate results. The block cannot use the current input to calculate its output value because the block does not have direct feedthrough at this port. To illustrate this point, consider a fixed-step simulation with a step size of 1 and the current time at t = 5. If the delay is 0.5, the block needs to generate a point at t = 4.5. Because the most recent stored time value is at t = 4, the block performs forward extrapolation. The Variable Transport Delay block does not interpolate discrete signals. Instead, it returns the discrete value at t - tdelay. 2-372 Variable Transport Delay slref.book Page 373 Friday, June 21, 2002 5:58 PM Data Type Support A Variable Transport Delay block accepts and outputs real signals of type double. Parameters and Dialog Box Maximum delay The maximum value of the time delay input. The value cannot be negative. The default is 10. Initial input The output generated by the block until the simulation time first exceeds the time delay input. The default is 0. Buffer size The number of points the block can store. The default is 1024. Pade order (for linearization) The order of the Pade approximation for linearization routines. The default value is 0, which results in a unity gain with no dynamic states. Setting the order to a positive integer n adds n states to your model, but results in a more accurate linear model of the transport delay. Direct feedthrough of input during linearization Causes the block to output its input during linearization and trim. This sets the block’s mode to direct feedthrough. 2-373 Variable Transport Delay slref.book Page 374 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough Yes, of the time delay (second) input Sample Time Continuous Scalar Expansion Of input and all parameters except Buffer size Dimensionalized Yes Zero Crossing No 2-374 While Iterator slref.book Page 375 Friday, June 21, 2002 5:58 PM 2While Iterator Purpose Implement a C-like while or do-while control flow statement as a While subsystem Library Ports & Subsystems/While Subsystem Description The While Iterator block, when placed in a subsystem, implements a C-like while or do-while control flow statement in Simulink as a While subsystem. It has iterative control over any accompanying Simulink block programming placed in the same subsystem with it. For each iteration of the While Iterator block, the accompanying blocks perform one execution. Iteration takes place as long as the input conditions are true. This applies to an initial condition for the first execution (input port labeled IC) and a condition for succeeding executions (input port labeled cond). The following While subsystem example increments an initial value of 0 by 10 for every execution. 2-375 While Iterator slref.book Page 376 Friday, June 21, 2002 5:58 PM In the preceding example, a subsystem with a While block receives an input, which it passes to the IC (initial condition) port of the While block inside. If this value is true, the While block executes the blocks of the subsystem it is in. Since this value is 1 (true), the blocks execute and a value of 10 is added to a sum, which is initially 0. The sum is then compared to a value of 100. If the sum is less than or equal to 100, a value of true is passed to the While block through the cond (condition) port. This causes the blocks to execute again and again until the value passed to the While Iterator block is false and execution ceases. In addition, for each time the blocks of the subsystem execute, the While block outputs a value equal to the number of times that the blocks have executed, including the current execution. This value, along with the sum value, is sent to the x and y coordinate inputs, respectively, of an XY Graph block with the following result. The preceding while control flow statement example can be represented by the following pseudocode. sum = 0; IC = 1; iteration_number = 0; cond = IC; while (cond != 0) { iteration_number = iteration_number + 1; sum = sum + sum_increment; Points: (1,10) (2,20) etc. 2-376 While Iterator slref.book Page 377 Friday, June 21, 2002 5:58 PM if (sum >= 100 OR iterations > max_iterations) cond = 0; } You construct a Simulink While subsystem like the preceding example as follows: 1 Place a While Iterator block in a subsystem. This changes the subsystem icon to while{...}. You can use an ordinary subsystem or an atomic subsystem. In either case, the resulting While subsystem is atomic. 2 The source for the initial condition (labeled IC) data input that controls the first execution must be outside the While subsystem. 3 Input to the cond port controls any succeeding executions and must originate from within the Simulink programming residing in the While subsystem. 4 Open the Block Parameters dialog of the While block and enter as follows: - You can limit the number of iterations of the While Iterator block by setting the Maximum number of iterations field. You can set this field to a positive value to limit iterations and avoid infinite loops, or you can set this property to -1 if you want the While Iterator block to iterate without limit until an iteration condition (IC or cond port) is false (=0). This is done in the preceding example. - If you want an optional iterator output port, select the Show iterations number port check box. This port outputs 1 for the first execution, which is incremented by 1 for each succeeding execution. If you select the Show iterations number port check box the Output data type field is enabled (it is grayed out otherwise). This allows you to select the type for the iteration number data output. The default type is int32. - You can specify a do-while iteration instead of a while iteration by selecting do-while for the While loop type field. The equivalent pseudocode for a do-while iteration in the preceding example (minus the IC port) is as follows: sum = 0; iteration_number = 0; cond = 1; 2-377 While Iterator slref.book Page 378 Friday, June 21, 2002 5:58 PM do { iteration_number = iteration_number + 1; sum = sum + sum_increment; if (sum >= 100 AND iterations > max_iterations) cond = 0; } while (cond); When you change the While Iterator block to do-while operation, the IC (initial condition) input disappears from the While Iterator block. The important distinction between the while and do-while modes of the While Iterator block is that the do-while mode runs the While subsystem at least once. In while mode, the While subsystem might not run its blocks at all, depending on the value of the initial condition (IC). - The setting of the States when starting field applies only to cases in which the While subsystem is called repeatedly. If you set this field to reset (the default value), every time the While subsystem is called, its states are reset to their initial values. If you set the States when starting field to held, the states of the While subsystem are retained between calls. In the preceding example, the While subsystem is called only once. Data Type Support Acceptable data inputs for the condition ports are any type except int64 and uint64 that includes a 0 value (includes fixed-point data). You can select the data output type for the iterator output port in the parameter dialog box of the While block as double, int32, int16, or int8. 2-378 While Iterator slref.book Page 379 Friday, June 21, 2002 5:58 PM Parameters and Dialog Box Maximum number of iterations The maximum number of iterations allowed. In the pseudocode examples, this value is represented as max_iterations. If you set this value to -1, the resulting While subsystem iterates as long as the input conditions (IC and cond ports) allow. While loop type Specifies while or a do-while operation for the While subsystem. States when starting Set this field to reset if you want the variables of the While subsystem to be reinitialized for each iteration. Otherwise, set this field to held (the default) to make sure that the While subsystem states retain their values from one call to another. Show iteration number port If this check box is selected (the default), the While Iterator block outputs its iteration value. This value starts at 1 and is incremented by 1 for each succeeding iteration. Output data type If the Show iteration number port check box is selected (the default), this field is enabled. It sets the data type of the iteration number output to int32, int16, int8, or double. 2-379 While Iterator slref.book Page 380 Friday, June 21, 2002 5:58 PM Characteristics Direct Feedthrough No Sample Time Inherited from driving block Scalar Expansion No Dimensionalized No Zero Crossing No 2-380 While Iterator Subsystem slref.book Page 381 Friday, June 21, 2002 5:58 PM 2While Iterator Subsystem Purpose Represent a subsystem that executes repeatedly while a condition is satisfied during a simulation time step Library Ports & Subsystems Description This block is a Subsystem block that is preconfigured to serve as a starting point for creating a subsystem that executes repeatedly while a condition is satisfied during a simulation time step. See the While Iterator block and “Control Flow Blocks” for more information. 2-381 Width slref.book Page 382 Friday, June 21, 2002 5:58 PM 2Width Purpose Output the width of the input vector Library Signal Attributes Description The Width block generates as output the width of its input vector. Data Type Support The Width block accepts real or complex signals of any data type, including fixed-point data types, except int64 and uint64. The Width block supports mixed-type signal vectors. This block outputs real signals of type double. Parameters and Dialog Box Characteristics Sample Time Constant Dimensionalized Yes 2-382 XY Graph slref.book Page 383 Friday, June 21, 2002 5:58 PM 2XY Graph Purpose Display an X-Y plot of signals using a MATLAB figure window Library Sinks Description The XY Graph block displays an X-Y plot of its inputs in a MATLAB figure window. The block has two scalar inputs. The block plots data in the first input (the x direction) against data in the second input (the y direction). This block is useful for examining limit cycles and other two-state data. Data outside the specified range is not displayed. Simulink opens a figure window for each XY Graph block in the model at the start of the simulation. For a demo that illustrates the use of the XY Graph block, enter lorenzs in the command window. Data Type Support An XY Graph block accepts real signals of type double. Parameters and Dialog Box x-min The minimum x-axis value. The default is -1. x-max The maximum x-axis value. The default is 1. 2-383 XY Graph slref.book Page 384 Friday, June 21, 2002 5:58 PM y-min The minimum y-axis value. The default is -1. y-max The maximum y-axis value. The default is 1. Sample time The time interval between samples. The default is -1, which means that the sample time is determined by the driving block. See “Specifying Sample Time” in the online documentation for more information. Characteristics Sample Time Inherited from driving block States 0 2-384 Zero-Order Hold slref.book Page 385 Friday, June 21, 2002 5:58 PM 2Zero-Order Hold Purpose Implement a zero-order hold of one sample period Library Simulink Discrete and Fixed-Point Blockset Delays & Holds Description The Zero-Order Hold block samples and holds its input for the specified sample period. The block accepts one input and generates one output, both of which can be scalar or vector. If the input is a vector, all elements of the vector are held for the same sample period. You specify the time between samples with the Sample time parameter. A setting of -1 means the Sample time is inherited. This block provides a mechanism for discretizing one or more signals in time, or resampling the signal at a different rate. If your model contains multirate transitions, you must add Zero-Order Hold blocks between the fast-to-slow transitions. The sample rate of the Zero-Order Hold must be set to that of the slower block. For slow-to-fast transitions, use the Unit Delay block. For more information about multirate transitions, refer to the Simulink or the Real-Time Workshop documentation. Data Type Support The Zero-Order Hold block accepts real or complex signals of any data type except int64 and uint64, including fixed-point data types. Parameters and Dialog Box Sample time Specify the time between samples. A value of -1 means the sample time is inherited. See “Specifying Sample Time” in the online documentation for more information. Zero?Order Hold 2-385 Zero-Order Hold slref.book Page 386 Friday, June 21, 2002 5:58 PM Characteristics Dimensionalized Yes Direct Feedthrough Yes Sample Time Discrete Scalar Expansion No Zero Crossing No 2-386 Zero-Pole slref.book Page 387 Friday, June 21, 2002 5:58 PM 2Zero-Pole Purpose Implement a transfer function specified in terms of poles and zeros Library Continuous Description The Zero-Pole block implements a system with the specified zeros, poles, and gain in terms of the Laplace operator s. A transfer function can be expressed in factored or zero-pole-gain form, which, for a single-input single-output system in MATLAB, is where Z represents the zeros vector, P the poles vector, and K the gain. Z can be a vector or matrix, P must be a vector, K can be a scalar or vector whose length equals the number of rows in Z. The number of poles must be greater than or equal to the number of zeros. If the poles and zeros are complex, they must be complex conjugate pairs. Block input and output widths are equal to the number of rows in the zeros matrix. The Zero-Pole Block Icon The Zero-Pole block displays the transfer function in its icon depending on how the parameters are specified: If each is specified as an expression or a vector, the icon shows the transfer function with the specified zeros, poles, and gain. If you specify a variable in parentheses, the variable is evaluated. For example, if you specify Zeros as [3,2,1], Poles as (poles), where poles is defined in the workspace as [7,5,3,1], and Gain as gain, the icon looks like this: Hs() K Zs() Px() ----------- K sZ1()–()sZ2()–()…sZm()–() sP1()– sP2()– sPn()– --------------------------------------------------------------------------------------== 2-387 Zero-Pole slref.book Page 388 Friday, June 21, 2002 5:58 PM If each is specified as a variable, the icon shows the variable name followed by (s) if appropriate. For example, if you specify Zeros as zeros, Poles as poles, and Gain as gain, the icon looks like this. Specifying the Absolute Tolerance for the Block’s States By default, Simulink uses the absolute tolerance value specified in the Simulation Parameters dialog box (see “Error Tolerances”) to solve the states of the Zero-Pole block. If this value does not provide sufficient error control, specify a more appropriate value in the Absolute tolerance field of the Zero-Pole block’s dialog box. The value that you specify is used to solve all the block’s states. Data Type Support A Zero-Pole block accepts real signals of type double. Parameters and Dialog Box Zeros The matrix of zeros. The default is [1]. Poles The vector of poles. The default is [0 -1]. 2-388 Zero-Pole slref.book Page 389 Friday, June 21, 2002 5:58 PM Gain The vector of gains. The default is [1]. Absolute tolerance Absolute tolerance used to solve the block’s states. You can enter auto or a numeric value. If you enter auto, Simulink determines the absolute tolerance (see “Error Tolerances”). If you enter a numeric value, Simulink uses the specified value to solve the block’s states. Note that a numeric value overrides the setting for the absolute tolerance in the Simulation Parameters dialog box. Characteristics Direct Feedthrough Only if the lengths of the Poles and Zeros parameters are equal Sample Time Continuous Scalar Expansion No States Length of Poles vector Dimensionalized No Zero Crossing No 2-389 Zero-Pole slref.book Page 390 Friday, June 21, 2002 5:58 PM 2-390 3 slref.book Page 1 Friday, June 21, 2002 5:58 PM Linearization and Trimming Commands This section describes commands that you can use to linearize or trim a Simulink model. See “Analyzing Simulation Results” for more information on these commands. linmod, dlinmod, linmod2 slref.book Page 2 Friday, June 21, 2002 5:58 PM 3linmod, dlinmod, linmod2 Purpose Extract the linear state-space model of a system around an operating point Syntax [A,B,C,D] = linfun('sys', x, u) [num,den] = linfun('sys', x, u) sys_struc = linfun('sys', x, u) Arguments Description linmod obtains linear models from systems of ordinary differential equations described as Simulink models. linmod returns the linear model in state-space form, A, B, C, D, which describes the linearized input-output relationship. Inputs and outputs are denoted in Simulink block diagrams using Inport and Outport blocks. [A,B,C,D] = linmod('sys', x, u) obtains the linearized model of sys around an operating point with the specified state variables x and the input u. If you omit x and u, the default values are zero. [num,den] = linfun('sys', x, u) returns the linearized model in transfer function form. sys_struc = linfun('sys', x, u) returns a structure that contains the linearized model, including state names, input and output names, and information about the operating point. linfun linmod, dlinmod, or linmod2. sys The name of the Simulink system from which the linear model is to be extracted. x and u The state and the input vectors. If specified, they set the operating point at which the linear model is to be extracted. x · Ax Bu+= yCxDu+= 3-2 linmod, dlinmod, linmod2 slref.book Page 3 Friday, June 21, 2002 5:58 PM Discrete-Time System Linearization The function dlinmod can linearize discrete, multirate, and hybrid continuous and discrete systems at any given sampling time. Use the same calling syntax for dlinmod as for linmod, but insert the sample time at which to perform the linearization as the second argument. For example, [Ad,Bd,Cd,Dd] = dlinmod('sys', Ts, x, u); produces a discrete state-space model at the sampling time Ts and the operating point given by the state vector x and input vector u. To obtain a continuous model approximation of a discrete system, set Ts to 0. For systems composed of linear, multirate, discrete, and continuous blocks, dlinmod produces linear models having identical frequency and time responses (for constant inputs) at the converted sampling time Ts, provided that Ts is an integer multiple of all the sampling times in the system. The system is stable. For systems that do not meet the first condition, in general the linearization is a time-varying system, which cannot be represented with the [A,B,C,D] state-space model that dlinmod returns. Computing the eigenvalues of the linearized matrix Ad provides an indication of the stability of the system. The system is stable if Ts>0 and the eigenvalues are within the unit circle, as determined by this statement: all(abs(eig(Ad))) < 1 Likewise, the system is stable if Ts = 0 and the eigenvalues are in the left half plane, as determined by this statement: all(real(eig(Ad))) < 0 When the system is unstable and the sample time is not an integer multiple of the other sampling times, dlinmod produces Ad and Bd matrices, which can be complex. The eigenvalues of the Ad matrix in this case still, however, provide a good indication of stability. You can use dlinmod to convert the sample times of a system to other values or to convert a linear discrete system to a continuous system or vice versa. 3-3 linmod, dlinmod, linmod2 slref.book Page 4 Friday, June 21, 2002 5:58 PM You can find the frequency response of a continuous or discrete system by using the bode command. Notes By default, the system time is set to zero. For systems that are dependent on time, you can set the variable pert to a two-element vector, where the second element is used to set the value of t at which to obtain the linear model. The ordering of the states from the nonlinear model to the linear model is maintained. For Simulink systems, a string variable that contains the block name associated with each state can be obtained using [sizes,x0,xstring] = sys where xstring is a vector of strings whose ith row is the block name associated with the ith state. Inputs and outputs are numbered sequentially on the diagram. For single-input multioutput systems, you can convert to transfer function form using the routine ss2tf or to zero-pole form using ss2zp. You can also convert the linearized models to LTI objects using ss. This function produces an LTI object in state-space form that can be further converted to transfer function or zero-pole-gain form using tf or zpk. Linearizing a model that contains Derivative or Transport Delay blocks can be troublesome (see “Linearizing Models”). 3-4 trim slref.book Page 5 Friday, June 21, 2002 5:58 PM 3trim Purpose Find a trim point of a dynamic system Syntax [x,u,y,dx] = trim('sys') [x,u,y,dx] = trim('sys',x0,u0,y0) [x,u,y,dx] = trim('sys',x0,u0,y0,ix,iu,iy) [x,u,y,dx] = trim('sys',x0,u0,y0,ix,iu,iy,dx0,idx) [x,u,y,dx] = trim('sys',x0,u0,y0,ix,iu,iy,dx0,idx,options) [x,u,y,dx] = trim('sys',x0,u0,y0,ix,iu,iy,dx0,idx,options,t) [x,u,y,dx,options] = trim('sys',...) Description A trim point, also known as an equilibrium point, is a point in the parameter space of a dynamic system at which the system is in a steady state. For example, a trim point of an aircraft is a setting of its controls that causes the aircraft to fly straight and level. Mathematically, a trim point is a point where the system’s state derivatives equal zero. trim starts from an initial point and searches, using a sequential quadratic programming algorithm, until it finds the nearest trim point. You must supply the initial point implicitly or explicitly. If trim cannot find a trim point, it returns the point encountered in its search where the state derivatives are closest to zero in a min-max sense; that is, it returns the point that minimizes the maximum deviation from zero of the derivatives. trim can find trim points that meet specific input, output, or state conditions, and it can find points where a system is changing in a specified manner, that is, points where the system’s state derivatives equal specific nonzero values. [x,u,y] = trim('sys') finds the equilibrium point nearest to the system’s initial state, x0. Specifically, trim finds the equilibrium point that minimizes the maximum absolute value of [x–x0,u,y]. If trim cannot find an equilibrium point near the system’s initial state, it returns the point at which the system is nearest to equilibrium. Specifically, it returns the point that minimizes abs(dx–0). You can obtain x0 using this command. [sizes,x0,xstr] = sys([],[],[],0) [x,u,y] = trim('sys',x0,u0,y0) finds the trim point nearest to x0, u0, y0, that is, the point that minimizes the maximum value of abs([x–x0; u–u0; y–y0]) The command 3-5 trim slref.book Page 6 Friday, June 21, 2002 5:58 PM trim('sys', x0, u0, y0, ix, iu, iy) finds the trim point closest to x0, u0, y0 that satisfies a specified set of state, input, and/or output conditions. The integer vectors ix, iu, and iy select the values in x0, u0, and y0 that must be satisfied. If trim cannot find an equilibrium point that satisfies the specified set of conditions exactly, it returns the nearest point that satisfies the conditions, namely abs([x(ix)-x0(ix); u(iu)-u0(iu); y(iy)-y0(iy)]) Use the syntax [x,u,y,dx] = trim('sys', x0, u0, y0, ix, iu, iy, dx0, idx) to find specific nonequilibrium points, that is, points at which the system’s state derivatives have some specified nonzero value. Here, dx0 specifies the state derivative values at the search’s starting point and idx selects the values in dx0 that the search must satisfy exactly. The optional options argument is an array of optimization parameters that trim passes to the optimization function that it uses to find trim points. The optimization function, in turn, uses this array to control the optimization process and to return information about the process. trim returns the options array at the end of the search process. By exposing the underlying optimization process in this way, trim allows you to monitor and fine-tune the search for trim points. Five of the optimization array elements are particularly useful for finding trim points. The following table describes how each element affects the search for a trim point. No. Default Description 1 0 Specifies display options. 0 specifies no display; 1 specifies tabular output; -1 suppresses warning messages. 2 0.0001 Precision the computed trim point must attain to terminate the search. 3 0.0001 Precision the trim search goal function must attain to terminate the search. 3-6 trim slref.book Page 7 Friday, June 21, 2002 5:58 PM See the Optimization Toolbox User’s Guide for a detailed description of the options array. Examples Consider a linear state-space model The A, B, C, and D matrices are as follows in a system called sys. A = [-0.09 -0.01; 1 0]; B = [ 0 -7; 0 -2]; C = [ 0 2; 1 -5]; D = [-3 0; 1 0]; Example 1 To find an equilibrium point, use [x,u,y,dx,options] = trim('sys') x = 0 0 u = 0 y = 0 0 dx = 0 0 4 0.0001 Precision the state derivatives must attain to terminate the search. 10 N/A Returns the number of iterations used to find a trim point. No. Default Description (Continued) x · Ax Bu+= yCxDu+= 3-7 trim slref.book Page 8 Friday, June 21, 2002 5:58 PM The number of iterations taken is options(10) ans = 7 Example 2 To find an equilibrium point near x = [1;1], u = [1;1], enter x0 = [1;1]; u0 = [1;1]; [x,u,y,dx,options] = trim('sys', x0, u0); x = 1.0e–11 ? -0.1167 -0.1167 u = 0.3333 0.0000 y = -1.0000 0.3333 dx = 1.0e–11 ? 0.4214 0.0003 The number of iterations taken is options(10) ans = 25 Example 3 To find an equilibrium point with the outputs fixed to 1, use y = [1;1]; iy = [1;2]; [x,u,y,dx] = trim('sys', [], [], y, [], [], iy) x = 0.0009 -0.3075 3-8 trim slref.book Page 9 Friday, June 21, 2002 5:58 PM u = -0.5383 0.0004 y = 1.0000 1.0000 dx = 1.0e-16 ? -0.0173 0.2396 Example 4 To find an equilibrium point with the outputs fixed to 1 and the derivatives set to 0 and 1, use y = [1;1]; iy = [1;2]; dx = [0;1]; idx = [1;2]; [x,u,y,dx,options] = trim('sys',[],[],y,[],[],iy,dx,idx) x = 0.9752 -0.0827 u = -0.3884 -0.0124 y = 1.0000 1.0000 dx = 0.0000 1.0000 The number of iterations taken is options(10) ans = 13 3-9 trim slref.book Page 10 Friday, June 21, 2002 5:58 PM Limitations The trim point found by trim starting from any given initial point is only a local value. Other, more suitable trim points may exist. Thus, if you want to find the most suitable trim point for a particular application, it is important to try a number of initial guesses for x, u, and y. Algorithm trim uses a sequential quadratic programming algorithm to find trim points. See the documentation for the Optimization Toolbox for a description of this algorithm. 3-10 4 slref.book Page 1 Friday, June 21, 2002 5:58 PM Model Construction Commands The following sections describes commands that you can use in programs that create or modify models. Task-Oriented List of Commands (p. 4-2) List of commands arranged by tasks to be performed Specifying Parameters and Object Paths (p. 4-4) How to specify parameters and object paths required by model construction commands 4 Model Construction Commands 4-2 slref.book Page 2 Friday, June 21, 2002 5:58 PM Task-Oriented List of Commands This table indicates the tasks performed by the commands described in this chapter. The reference section of this chapter lists the commands in alphabetical order. Task Command Create a new Simulink system. new_system Open an existing system. open_system Close a system window. close_system, bdclose Save a system. save_system Find a system, block, line, or annotation. find_system Add a new block to a system. add_block Delete a block from a system. delete_block Replace a block in a system. replace_block Add a line to a system. add_line Delete a line from a system. delete_line Add a parameter to a system. add_param Get a parameter value. get_param Set parameter values. set_param Delete a system parameter. delete_param Get the pathname of the current block. gcb Get the pathname of the current system. gcs Get the handle of the current block. gcbh Get the name of the root-level system. bdroot Open the Simulink block library. simulink slref.book Page 3 Friday, June 21, 2002 5:58 PM Discretize a model. sldiscmdl Open the Model Discretizer GUI slmdldiscui Compare two models. compare_model Task Command 4-3 4 Model Construction Commands 4-4 slref.book Page 4 Friday, June 21, 2002 5:58 PM Specifying Parameters and Object Paths This section explains how to specify parameters and object paths required by model construction commands. How to Specify Parameters for the Commands The commands described in this chapter require that you specify arguments that describe a system, block, or block parameter. Appendix , “Model and Block Parameters,” provides comprehensive tables of model and block parameters. How to Specify a Path for a Simulink Object Many of the commands described in this chapter require that you identify a Simulink system or block. Identify systems and blocks by specifying their paths: To identify a system, specify its name, which is the name of the file that contains the system description, without the mdl extension. system To identify a subsystem, specify the system and the hierarchy of subsystems in which the subsystem resides. system/subsystem 1 /.../subsystem To identify a block, specify the path of the system that contains the block and specify the block name. system/subsystem 1 /.../subsystem/block If the block name includes a newline or carriage return, specify the block name as a string vector and use sprintf('\n') as the newline character. For example, these lines assign the newline character to cr, then get the value for the Signal Generator block’s Amplitude parameter. cr = sprintf('\n'); get_param(['untitled/Signal',cr,'Generator'],'Amplitude') ans = 1 slref.book Page 5 Friday, June 21, 2002 5:58 PM If the block name includes a slash character (/), you repeat the slash when you specify the block name. For example, to get the value of the Location parameter for the block named Signal/Noise in the mymodel system. get_param('mymodel/Signal//Noise','Location') 4-5 4-6 slref.book Page 6 Friday, June 21, 2002 5:58 PM add_block Purpose Add a block to a Simulink system Syntax add_block('src', 'dest') add_block('src', 'dest', 'parameter1', value1, ...) Description add_block('src', 'dest') copies the block with the full pathname 'src' to a new block with the full path name 'dest'. The block parameters of the new block are identical to those of the original. The name 'built–in' can be used as a source system name for all Simulink built-in blocks (blocks available in Simulink block libraries that are not masked blocks). add_block('src', 'dest_obj', 'parameter1', value1, ...) creates a copy as above, in which the named parameters have the specified values. Any additional arguments must occur in parameter/value pairs. Examples This command copies the Scope block from the Sinks subsystem of the simulink system to a block named Scope1 in the timing subsystem of the engine system. add_block('simulink/Sinks/Scope', 'engine/timing/Scope1') This command creates a new subsystem named controller in the F14 system. add_block('built-in/SubSystem', 'F14/controller') This command copies the built-in Gain block to a block named Volume in the mymodel system and assigns the Gain parameter a value of 4. add_block('built-in/Gain', 'mymodel/Volume', 'Gain', '4') See Also delete_block, set_param 4add_block 4 add_line slref.book Page 7 Friday, June 21, 2002 5:58 PM 4add_line Purpose Add a line to a Simulink system Syntax h = add_line('sys','oport','iport') h = add_line('sys','oport','iport', 'autorouting','on') h = add_line('sys', points) Description The add_line command adds a line to the specified system and returns a handle to the new line. You can define the line in two ways: By naming the block ports that are to be connected by the line By specifying the location of the points that define the line segments add_line('sys', 'oport', 'iport') adds a straight line to a system from the specified block output port 'oport' to the specified block input port 'iport'. 'oport' and 'iport' are strings consisting of a block name and a port identifier in the form 'block/port'. Most block ports are identified by numbering the ports from top to bottom or from left to right, such as 'Gain/1' or 'Sum/2'. Enable, Trigger, and State ports are identified by name, such as 'subsystem_name/Enable', 'subsystem_name/Trigger', or 'Integrator/State'. add_line('sys','oport','iport', 'autorouting','on') works like add_line('sys','oport','iport') except that it routes the line around intervening blocks. The default value for autorouting is 'off'. add_line(system, points) adds a segmented line to a system. Each row of the points array specifies the x and y coordinates of a point on a line segment. The origin is the top left corner of the window. The signal flows from the point defined in the first row to the point defined in the last row. If the start of the new line is close to the output of an existing block or line, a connection is made. Likewise, if the end of the line is close to an existing input, a connection is made. 4-7 add_line slref.book Page 8 Friday, June 21, 2002 5:58 PM Examples This command adds a line to the mymodel system connecting the output of the Sine Wave block to the first input of the Mux block. add_line('mymodel','Sine Wave/1','Mux/1') This command adds a line to the mymodel system extending from (20,55) to (40,10) to (60,60). add_line('mymodel',[20 55; 40 10; 60 60]) See Also delete_line 4-8 add_param slref.book Page 9 Friday, June 21, 2002 5:58 PM 4add_param Purpose Add a parameter to a Simulink system Syntax add_param('sys','parameter1',value1,'parameter2',value2,...) Description The add_param command adds the specified parameters to the specified system and initializes the parameters to the specified values. Case is ignored for parameter names. Value strings are case sensitive. The value of the parameter must be a string. Once the parameter is added to a system, set_param and get_param can be used on the new parameters as if they were standard Simulink parameters. Examples This command add_param('vdp','Param1','Value1','Param2','Value2') adds the parameters Param1 and Param2 with values 'Value1' and 'Value2' to the vdp system. See Also delete_param, get_param, set_param 4-9 bdclose slref.book Page 10 Friday, June 21, 2002 5:58 PM 4bdclose 4 Purpose Close any or all Simulink system windows unconditionally Syntax bdclose bdclose('sys') bdclose('all') Description bdclose with no arguments closes the current system window unconditionally and without confirmation. Any changes made to the system since it was last saved are lost. bdclose('sys') closes the specified system window. bdclose('all') closes all system windows. Examples This command closes the vdp system. bdclose('vdp') See Also close_system, new_system, open_system, save_system 4-10 bdroot slref.book Page 11 Friday, June 21, 2002 5:58 PM 4bdroot Purpose Return the name of the top-level Simulink system Syntax bdroot bdroot('obj') Description bdroot with no arguments returns the top-level system name. bdroot('obj', where 'obj' is a system or block pathname, returns the name of the top-level system containing the specified object name. Examples This command returns the name of the top-level system that contains the current block. bdroot(gcb) See Also find_system, gcb 4-11 close_system slref.book Page 12 Friday, June 21, 2002 5:58 PM 4close_system Purpose Close a Simulink system window or a block dialog box Syntax close_system close_system('sys') close_system('sys', saveflag) close_system('sys', 'newname') close_system('blk') Description close_system with no arguments closes the current system or subsystem window. If the current system is the top-level system and it has been modified, close_system asks if the changed system should be saved to a file before removing the system from memory. The current system is defined in the description of the gcs command. close_system('sys') closes the specified system or subsystem window. close_system('sys', saveflag) closes the specified top-level system window and removes it from memory: If saveflag is 0, the system is not saved. If saveflag is 1, the system is saved with its current name. close_system('sys', 'newname') saves the specified top-level system to a file with the specified new name, then closes the system. close_system('blk'), where 'blk' is a full block pathname, closes the dialog box associated with the specified block or calls the block’s CloseFcn callback parameter if one is defined. Any additional arguments are ignored. Examples This command closes the current system. close_system This command closes the vdp system. close_system('vdp') This command saves the engine system with its current name, then closes it. close_system('engine', 1) 4-12 close_system slref.book Page 13 Friday, June 21, 2002 5:58 PM This command saves the mymdl12 system under the new name testsys, then closes it. close_system('mymdl12', 'testsys') This command closes the dialog box of the Unit Delay block in the Combustion subsystem of the engine system. close_system('engine/Combustion/Unit Delay') See Also bdclose, gcs, new_system, open_system, save_system 4-13 compare_model slref.book Page 14 Friday, June 21, 2002 5:58 PM 4compare_model Purpose Compare two models Syntax compare_model('model1', 'model2', 0) compare_model('model1', 'model2', 1) Description compare_model('model1', 'model2', 0) compares model1 and model2 and returns a cell array that details the differences between the two models. compare_model('model1', 'model2', 1) returns only the nongraphical differences between the models. The cell array returned by this function contains a cell array for each item compared between the two models. Each item cell array contains the following cells: Cell Contents 1 Name of compared item in first model 2 Name of compared item in second model 3 Type of the compared item (e.g., block, subsystem, state, etc.) 4 Comparison result: d if the two items differ, s if they’re the same, u if the item is unique 5 Handle of the parent of the first item 6 Handle of the first item 7 Handle of the parent of the second item 8 Handle of the second item 4-14 delete_block slref.book Page 15 Friday, June 21, 2002 5:58 PM 4delete_block Purpose Delete a block from a Simulink system Syntax delete_block('blk') Description delete_block('blk'), where 'blk' is a full block pathname, deletes the specified block from a system. Example This command removes the Out1 block from the vdp system. delete_block('vdp/Out1') See Also add_block 4-15 delete_line slref.book Page 16 Friday, June 21, 2002 5:58 PM 4delete_line Purpose Delete a line from a Simulink system Syntax delete_line('sys', 'oport', 'iport') Description delete_line('sys', 'oport', 'iport') deletes the line extending from the specified block output port 'oport' to the specified block input port 'iport'. 'oport' and 'iport' are strings consisting of a block name and a port identifier in the form 'block/port'. Most block ports are identified by numbering the ports from top to bottom or from left to right, such as 'Gain/1' or 'Sum/2'. Enable, Trigger, and State ports are identified by name, such as 'subsystem_name/Enable', 'subsystem_name/Trigger' , or 'Integrator/State'. delete_line('sys', [x y]) deletes one of the lines in the system that contains the specified point (x,y), if any such line exists. Example This command removes the line from the mymodel system connecting the Sum block to the second input of the Mux block. delete_line('mymodel','Sum/1','Mux/2') See Also add_line 4-16 delete_param slref.book Page 17 Friday, June 21, 2002 5:58 PM 4delete_param Purpose Delete a system parameter added via the add_param command Syntax delete_param('sys','parameter1','parameter2',...) Description This command deletes parameters that were added to the system using the add_param command. The command displays an error message if a specified parameter was not added with the add_param command. Examples The following example delete_param('vdp','Param1') add_param('vdp','Param1','Value1','Param2','Value2') adds the parameters Param1 and Param2 to the vdp system, then deletes Param1 from the system. See Also add_param 4-17 find_system slref.book Page 18 Friday, June 21, 2002 5:58 PM 4find_system Purpose Find systems, blocks, lines, ports, and annotations Syntax find_system(sys, 'c1', cv1, 'c2', cv2,...'p1', v1, 'p2', v2,...) Description find_system(sys, 'c1', cv1, 'c2', cv2,...'p1', v1, 'p2', v2,...) searches the systems or subsystems specified by sys, using the constraints specified by c1, c2, etc., and returns handles or paths to the objects having the specified parameter values v1, v2, etc. sys can be a pathname (or cell array of pathnames), a handle (or vector of handles), or omitted. If sys is a pathname or cell array of pathnames, find_system returns a cell array of pathnames of the objects it finds. If sys is a handle or a vector of handles, find_system returns a vector of handles to the objects that it finds. If sys is omitted, find_system searches all open systems and returns a cell array of pathnames. Case is ignored for parameter names. Value strings are case sensitive by default (see the 'CaseSensitive' search constraint for more information). Any parameters that correspond to dialog box entries have string values. See Appendix , “Model and Block Parameters,” for a list of model and block parameters. You can specify any of the following search constraints. Name Value Type Description 'SearchDepth' scalar Restricts the search depth to the specified level (0 for open systems only, 1 for blocks and subsystems of the top-level system, 2 for the top-level system and its children, etc.). The default is all levels. 'LookUnderMasks' 'none' Search skips masked blocks. {'graphical'} Search includes masked blocks that have no workspaces and no dialogs. This is the default. 'functional' Search includes masked blocks that do not have dialogs. 4-18 find_system slref.book Page 19 Friday, June 21, 2002 5:58 PM The table encloses default constraint values in brackets. If a ’constraint' is omitted, find_system uses the default constraint value. Examples This command returns a cell array containing the names of all open systems and blocks. find_system This command returns the names of all open block diagrams. open_bd = find_system('type', 'block_diagram') This command returns the names of all Goto blocks that are children of the Unlocked subsystem in the clutch system. find_system('clutch/ Unlocked','SearchDepth',1,'BlockType','Goto') 'all' Search includes all masked blocks. 'FollowLinks' 'on'| {'off'} If 'on', search follows links into library blocks. The default is 'off'. 'FindAll' 'on'| {'off'} If 'on', search extends to lines, ports, and annotations within systems. The default is 'off'. Note that find_system returns a vector of handles when this option is 'on', regardless of the array type of sys. 'CaseSensitive' {'on'}| 'off' If 'on', search considers case when matching search strings. The default is 'on'. 'RegExp' 'on'| {'off'} If 'on', search treats search expressions as regular expressions. The default is ’off'. Name Value Type Description 4-19 find_system slref.book Page 20 Friday, June 21, 2002 5:58 PM These commands return the names of all Gain blocks in the vdp system having a Gain parameter value of 1. gb = find_system('vdp', 'BlockType', 'Gain') find_system(gb, 'Gain', '1') The preceding commands are equivalent to this command: find_system('vdp', 'BlockType', 'Gain', 'Gain', '1') These commands obtain the handles of all lines and annotations in the vdp system. sys = get_param('vdp', 'Handle'); l = find_system(sys, 'FindAll', 'on', 'type', 'line'); a = find_system(sys, 'FindAll', 'on', 'type', 'annotation'); Searching with Regular Expressions If you specify the 'RegExp'constraint as 'on', find_system treats search value strings as regular expressions. A regular expression is a string of characters in which some characters have special pattern-matching significance. For example, a period (.) in a regular expression matches not only itself but any other character. Regular expressions greatly expand the types of searches you can perform with find_system. For example, regular expressions allow you to do partial word searches. You can search for all objects that have a specified parameter that contains or begins or ends with a specified string of characters. To use regular expressions effectively, you need to learn the meanings of the special characters that regular expressions can contain. The following table lists the special characters supported by find_subystem and explains their usage. 4-20 find_system slref.book Page 21 Friday, June 21, 2002 5:58 PM Expression Usage . Matches any character. For example, the string 'a.' matches 'aa', 'ab', 'ac', etc. * Matches zero or more of preceding character. For example, 'ab*' matches 'a', 'ab', 'abb', etc. The expression '.*' matches any string, including the empty string. + Matches one or more of preceding character. For example, 'ab+' matches 'ab', 'abb', etc. ^ Matches start of string. For example, '^a.*' matches any string that starts with 'a'. $ Matches end of string. For example, '.*a$' matches any string that ends with 'a'. \ Causes the next character to be treated as an ordinary character. This escape character lets regular expressions match expressions that contain special characters. For example, the search string '\\' matches any string containing a \ character. [] Matches any one of a specified set of characters. For example, 'f[oa]r' matches 'for' and 'far'. Some characters have special meaning within brackets. A hyphen (-) indicates a range of characters to match. For example, '[a-zA-Z1-9]' matches any alphanumeric character. A circumflex (^) indicates characters that should not produce a match. For example, 'f[^i]r' matches 'far' and 'for' but not 'fir'. \w Matches a word character. (This is a shorthand expression for [a-z_A-Z0-9].) For example, '^\w' matches 'mu' but not '&mu'. \d Matches any digit (shorthand for [0-9]). For example, '\d+’ matches any integer. 4-21 find_system slref.book Page 22 Friday, June 21, 2002 5:58 PM To use regular expressions to search Simulink systems, specify the 'regexp' search constraint as 'on' in a find_system command and use a regular expression anywhere you would use an ordinary search value string. For example, the following command finds all the inport and outport blocks in the clutch model demo provided with Simulink. find_system('clutch', 'regexp', 'on', 'blocktype', 'port') See Also get_param, set_param \D Matches any nondigit (shorthand for [^0-9]). \s Matches a white space (shorthand for [ \t\r\n\f]). \S Matches a non-white-space (shorthand for [^ \t\r\n\f]). \<WORD\> Matches WORD exactly, where WORD is a string of characters separated by white space from other words. For example, '\<to\>' matches 'to' but not 'today'. Expression Usage 4-22 gcb slref.book Page 23 Friday, June 21, 2002 5:58 PM 4gcb Purpose Get the pathname of the current block Syntax gcb gcb('sys') Description gcb returns the full block path name of the current block in the current system. gcb('sys') returns the full block path name of the current block in the specified system. The current block is one of these: During editing, the current block is the block most recently clicked on. During simulation of a system that contains S-Function blocks, the current block is the S-Function block currently executing its corresponding MATLAB function. During callbacks, the current block is the block whose callback routine is being executed. During evaluation of the MaskInitialization string, the current block is the block whose mask is being evaluated. Examples This command returns the path of the most recently selected block. gcb ans = clutch/Locked/Inertia This command gets the value of the Gain parameter of the current block. get_param(gcb,'Gain') ans = 1/(Iv+Ie) See Also gcbh, gcs 4-23 gcbh slref.book Page 24 Friday, June 21, 2002 5:58 PM 4gcbh Purpose Get the handle of the current block Syntax gcbh Description gcbh returns the handle of the current block in the current system. You can use this command to identify or address blocks that have no parent system. The command should be most useful to blockset authors. Examples This command returns the handle of the most recently selected block. gcbh ans = 281.0001 See Also gcb 4-24 gcs slref.book Page 25 Friday, June 21, 2002 5:58 PM 4gcs Purpose Get the pathname of the current system Syntax gcs Description gcs returns the full pathname of the current system. The current system is one of these: During editing, the current system is the system or subsystem most recently clicked in. During simulation of a system that contains S-Function blocks, the current system is the system or subsystem containing the S-Function block that is currently being evaluated. During callbacks, the current system is the system containing any block whose callback routine is being executed. During evaluation of the MaskInitialization string, the current system is the system containing the block whose mask is being evaluated. The current system is always the current model or a subsystem of the current model. Use bdroot to get the current model. Examples This example returns the path of the system that contains the most recently selected block. gcs ans = clutch/Locked See Also gcb, bdroot 4-25 get_param slref.book Page 26 Friday, June 21, 2002 5:58 PM 4get_param Purpose Get system and block parameter values Syntax get_param('obj', 'parameter') get_param( { objects }, 'parameter') get_param(handle, 'parameter') get_param(0, 'parameter') get_param('obj', 'ObjectParameters') get_param('obj', 'DialogParameters') Description get_param('obj', 'parameter'), where 'obj' is a system or block path name, returns the value of the specified parameter. Case is ignored for parameter names. get_param( { objects }, 'parameter') accepts a cell array of full path specifiers, enabling you to get the values of a parameter common to all objects specified in the cell array. get_param(handle, 'parameter') returns the specified parameter of the object whose handle is handle. get_param(0, ’parameter’) returns the current value of a Simulink session parameter or the default value of a model or block parameter. get_param('obj', 'ObjectParameters') returns a structure that describes obj’s parameters. Each field of the returned structure corresponds to a particular parameter and has the parameter’s name. For example, the Name field corresponds to the object’s Name parameter. Each parameter field itself contains three fields, Name, Type, and Attributes, that specify the parameter’s name (for example, “Gain”), data type (for example, string), and attributes (for example, read-only), respectively. get_param('obj', 'DialogParameters') returns a cell array containing the names of the dialog parameters of the specified block. Appendix , “Model and Block Parameters,” contains lists of model and block parameters. Examples This command returns the value of the Gain parameter for the Inertia block in the Requisite Friction subsystem of the clutch system. get_param('clutch/Requisite Friction/Inertia','Gain') 4-26 get_param slref.book Page 27 Friday, June 21, 2002 5:58 PM ans = 1/(Iv+Ie) These commands display the block types of all blocks in the mx + b system (the current system), described in “Masked Subsystem Example” in Using Simulink. blks = find_system(gcs, 'Type', 'block'); listblks = get_param(blks, 'BlockType') listblks = 'SubSystem' 'Inport' 'Constant' 'Gain' 'Sum' 'Outport' This command returns the name of the currently selected block. get_param(gcb, 'Name') The following commands get the attributes of the currently selected block’s Name parameter. p = get_param(gcb, 'ObjectParameters'); a = p.Name.Attributes ans = 'read-write' 'always-save' The following command gets the dialog parameters of a Sine Wave block. p = get_param('untitled/Sine Wave', 'DialogParameters') p = 'Amplitude' 'Frequency' 'Phase' 'SampleTime' See Also find_system, set_param 4-27 new_system slref.book Page 28 Friday, June 21, 2002 5:58 PM 4new_system Purpose Create an empty Simulink system Syntax new_system('sys') Description new_system('sys') creates a new empty system with the specified name. If 'sys' specifies a path, the new system is a subsystem of the system specified in the path. new_system does not open the system window. See Appendix , “Model and Block Parameters,” for a list of the default parameter values for the new system. Example This command creates a new system named 'mysys'. new_system('mysys') This command creates a new subsystem named 'mysys' in the vdp system. new_system('vdp/mysys') See Also close_system, open_system, save_system 4-28 open_system slref.book Page 29 Friday, June 21, 2002 5:58 PM 4open_system Purpose Open a Simulink system window or a block dialog box Syntax open_system('sys') open_system('blk') open_system('blk', 'force') Description open_system('sys') opens the specified system or subsystem window, where 'sys' is the name of a model on the MATLAB path, the fully qualified pathname of a model, or the relative pathname of a subsystem of an already open system (for example, engine/Combustion). On UNIX, the fully qualified pathname of a model can start with a tilde (~), signifying your home directory. open_system('blk'), where 'blk' is a full block pathname, opens the dialog box associated with the specified block. If the block’s OpenFcn callback parameter is defined, the routine is evaluated. open_system('blk', 'force'), where 'blk' is a full pathname or a masked system, looks under the mask of the specified system. This command is equivalent to using the Look Under Mask menu item. Example This command opens the controller system in its default screen location. open_system('controller') This command opens the block dialog box for the Gain block in the controller system. open_system('controller/Gain') See Also close_system, new_system, save_system 4-29 replace_block slref.book Page 30 Friday, June 21, 2002 5:58 PM 4replace_block Purpose Replace blocks in a Simulink model Syntax replace_block('sys', 'blk1', 'blk2', 'noprompt') replace_block('sys', 'Parameter', 'value', 'blk', ...) Description replace_block('sys', 'blk1', 'blk2') replaces all blocks in 'sys' having the block or mask type 'blk1' with 'blk2'. If 'blk2' is a Simulink built-in block, only the block name is necessary. If 'blk' is in another system, its full block pathname is required. If 'noprompt' is omitted, Simulink displays a dialog box that asks you to select matching blocks before making the replacement. Specifying the 'noprompt' argument suppresses the dialog box from being displayed. If a return variable is specified, the paths of the replaced blocks are stored in that variable. replace_block('sys', 'Parameter', 'value', ..., 'blk') replaces all blocks in 'sys' having the specified values for the specified parameters with 'blk'. You can specify any number of parameter name/value pairs. Note Because it may be difficult to undo the changes this command makes, it is a good idea to save your system first. Example This command replaces all Gain blocks in the f14 system with Integrator blocks and stores the paths of the replaced blocks in RepNames. Simulink lists the matching blocks in a dialog box before making the replacement. RepNames = replace_block('f14','Gain','Integrator') This command replaces all blocks in the Unlocked subsystem in the clutch system having a Gain of 'bv' with the Integrator block. Simulink displays a dialog box listing the matching blocks before making the replacement. replace_block('clutch/Unlocked','Gain','bv','Integrator') This command replaces the Gain blocks in the f14 system with Integrator blocks but does not display the dialog box. replace_block('f14','Gain','Integrator','noprompt') 4-30 replace_block slref.book Page 31 Friday, June 21, 2002 5:58 PM See Also find_system, set_param 4-31 save_system slref.book Page 32 Friday, June 21, 2002 5:58 PM 4save_system Purpose Save a Simulink system Syntax save_system save_system('sys') save_system('sys', 'newname') Description save_system saves the current top-level system to a file with its current name. save_system('sys') saves the specified top-level system to a file with its current name. The system must be open. save_system('sys', 'newname') saves the specified top-level system to a file with the specified new name. The new name can be a file name, in which case Simulink saves the system in the working directory, or a fully qualified pathname. On UNIX, the fully qualified pathname can start with a tilde (~), signifying your home directory. The system to be saved must be open. Example This command saves the current system. save_system This command saves the vdp system. save_system('vdp') This command saves the vdp system to a file with the name 'myvdp'. save_system('vdp', 'myvdp') See Also close_system, new_system, open_system 4-32 set_param slref.book Page 33 Friday, June 21, 2002 5:58 PM 4set_param Purpose Set Simulink system and block parameters Syntax set_param('obj', 'parameter1', value1, 'parameter2', value2, ...) Description set_param('obj', 'parameter1', value1, 'parameter2', value2, ...), where 'obj' is a system or block path or 0, sets the specified parameters to the specified values. Use 0 to set the default value of a parameter or the values of session parameters. Case is ignored for parameter names. Value strings are case sensitive. Any parameters that correspond to dialog box entries have string values. Model and block parameters are listed in Appendix , “Model and Block Parameters.” You can change block parameter values in the workspace during a simulation and update the block diagram with these changes. To do this, make the changes in the command window, then make the model window the active window, then choose Update Diagram from the Edit menu. Note Most block parameter values must be specified as strings. Two exceptions are the Position and UserData parameters, common to all blocks. Examples This command sets the Solver and StopTime parameters of the vdp system. set_param('vdp', 'Solver', 'ode15s', 'StopTime', '3000') This command sets the Gain parameter of block Mu in the vdp system to 1000 (stiff). set_param('vdp/Mu', 'Gain', '1000') This command sets the position of the Fcn block in the vdp system. set_param('vdp/Fcn', 'Position', [50 100 110 120]) This command sets the Zeros and Poles parameters for the Zero-Pole block in the mymodel system. set_param('mymodel/Zero-Pole','Zeros','[2 4]','Poles','[1 2 3]') 4-33 set_param slref.book Page 34 Friday, June 21, 2002 5:58 PM This command sets the Gain parameter for a block in a masked subsystem. The variable k is associated with the Gain parameter. set_param('mymodel/Subsystem', 'k', '10') This command sets the OpenFcn callback parameter of the block named Compute in system mymodel. The function 'my_open_fcn' executes when the user double-clicks on the Compute block (see “Using Callback Routines”). set_param('mymodel/Compute', 'OpenFcn', 'my_open_fcn') See Also get_param, find_system 4-34 simulink slref.book Page 35 Friday, June 21, 2002 5:58 PM 4simulink Purpose Open the Simulink block library Syntax simulink Description On Microsoft Windows, the simulink command opens (or activates) the Simulink block library browser. On UNIX, the command opens the Simulink library window. 4-35 sldiscmdl slref.book Page 36 Friday, June 21, 2002 5:58 PM 4sldiscmdl Purpose Discretize a Simulink model containing continuous blocks Syntax sldiscmdl('sys',sampletime) sldiscmdl('sys',sampletime,'method') sldiscmdl('sys',sampletime,{options}) sldiscmdl('sys',sampletime,'method',cf) sldiscmdl('sys',sampletime,'method',{options}) sldiscmdl('sys',sampletime,'method',cf,{options}) Description sldiscmdl('sys',sampletime) discretizes the model specified by 'sys' and sampletime. You can enter a sample time and an offset as a 2-element vector for sampletime. The units for sampletime are seconds. sldiscmdl('sys',sampletime,'method') discretizes the model with the transform method specified by 'method'. Available values for 'method' are shown below: sldiscmdl('sys',sampletime,{options}) discretizes the model with the criteria specified by {options}, where {options} is a cell array containing the following string elements: {'target','ReplaceWith','PutInto','prompt'} Value Description 'zoh' Zero-order hold on the inputs 'foh' First-order hold on the inputs 'tustin' Bilinear (Tustin) approximation 'prewarp' Tustin approximation with frequency prewarping 'matched' Matched pole-zero method (for SISO systems only) 4-36 sldiscmdl slref.book Page 37 Friday, June 21, 2002 5:58 PM Available values for 'target' are shown below: Available values for 'ReplaceWith' are shown below: Available values for 'PutInto' are shown below: Value Description 'all' Discretize all continuous blocks 'selected' Discretize selected blocks only '<full path name of block>' Discretize specified block Value Description 'parammask' Create discrete blocks whose parameters are retained from the corresponding continuous block 'hardcoded' Create discrete blocks whose parameters are “hard_coded” values placed directly into the block’s dialog Value Description 'current' Apply discretization to current model 'configurable' Create discretization candidate in a configurable subsystem 'untitled' Create discretization in a new untitled window 'copy' Create discretization in copy of the original model 4-37 sldiscmdl slref.book Page 38 Friday, June 21, 2002 5:58 PM Available values for 'prompt' are shown below: sldiscmdl('sys',sampletime,'method',cf) discretizes the model with the critical frequency specified by cf. The units for cf are Hz. This is only used when the transform method is 'prewarp'. Examples This command discretizes all of the continuous blocks in the f14 model with a 1 second sample time. sldiscmdl('f14',1.0) This command discretizes the Controller subsystem in the f14 model using a first-order hold transform method with a 1 second sample time and a 0.1 second sample time offset. The discretized block has “hard-coded” parameters that are placed directly into the block’s dialog box. sldiscmdl('f14',[1.0 0.1],'foh',{'f14/Controller',... 'hardcoded','copy','on'}) This command discretizes the Controller subsystem in the f14 model using a zero-order hold transform method with a 1 second sample time and a 0.1 second sample time offset. It returns to the command window a cell array for the original continuous blocks in the system and a cell array for the discretized blocks in the system. [a, b] = sldiscmdl('f14',[1.0 0.1],'zoh', {'f14/Controller',... 'hardcoded', 'copy', 'on'}) a = [1x43 char] [1x37 char] [1x53 char] [1x30 char] b = Value Description 'on' Show the discretization information 'off' Do not show the discretization information 4-38 sldiscmdl slref.book Page 39 Friday, June 21, 2002 5:58 PM [1x43 char] [1x37 char] [1x53 char] [1x30 char] You can index into the cell arrays to get the new names of the discretized blocks and the original names of the continuous blocks. For example, this command returns the name of the second discretized block. b{2} ans = f14_disc_copy/Controller/Pitch Rate Lead Filter 4-39 slmdldiscui slref.book Page 40 Friday, June 21, 2002 5:58 PM 4slmdldiscui Purpose Open the Model Discretizer GUI Syntax slmdldiscui('name') Description slmdldiscui('name') Opens the Model Discretizer with the library or model specified by 'name'. Examples This command opens the Model Discretizer with the f14 model. slmdldiscui('f14') This command opens the Model Discretizer with the library named Test. slmdldiscui('Test') 4-40 5 slref.book Page 1 Friday, June 21, 2002 5:58 PM Simulation Commands The following section describes commands that you can use to run simulations manually. 5 Simulation Commands 5-2 slref.book Page 2 Friday, June 21, 2002 5:58 PM Task-Oriented List of Commands This table indicates the tasks performed by the commands described in this chapter. The reference section of this chapter lists the commands in alphabetical order. Task Command Create a new Simulink system. new_system Open an existing system. open_system Close a system window. close_system, bdclose Save a system. save_system Find a system, block, line, or annotation. find_system Add a new block to a system. add_block Delete a block from a system. delete_block Replace a block in a system. replace_block Add a line to a system. add_line Delete a line from a system. delete_line Add a parameter to a system. add_param Get a parameter value. get_param Set parameter values. set_param Delete a system parameter. delete_param Get the pathname of the current block. gcb Get the pathname of the current system. gcs Get the handle of the current block. gcbh Get the name of the root-level system. bdroot Open the Simulink block library. simulink slref.book Page 3 Friday, June 21, 2002 5:58 PM Specifying Parameters and Object Paths This section explains how to specify parameters and object paths required by model construction commands. How to Specify Parameters for the Commands The commands described in this chapter require that you specify arguments that describe a system, block, or block parameter. Appendix , “Model and Block Parameters,” provides comprehensive tables of model and block parameters. How to Specify a Path for a Simulink Object Many of the commands described in this chapter require that you identify a Simulink system or block. Identify systems and blocks by specifying their paths: To identify a system, specify its name, which is the name of the file that contains the system description, without the mdl extension. system To identify a subsystem, specify the system and the hierarchy of subsystems in which the subsystem resides. system/subsystem 1 /.../subsystem To identify a block, specify the path of the system that contains the block and specify the block name. system/subsystem 1 /.../subsystem/block If the block name includes a newline or carriage return, specify the block name as a string vector and use sprintf('\n') as the newline character. For example, these lines assign the newline character to cr, then get the value for the Signal Generator block’s Amplitude parameter. cr = sprintf('\n'); get_param(['untitled/Signal',cr,'Generator'],'Amplitude') ans = 1 5-3 5 Simulation Commands 5-4 slref.book Page 4 Friday, June 21, 2002 5:58 PM If the block name includes a slash character (/), you repeat the slash when you specify the block name. For example, to get the value of the Location parameter for the block named Signal/Noise in the mymodel system. get_param('mymodel/Signal//Noise','Location') model slref.book Page 5 Friday, June 21, 2002 5:58 PM 5model Purpose Execute a particular phase of the simulation of a model Syntax [sys,x0,str,ts] = model(t,x,u,flag); Description The model command executes a specific phase of the simulation of a Simulink model whose name is model. Use the command’s flag argument to indicate the phase of the simulation to be executed. See “Simulating Dynamic Systems” for a description of the steps that Simulink uses to simulate a model. This command is intended to allow linear analysis and other M-file program-based tools to run a simulation step by step, gathering information about the model’s states and outputs at each step. It is not intended for interactive use, for example, to debug a model. Use this command if you want to write an M-file program that needs to examine intermediate results of a simulation. Use the sim command if the program does not need to examine intermediate results. Use the Simulink debugger if you need to examine intermediate results to debug a model. Arguments sys Vector of model size data: sys(1) = number of continuous states sys(2) = number of discrete states sys(3) = number of inputs sys(4) = number of outputs sys(5) = reserved sys(6) = direct-feedthrough flag (1 = yes, 0 = no) sys(7) = number of sample times (= number of rows in ts) x0 Vector that returns the initial condition of each of the system’s states str State-ordering strings ts An m-by-2 matrix containing the sample time (period, offset) information t Time step x State vector 5-5 model slref.book Page 6 Friday, June 21, 2002 5:58 PM Examples This command executes the compilation phase of the vdp model that comes with Simulink. vdp([], [], [], 'compile') The following command terminates the simulation initiated in the previous example. vdp([], [], [], 'term') Note You must always terminate simulation of the model by invoking the model command with the 'term' command. Simulink does not let you close the model until you have terminated the simulation. See Also sim u Inputs flag String that indicates the simulation phase to be executed: 'sizes' executes the size computation phase of the simulation. This phase determines the sizes of the model’s inputs, outputs, state vector, etc. 'compile' executes the compilation phase of the simulation. The compilation phase propagates signal and sample time attributes. It is equivalent to selecting the Update Diagram (Ctrl-D) option from the Simulink Edit menu. 'update' computes the states of the model’s blocks at time t. 'outputs' computes the outputs of the model’s blocks at time t. 'deriv' computes the state derivatives of the model’s block at time step t. 'term' causes Simulink to terminate simulation of the model. 5-6 sim slref.book Page 7 Friday, June 21, 2002 5:58 PM 5sim Purpose Simulate a dynamic system Syntax [t,x,y] = sim(model,timespan,options,ut); [t,x,y1, y2, ..., yn] = sim(model,timespan,options,ut); Description The sim command executes a Simulink model, using all simulation parameter dialog settings including Workspace I/O options. You can supply a null ([ ]) matrix for any right-side argument except the first (the model name). The sim command uses default values for unspecified arguments and arguments specified as null matrices. The default values are the values specified by the model. You can set optional simulation parameters, using the sim command’s options argument. Parameters set in this way override parameters specified by the model. If you do not specify the left side arguments, the command logs the simulation data specified by the Workspace I/O pane of the Simulation parameters dialog box (see “The Workspace I/O Pane” in the online documentation for Simulink). If you want to simulate a continuous system, you must specify the solver parameter, using simset. The solver defaults to VariableStepDiscrete for purely discrete models. Arguments t Returns the simulation’s time vector. x Returns the simulation’s state matrix consisting of continuous states followed by discrete states. y Returns the simulation’s output matrix. Each column contains the output of a root-level Outport block, in port number order. If any Outport block has a vector input, its output takes the appropriate number of columns. y1,...,yn Each y i returns the output of the corresponding root-level Outport block for a model that has n such blocks. model Name of a block diagram. 5-7 sim slref.book Page 8 Friday, June 21, 2002 5:58 PM Examples This command simulates the Van der Pol equations, using the vdp model that comes with Simulink. The command uses all default parameters. [t,x,y] = sim('vdp') timespan Simulation start and stop time. Specify as one of these: tFinal to specify the stop time. The start time is 0. [tStart tFinal] to specify the start and stop times. [tStart OutputTimes tFinal] to specify the start and stop times and time points to be returned in t. Generally, t will include more time points. OutputTimes is equivalent to choosing Produce additional output on the dialog box. For a single-rate discrete system, the additional output times specified by OutputTimes must be integer multiples of the fundamental time step. For such a system, you must use an expression of the form Ts * [vector of integers] where Ts is the fundamental time step to specify the additional output times. Do not use an expression of the form 0:Ts:N*Ts. options Optional simulation parameters specified as a structure created by the simset command (see simset on page 5-12). ut Optional external inputs to top-level Inport blocks. ut can be a a MATLAB function (expressed as a string) that specifies the input u = UT(t) at each simulation time step, a table of input values versus time for all input ports, or a comma-separated list of tables, ut1, ut2, ..., each of which corresponds to a specific port. Tabular input for all ports can be in the form of a MATLAB array or a structure. Tabular input for individual ports must be in the form of a structure. See “Loading Input from the Base Workspace” in the online documentation for a description of the array and structure input formats. 5-8 sim slref.book Page 9 Friday, June 21, 2002 5:58 PM This command simulates the Van der Pol equations, using the parameter values associated with the vdp model, but defines a value for the Refine parameter. [t,x,y] = sim('vdp', [], simset('Refine',2)); This command simulates the Van der Pol equations for 1,000 seconds, saving the last 100 rows of the return variables. The simulation outputs values for t and y only, but saves the final state vector in a variable called xFinal. [t,x,y] = sim('vdp', 1000, simset('MaxRows', 100, 'OutputVariables', 'ty', 'FinalStateName', 'xFinal')); See Also simset, simget 5-9 simplot slref.book Page 10 Friday, June 21, 2002 5:58 PM 5simplot Purpose Plot simulation data in a figure window Syntax simplot(data); simplot(time, data); Description The simplot command plots output from a simulation in a Handle Graphics figure window. The plot looks like the display on the screen of a Scope block. Plotting the output on a figure window allows you to annotate and print the output. Arguments data Data produced by one of Simulink’s output blocks (for example, a root-level Outport block or a To Workspace block) or in one of the output formats used by those blocks: Array, Structure, Structure with time (see “The Workspace I/O Pane” in the online documentation for Simulink). time The vector of sample times produced by an output block when you have selected Array or Structure as the simulation’s output format. The simplot command ignores this argument if the format of the data is Structure with time. 5-10 simplot slref.book Page 11 Friday, June 21, 2002 5:58 PM Examples The following sequence of commands vdp set_param(gcs, 'SaveOutput', 'on') set_param(gcs, ‘SaveFormat’, ‘StructureWithTime’) sim(gcs) simplot(yout) plots the output of the vdp demo model on a figure window as follows. See Also sim, set_param 5-11 simset slref.book Page 12 Friday, June 21, 2002 5:58 PM 5simset Purpose Create or edit simulation parameters and solver properties for the sim command Syntax options = simset(property, value, ...); options = simset(old_opstruct, property, value, ...); options = simset(old_opstruct, new_opstruct); simset Description The simset command creates a structure called options, in which the named simulation parameters and solver properties have specified values. All unspecified parameters and properties take their default values. It is only necessary to enter enough leading characters to uniquely identify the parameter or property. Case is ignored for parameters and properties. options = simset(property, value, ...) sets the values of the named properties and stores the structure in options. options = simset(old_opstruct, property, value, ...) modifies the named properties in old_opstruct, an existing structure. options = simset(old_opstruct, new_opstruct) combines two existing options structures, old_opstruct and new_opstruct, into options. Any properties defined in new_opstruct overwrite the same properties defined in old_opstruct. simset with no input arguments displays all property names and their possible values. You cannot obtain or set values of these properties and parameters using the get_param and set_param commands. Parameters AbsTol positive scalar {1e-6} Absolute error tolerance. This scalar applies to all elements of the state vector. AbsTol applies only to the variable-step solvers. Decimation positive integer {1} Decimation for output variables. Decimation factor applied to the return variables t, x, and y. A decimation factor of 1 returns every data logging time point, a decimation factor of 2 returns every other data logging time point, etc. 5-12 simset slref.book Page 13 Friday, June 21, 2002 5:58 PM DstWorkspace base | {current} | parent Where to assign variables. This property specifies the workspace in which to assign any variables defined as return variables or as output variables on the To Workspace block. FinalStateName string {''} Name of final states variable. This property specifies the name of a variable in which Simulink saves the model’s states at the end of the simulation. FixedStep positive scalar Fixed step size. This property applies only to the fixed-step solvers. If the model contains discrete components, the default is the fundamental sample time; otherwise, the default is one-fiftieth of the simulation interval. InitialState vector {[]} Initial continuous and discrete states. The initial state vector consists of the continuous states (if any) followed by the discrete states (if any). InitialState supersedes the initial states specified in the model. The default, an empty matrix, causes the initial state values specified in the model to be used. InitialStep positive scalar {auto} Suggested initial step size. This property applies only to the variable-step solvers. The solvers try a step size of InitialStep first. By default, the solvers determine an initial step size automatically. MaxOrder 1 | 2 | 3 | 4 | {5} Maximum order of ode15s. This property applies only to ode15s. MaxDataPoints nonnegative integer {0} Limit number of output data points. This property limits the number of data points returned in t, x, and y to the last MaxDataPoints data logging time points. If specified as 0, the default, no limit is imposed. MaxStep positive scalar {auto} Upper bound on the step size. This property applies only to the variable-step solvers and defaults to one-fiftieth of the simulation interval. 5-13 simset slref.book Page 14 Friday, June 21, 2002 5:58 PM OutputPoints {specified} | all Determine output points. When set to specified, the solver produces outputs t, x, and y only at the times specified in timespan. When set to all, t, x, and y also include the time steps taken by the solver. OutputVariables {txy} | tx | ty | xy | t | x | y Set output variables. If 't', 'x', or 'y' is missing from the property string, the solver produces an empty matrix in the corresponding output t, x, or y. Refine positive integer {1} Output refine factor. This property increases the number of output points by the specified factor, producing smoother output. Refine applies only to the variable-step solvers. It is ignored if output times are specified. RelTol positive scalar {1e-3} Relative error tolerance. This property applies to all elements of the state vector. The estimated error in each integration step satisfies e(i) <= max(RelTol*abs(x(i)),AbsTol(i)) This property applies only to the variable-step solvers and defaults to 1e-3, which corresponds to accuracy within 0.1%. Solver VariableStepDiscrete | ode45 | ode23 | ode113 | ode15s | ode23s | FixedStepDiscrete | ode5 | ode4 | ode3 | ode2 | ode1 Method to advance time. This property specifies the solver that is used to advance time. SrcWorkspace {base} | current | parent Where to evaluate expressions. This property specifies the workspace in which to evaluate MATLAB expressions defined in the model. Trace 'minstep', 'siminfo', 'compile' {''} Tracing facilities. This property enables simulation tracing facilities (specify one or more as a comma-separated list): The 'minstep' trace flag specifies that simulation stops when the solution changes so abruptly that the variable-step solvers cannot take a step and satisfy the error tolerances. By default, Simulink issues a warning message and continues the simulation. 5-14 simset slref.book Page 15 Friday, June 21, 2002 5:58 PM The 'siminfo' trace flag provides a short summary of the simulation parameters in effect at the start of simulation. The 'compile' trace flag displays the compilation phases of a block diagram model. ZeroCross {on} | off Enable/disable location of zero crossings. This property applies only to the variable-step solvers. If set to off, variable-step solvers do not detect zero crossings for blocks having intrinsic zero-crossing detection. The solvers adjust their step sizes only to satisfy error tolerance. Examples This command creates an options structure called myopts that defines values for the MaxDataPoints and Refine parameters, using default values for other parameters. myopts = simset('MaxDataPoints', 100, 'Refine', 2); This command simulates the vdp model for 10 seconds and uses the parameters defined in myopts. [t,x,y] = sim('vdp', 10, myopts); See Also sim, simget 5-15 simget slref.book Page 16 Friday, June 21, 2002 5:58 PM 5simget Purpose Get options structure properties and parameters Syntax struct = simget(model) value = simget(model, property) value = simget(OptionStructure, property) Description The simget command gets simulation parameter and solver property values for the specified Simulink model. If a parameter or property is defined using a variable name, simget returns the variable’s value, not its name. If the variable does not exist in the workspace, Simulink issues an error message. struct = simget(model) returns the current options structure for the specified Simulink model. The options structure is defined using the sim and simset commands. value = simget(model, property) extracts the value of the named simulation parameter or solver property from the model. value = simget(OptionStructure, property) extracts the value of the named simulation parameter or solver property from OptionStructure, returning an empty matrix if the value is not specified in the structure. property can be a cell array containing the list of parameter and property names of interest. If a cell array is used, the output is also a cell array. You need to enter only as many leading characters of a property name as are necessary to uniquely identify it. Case is ignored for property names. Examples This command retrieves the options structure for the vdp model. options = simget('vdp'); This command retrieves the value of the Refine property for the vdp model. refine = simget('vdp', 'Refine'); See Also sim, simset 5-16 6 slref.book Page 1 Friday, June 21, 2002 5:58 PM Mask Icon Drawing Commands This section describes commands that you can use to create programs that create or modify models. Command Summary (p. 6-2) Brief descriptions of commands. 6 Mask Icon Drawing Commands 6-2 slref.book Page 2 Friday, June 21, 2002 5:58 PM Command Summary This table summarizes the commands that you can use to create icons for masked subsystems. Command Usage disp Display text centered on a mask icon. dpoly Display a transfer function on a mask icon. fprintf Display variable text on a mask icon. image Display an image on a mask icon. patch Draws a color patch of a specified shape on a mask icon. plot Display graphics on a mask icon. port_label Display a port label on a mask icon. text Display text at a specified location on a mask icon. slref.book Page 3 Friday, June 21, 2002 5:58 PM Specifying Parameters and Object Paths This section explains how to specify parameters and object paths required by model construction commands. How to Specify Parameters for the Commands The commands described in this chapter require that you specify arguments that describe a system, block, or block parameter. Appendix , “Model and Block Parameters,” provides comprehensive tables of model and block parameters. How to Specify a Path for a Simulink Object Many of the commands described in this chapter require that you identify a Simulink system or block. Identify systems and blocks by specifying their paths: To identify a system, specify its name, which is the name of the file that contains the system description, without the mdl extension. system To identify a subsystem, specify the system and the hierarchy of subsystems in which the subsystem resides. system/subsystem 1 /.../subsystem To identify a block, specify the path of the system that contains the block and specify the block name. system/subsystem 1 /.../subsystem/block If the block name includes a newline or carriage return, specify the block name as a string vector and use sprintf('\n') as the newline character. For example, these lines assign the newline character to cr, then get the value for the Signal Generator block’s Amplitude parameter. cr = sprintf('\n'); get_param(['untitled/Signal',cr,'Generator'],'Amplitude') ans = 1 6-3 6 Mask Icon Drawing Commands 6-4 slref.book Page 4 Friday, June 21, 2002 5:58 PM If the block name includes a slash character (/), you repeat the slash when you specify the block name. For example, to get the value of the Location parameter for the block named Signal/Noise in the mymodel system. get_param('mymodel/Signal//Noise','Location') 6-5 slref.book Page 5 Friday, June 21, 2002 5:58 PM disp Purpose Display text on the icon of a masked subsystem Syntax disp(text) disp(text, 'texmode', 'on') Description disp(text) displays text centered on the icon where text is any MATLAB expression that evaluates to a string. disp(text, 'texmode', 'on') allows you to use TeX formatting commands in text. The TeX formatting commands in turn allow you to include symbols and Greek letters in icon text. See “Mathematical Symbols, Greek Letters, and Tex Characters” in the MATLAB documentation for information on the TeX formatting commands supported by Simulink. Examples The following command disp('{\itEquation:} \alpha^2 + \beta^2 \rightarrow \gamma^2, \chi, \phi_3 = {\bfcool}', 'texmode','on') draws the equation that appears on this masked block icon. See Also fprintf, port_label, text 6disp 6 dpoly slref.book Page 6 Friday, June 21, 2002 5:58 PM 6dpoly Purpose Display a transfer function on the icon of a masked subsystem Syntax dpoly(num, den) dpoly(num, den, 'character') Description dpoly(num, den) displays the transfer function whose numerator is num and denominator is den. poly(num, den, 'character') allows you to specify the name of the transfer function’s independent variable. The default is s. When the icon is drawn, the initialization commands are executed and the resulting equation is drawn on the icon: To display a continuous transfer function in descending powers of s, enter dpoly(num, den) For example, for num = [0 0 1]; and den = [1 2 1]; the icon looks like this: To display a discrete transfer function in descending powers of z, enter dpoly(num, den, 'z') For example, for num = [0 0 1]; and den = [1 2 1]; the icon looks like this: To display a discrete transfer function in ascending powers of 1/z, enter dpoly(num, den, 'z-') For example, for num and den as defined previously, the icon looks like this: 6-6 dpoly slref.book Page 7 Friday, June 21, 2002 5:58 PM To display a zero-pole gain transfer function, enter droots(z, p, k) For example, the preceding command creates this icon for these values: z = []; p = [-1 -1]; k = 1; You can add a fourth argument ('z' or 'z-') to express the equation in terms of z or 1/z. If the parameters are not defined or have no values when you create the icon, Simulink displays three question marks (? ? ?) in the icon. When the parameter values are entered in the mask dialog box, Simulink evaluates the transfer function and displays the resulting equation in the icon. See Also disp, port_label, text 6-7 fprintf slref.book Page 8 Friday, June 21, 2002 5:58 PM 6fprintf Purpose Display variable text centered on the icon of a masked subsystem Syntax fprintf(text) fprintf(format, var) Description The fprintf command displays formatted text centered on the icon and can display format along with the contents of var. Note While this commands is identical in name to its corresponding MATLAB function, it provides only the functionality described above. See Also disp, port_label, text 6-8 image slref.book Page 9 Friday, June 21, 2002 5:58 PM 6image Purpose Display an image on the icon of a masked subsystem Syntax image(a) image(a, [x, y, w, h]) image(a, [x, y, w, h], rotation) Description image(a) displays the image a where a is an M-by-N-by-3 array of RGB values. You can use the MATLAB commands imread and ind2rgb to read and convert bitmap files to the necessary matrix format. image(a, [x, y, w, h]) creates the image at the specified position relative to the lower left corner of the mask. image(a, [x, y, w, h], rotation) allows you to specify whether the image rotates ('on’) or remains stationary ('off') as the icon rotates. The default is 'off'. Examples This command image(imread('icon.tif')) reads the icon image from a TIFF file named icon.tif in the MATLAB path. See Also patch, plot 6-9 patch slref.book Page 10 Friday, June 21, 2002 5:58 PM 6patch Purpose Draw a color patch of a specified shape on the icon of a masked subsytem Syntax patch(x, y) Description patch(x, y) creates a solid patch having the shape specified by the coordinate vectors x and y. The patch’s color is the current foreground color. patch(x, y, [r g b]) creates a solid patch of the color specified by the vector [r g b], where r is the red component, g the green, and b the blue. For example, patch([0 .5 1], [0 1 0], [1 0 0]) creates a red triangle on the mask’s icon. Examples This command patch([0 .5 1], [0 1 0], [1 0 0]) creates a red triangle on the mask’s icon. See Also image, plot 6-10 plot slref.book Page 11 Friday, June 21, 2002 5:58 PM 6plot Purpose Draw a graph connecting a series of points Syntax plot(Y) plot(X1,Y1,X2,Y2,...) Description plot(Y) plots, for a vector Y, each element against its index. If Y is a matrix, it plots each column of the matrix as though it were a vector. plot(X1,Y1,X2,Y2,...) plots the vectors Y1 against X1, Y2 against X2, and so on. Vector pairs must be the same length and the list must consist of an even number of vectors. Plot commands can include NaN and inf values. When NaNs or infs are encountered, Simulink stops drawing, then begins redrawing at the next numbers that are not NaN or inf. The appearance of the plot on the icon depends on the value of the Drawing coordinates parameter. For more information, see “Icon Options” in the online Simulink documentation. Simulink displays three question marks (? ? ?) in the block icon and issues warnings in these situations: When the values for the parameters used in the drawing commands are not yet defined (for example, when the mask is first created and values have not yet been entered in the mask dialog box) When a masked block parameter or drawing command is entered incorrectly Examples This command plot([0 1 5], [0 0 4]) generates the plot that appears on the icon for the Ramp block, in the Sources library. See Also image 6-11 port_label slref.book Page 12 Friday, June 21, 2002 5:58 PM 6port_label Purpose Draw a port label on the icon of a masked subsystem Syntax port_label(port_type, port_number, label) port_label(port_type, port_number, label,'texmode','on') Description port_label(port_type, port_number, label) draws a label on a port where port_type is either 'input' or 'output', port_number is an integer, and label is a string specifying the port’s label. port_label(port_type, port_number, label,'texmode','on') lets you use TeX formatting commands in label. The TeX formatting commands allow you to include symbols and Greek letters in the port label. See “Mathematical Symbols, Greek Letters, and Tex Characters” in the MATLAB documentation for information on the TeX formatting commands supported by Simulink. Examples The command port_label('input', 1, 'a') defines a as the label of input port 1. The commands disp('Card\nSwapper'); port_label('input',1,'\spadesuit','texmode','on'); port_label('output',1,'\heartsuit','texmode','on'); draw playing card symbols as the labels of the ports on a masked subsystem. See Also disp, fprintf, text 6-12 text slref.book Page 13 Friday, June 21, 2002 5:58 PM 6text Purpose Display text at a specific location on the icon of a masked subsystem Syntax text(x, y, text) text(x, y, text, 'horizontalAlignment', halign, 'verticalAlignment', valign) text(x, y, text, ’texmode’, ’on’) Description The text command places a character string (text or the contents of stringvariablename) at a location specified by the point (x,y). The units depend on the Drawing coordinates parameter. For more information, see “Icon Options” in the online Simulink documentation. text(x,y, text, 'texmode', 'on') allows you to use TeX formatting commands in text. The TeX formatting commands in turn allow you to include symbols and Greek letters in icon text. See “Mathematical Symbols, Greek Letters, and Tex Characters” in the MATLAB documentation for information on the TeX formatting commands supported by Simulink. You can optionally specify the horizontal and/or vertical alignment of the text relative to the point (x, y) in the text command. The text command offers the following horizontal alignment options. The text command offers the following vertical alignment options. Option Aligns left The left end of the text at the specified point right The right end of the text at the specified point center The center of the text at the specified point Option Aligns base The baseline of the text at the specified point bottom The bottom line of the text at the specified point middle The midline of the text at the specified point 6-13 text slref.book Page 14 Friday, June 21, 2002 5:58 PM Note While this commands is identical in name to its corresponding MATLAB function, it provides only the functionality described above. Examples The command text(0.5, 0.5, 'foobar', 'horizontalAlignment', 'center') centers foobar in the icon. The command text(.05,.5,'{\itEquation:} \Sigma \alpha^2 + \beta^2 \rightarrow \infty, \Pi, \phi_3 = {\bfcool}', 'hor','left','texmode','on') draws a left-aligned equation on the icon. See Also disp, fprintf, port_label cap The capitals line of the text at the specified point top The top of the text at the specified point Option Aligns 6-14 7 integration information. slref.book Page 1 Friday, June 21, 2002 5:58 PM Simulink Debugger Commands Command Summary The following table lists the debugger commands. The table’s Repeat column specifies whether pressing the Return key at the command line repeats the command. Detailed descriptions of the commands follow the table. Command Short Form Repeat Description ashow as No Show an algebraic loop. atrace at No Set algebraic loop trace level. bafter ba No Insert a breakpoint after execution of a block. break b No Insert a breakpoint before execution of a block. bshow bs No Show a specified block. clear cl No Clear a breakpoint from a block. continue c Yes Continue the simulation. disp d Yes Display a block’s I/O when the simulation stops. help ? or h No Display help for debugger commands. ishow i No Enable or disable display of 7 Simulink Debugger Commands 7-2 slref.book Page 2 Friday, June 21, 2002 5:58 PM minor m No Enable or disable minor step mode. nanbreak na No Set or clear break on nonfinite value. next n Yes Go to start of the next time step. probe p No Display a block’s I/O. quit q No Abort simulation. run r No Run the simulation to completion. slist sli No List a model’s nonvirtual blocks. states state No Display current state values. status stat No Display debugging options in effect. step s Yes Step to next block. stop sto No Stop the simulation. systems sys No List a model’s nonvirtual systems. tbreak tb No Set or clear a time breakpoint. trace tr Yes Display a block’s I/O each time it executes. undisp und Yes Remove a block from the debugger’s list of display points. untrace unt Yes Remove a block from the debugger’s list of trace points. xbreak x No Break when the debugger encounters a step-size-limiting state. Command Short Form Repeat Description slref.book Page 3 Friday, June 21, 2002 5:58 PM zcbreak zcb No Break at nonsampled zero-crossing events. zclist zcl No List blocks containing nonsampled zero crossings. Command Short Form Repeat Description 7-3 slref.book Page 1 Friday, June 21, 2002 5:58 PM ashow Purpose Show an algebraic loop. Syntax ashow <gcb | s:b | s#n | clear> Arguments Description ashow without any arguments lists all of a model’s algebraic loops in the MATLAB command window. ashow gcb or ashow s:b highlights the algebraic loop that contains the specified block. ashow s#n highlights the nth algebraic loop in system s. ashow clear removes algebraic loop highlights from the model diagram. See Also atrace, slist s:b The block whose system index is s and block index is b. gcb Current block. s#n The algebraic loop numbered n in system s. clear Switch that clears loop coloring. 7-1 7ashow Purpose Show an algebraic loop. atrace slref.book Page 2 Friday, June 21, 2002 5:58 PM 7atrace Purpose Set algebraic loop trace level Syntax atrace level Arguments Description The atrace command sets the algebraic loop trace level for a simulation. See Also systems, states level Trace level (0 = none, 4 = everything). Command Displays for Each Algebraic Loop atrace 0 No information atrace 1 The loop variable solution, the number of iterations required to solve the loop, and the estimated solution error atrace 2 Same as level 1 atrace 3 Level 2 plus Jacobian matrix used to solve loop atrace 4 Level 3 plus intermediate solutions of the loop variable 7-2 bafter slref.book Page 3 Friday, June 21, 2002 5:58 PM 7bafter Purpose Insert a breakpoint after a block is executed Syntax bafter gcb bafter s:b Arguments Description The bafter command inserts a breakpoint after execution of the specified block. See Also break, xbreak, tbreak, nanbreak, zcbreak, slist s:b The block whose system index is s and block index is b. gcb Current block. 7-3 break slref.book Page 4 Friday, June 21, 2002 5:58 PM 7break Purpose Insert a breakpoint before a block is executed Syntax break gcb break s:b Arguments Description The break command inserts a breakpoint before execution of the specified block. See Also bafter, tbreak, xbreak, nanbreak, zcbreak, slist s:b The block whose system index is s and block index is b. gcb Current block. 7-4 bshow slref.book Page 5 Friday, June 21, 2002 5:58 PM 7bshow Purpose Show a specified block Syntax bshow s:b Arguments Description The bshow command opens the model window containing the specified block and selects the block. See Also slist s:b The block whose system index is s and block index is b. 7-5 clear slref.book Page 6 Friday, June 21, 2002 5:58 PM 7clear Purpose Clear a breakpoint from a block Syntax clear gcb clear s:b Arguments Description The clear command clears a breakpoint from the specified block. See Also bafter, slist s:b The block whose system index is s and block index is b. gcb Current block. 7-6 continue slref.book Page 7 Friday, June 21, 2002 5:58 PM 7continue Purpose Continue the simulation Syntax continue Description The continue command continues the simulation from the current breakpoint. The simulation continues until it reaches another breakpoint or its final time step. See Also run, stop, quit 7-7 disp slref.book Page 8 Friday, June 21, 2002 5:58 PM 7disp Purpose Display a block’s I/O when the simulation stops Syntax disp gcb disp s:b disp Arguments Description The disp command registers a block as a display point. The debugger displays the inputs and outputs of all display points in the MATLAB command window whenever the simulation halts. Invoking disp without arguments shows a list of display points. Use undisp to unregister a block. See Also undisp, slist, probe, trace s:b The block whose system index is s and block index is b. gcb Current block. 7-8 help slref.book Page 9 Friday, June 21, 2002 5:58 PM 7help Purpose Display help for debugger commands Syntax help Description The help command displays a list of debugger commands in the command window. The list includes the syntax and a brief description of each command. 7-9 emode slref.book Page 10 Friday, June 21, 2002 5:58 PM 7emode Purpose Toggle model execution between accelerated and normal mode Syntax emode Description See “Using the Simulink Accelerator with the Simulink Debugger” for more information. 7-10 ishow slref.book Page 11 Friday, June 21, 2002 5:58 PM 7ishow Purpose Enable or disable display of integration information Syntax ishow Description The ishow command toggles display of integration information during a simulation. See Also atrace 7-11 minor slref.book Page 12 Friday, June 21, 2002 5:58 PM 7minor Purpose Enable or disable minor step mode Syntax minor Description The minor command causes the debugger to enter or exit minor step mode. In minor step mode, the step command advances the simulation by blocks within a minor step. In minor step mode, after executing the last block in the model’s sorted block list, the step command advances the simulation to the next minor time step, if any minor time steps remain in the current major time step; otherwise, the step command advances the simulation to the first minor time step in the next major time step. See Also step 7-12 nanbreak slref.book Page 13 Friday, June 21, 2002 5:58 PM 7nanbreak Purpose Set or clear nonfinite value break mode Syntax nanbreak Description The nanbreak command causes the debugger to break whenever the simulation encounters a nonfinite (NaN or Inf) value. If nonfinite break mode is set, nanbreak clears it. See Also break, bafter, xbreak, tbreak, zcbreak 7-13 next slref.book Page 14 Friday, June 21, 2002 5:58 PM 7next Purpose Go to start of the next time step Syntax next Description The next command evaluates all the blocks remaining to be evaluated in the current time step, stopping at the start of the next time step. After executing the next command, the debugger highlights the first block to be evaluated on the next time step and displays the time of the next step. See Also step 7-14 probe slref.book Page 15 Friday, June 21, 2002 5:58 PM 7probe Purpose Display a block’s state Syntax probe [<s:b | gcb>] [level io | (all)] Arguments Description probe causes the debugger to enter or exit probe mode. In probe mode, the debugger displays the I/O of any block you select. To exit probe mode, enter any command. probe gcb displays the I/O of the currently selected block. probe s:b displays the I/O of the block whose index is s:b. See Also disp, trace s:b The block whose system index is s and block index is b. gcb Current block. level io Display block’s I/O. level all Display all information regarding a block’s current state, including inputs and outputs, states, and zero crossings. 7-15 quit slref.book Page 16 Friday, June 21, 2002 5:58 PM 7quit Purpose Abort simulation Syntax quit Description The quit command terminates the current simulation. See Also stop 7-16 run slref.book Page 17 Friday, June 21, 2002 5:58 PM 7run Purpose Run the simulation to completion Syntax run Description The run command runs the simulation from the current breakpoint to its final time step. It ignores breakpoints and display points. See Also continue, stop, quit 7-17 slist slref.book Page 18 Friday, June 21, 2002 5:58 PM 7slist Purpose List a model’s nonvirtual blocks Syntax slist Description The slist command lists the nonvirtual blocks in the model being debugged. The list shows the block index and name of each listed block. See Also systems 7-18 states slref.book Page 19 Friday, June 21, 2002 5:58 PM 7states Purpose Display current state values Syntax states Description The states command displays a list of the current states of the model. The display lists the value, index, and name of each state. See Also ishow 7-19 status slref.book Page 20 Friday, June 21, 2002 5:58 PM 7status Purpose Display debugging options in effect Syntax status Description The status command displays a list of the debugging options in effect. 7-20 step slref.book Page 21 Friday, June 21, 2002 5:58 PM 7step Purpose Step to next block Syntax step Description The step command evaluates the next block to be evaluated in the current time step. After executing the step command, the debugger highlights the next block to be evaluated and its output signal lines. It also displays the name of the next block as part of the debugger command-line prompt. See Also next 7-21 stop slref.book Page 22 Friday, June 21, 2002 5:58 PM 7stop Purpose Stop the simulation Syntax stop Description The stop command stops the simulation. See Also continue, run, quit 7-22 systems slref.book Page 23 Friday, June 21, 2002 5:58 PM 7systems Purpose List a model’s nonvirtual systems Syntax systems Description The systems command lists a model’s nonvirtual systems in the MATLAB command window. See Also slist 7-23 tbreak slref.book Page 24 Friday, June 21, 2002 5:58 PM 7tbreak Purpose Set or clear a time breakpoint Syntax tbreak t tbreak Description The tbreak command sets a breakpoint at the specified time step. If a breakpoint already exists at the specified time, tbreak clears the breakpoint. If you do not specify a time, tbreak toggles a breakpoint at the current time step. See Also break, bafter, xbreak, nanbreak, zcbreak 7-24 trace slref.book Page 25 Friday, June 21, 2002 5:58 PM 7trace Purpose Display a block’s I/O each time the block executes Syntax trace gcb trace s:b Arguments Description The trace command registers a block as a trace point. The debugger displays the I/O of each registered block each time the block executes. See Also disp, probe, untrace, slist s:b The block whose system index is s and block index is b. gcb Current block. 7-25 undisp slref.book Page 26 Friday, June 21, 2002 5:58 PM 7undisp Purpose Remove a block from the debugger’s list of display points Syntax undisp gcb undisp s:b Arguments Description The undisp command removes the specified block from the debugger’s list of display points. See Also disp, slist s:b The block whose system index is s and block index is b. gcb Current block. 7-26 untrace slref.book Page 27 Friday, June 21, 2002 5:58 PM 7untrace Purpose Remove a block from the debugger’s list of trace points Syntax untrace gcb untrace s:b Arguments Description The untrace command removes the specified block from the debugger’s list of trace points. See Also trace, slist s:b The block whose system index is s and block index is b. gcb Current block. 7-27 xbreak slref.book Page 28 Friday, June 21, 2002 5:58 PM 7xbreak Purpose Break when the debugger encounters a step-size-limiting state Syntax xbreak Description The xbreak command pauses execution of the model when the debugger encounters a state that limits the size of the steps that the solver takes. If xbreak mode is already on, xbreak turns the mode off. See Also break, bafter, zcbreak, tbreak, nanbreak 7-28 zcbreak slref.book Page 29 Friday, June 21, 2002 5:58 PM 7zcbreak Purpose Toggle breaking at nonsampled zero-crossing events Syntax zcbreak Description The zcbreak command causes the debugger to break when a nonsampled zero-crossing event occurs. If zero-crossing break mode is already on, zcbreak turns the mode off. See Also break, bafter, xbreak, tbreak, nanbreak, zclist 7-29 zclist slref.book Page 30 Friday, June 21, 2002 5:58 PM 7zclist Purpose List blocks containing nonsampled zero crossings Syntax zclist Description The zclist command displays a list of blocks in which nonsampled zero crossings can occur. The command displays the list in the MATLAB command window. See Also zcbreak 7-30 zclist slref.book Page 31 Friday, June 21, 2002 5:58 PM 7-31 8 slref.book Page 1 Friday, June 21, 2002 5:58 PM Model and Block Parameters The following sections lists parameters that you can set, using the set_param command. “Model Parameters” on page 8-2 Parameters specific to models “Common Block Parameters” on page 8-7 Parameters that all blocks have “Block-Specific Parameters” on page 8-10 Parameters that a specific block has “Mask Parameters” on page 8-26 Parameters of masked subsystem 8 Model and Block Parameters 8-2 slref.book Page 2 Friday, June 21, 2002 5:58 PM Model Parameters This table lists and describes parameters that describe a model. The parameters appear in the order they are defined in the model file, described in Chapter 9, “Model File Format.” The table also includes model callback parameters, (see “Using Callback Routines”). The Description column indicates where you can set the value on the Simulation Parameters dialog box. Model parameters that are simulation parameters are described in more detail in “The Simulation Parameters Dialog Box”. Examples showing how to change parameters follow the table. Parameter values must be specified as quoted strings. The string contents depend on the parameter and can be numeric (scalar, vector, or matrix), a variable name, a filename, or a particular value. The Values column shows the type of value required, the possible values (separated with a vertical line), and the default value, enclosed in braces. Table 8-1: Model Parameters Parameter Description Values AbsTol Absolute error tolerance scalar {1e–6} AlgebraicLoopMsg Algebraic loop diagnostic none | {warning} | error ArrayBoundsChecking Enable array bounds checking 'none' | 'warning' | 'error' BooleanDataType Enable Boolean mode on | {off} BufferReuse Enable reuse of block I/O buffers {on} | off CloseFcn Close callback command or variable ConfigurationManager Configuration manager for this model text ConsistencyChecking Consistency checking on | {off} Created Date and time model was created text Creator Name of model creator text Decimation Decimation factor scalar {1} DefaultBlockFontSize Default font size for blocks contained by this model {10} Model Parameters slref.book Page 3 Friday, June 21, 2002 5:58 PM Description Description of this model text ExternalInput Time and input variable names scalar or vector [t, u] FinalStateName Final state name variable {xFinal} FixedStep Fixed step size scalar {auto} InitialState Initial state name or values variable or vector {xInitial} InitialStep Initial step size scalar {auto} InvariantConstants Invariant constant setting on | {off} LimitDataPoints Limit output on | {off} LoadExternalInput Load input from workspace on | {off} LoadInitialState Load initial state on | {off} MaxDataPoints Maximum number of output data points to save scalar {1000} MaxOrder Maximum order for ode15s 1 | 2 | 3 | 4 | {5} MaxStep Maximum step size scalar {auto} MinStepSizeMsg Minimum step size diagnostic {warning} | error ModelVersionFormat Format of model’s version number text ModifiedBy Last modifier of this model text ModifiedDateFormat Format of modified date text Name Model name text ObjectParameters Names/attributes of model parameters structure OutputOption Output option AdditionalOutputTimes | {RefineOutputTimes} | SpecifiedOutputTimes OutputSaveName Simulation output name variable {yout} OutputTimes Values for chosen OutputOption vector {[]} Table 8-1: Model Parameters Parameter Description Values 8-3 8 Model and Block Parameters 8-4 slref.book Page 4 Friday, June 21, 2002 5:58 PM PaperOrientation Printing paper orientation portrait | {landscape} PaperPosition Position of diagram on paper [left, bottom, width, height] PaperPositionMode Paper position mode auto | {manual} PaperSize Size of PaperType in PaperUnits [width height] (read only) PaperType Printing paper type {usletter} | uslegal | a0 | a1 | a2 | a3 | a4 | a5 | b0 | b1 | b2 | b3 | b4 | b5 | arch-A | arch-B | arch-C | arch-D | arch-E | A | B | C | D | E | tabloid PaperUnits Printing paper size units normalized | {inches} | centimeters | points PostLoadFcn Post-load callback command or variable PreLoadFcn Preload callback command or variable Refine Refine factor scalar {1} RelTol Relative error tolerance scalar {1e–3} SampleTimeColors Sample Time Colors menu option on | {off} SaveFcn Save callback command or variable SaveFinalState Save final state on | {off} SaveFormat Format used to save data to the MATLAB workspace Array | Structure | StructureWithTime SaveOutput Save simulation output {on} | off SaveState Save states on | {off} SaveTime Save simulation time {on} | off Table 8-1: Model Parameters Parameter Description Values Model Parameters slref.book Page 5 Friday, June 21, 2002 5:58 PM ScreenColor Background color of the model window black | {white} | red | green | blue | cyan | magenta | yellow | gray | lightBlue | orange | darkGreen ShowLineWidths Show Line Widths menu option on | {off} SimulationCommand Executes a simulation command. start | stop | pause | continue | update SimParamPage Simulation Parameters dialog box page to display (page last displayed) {Solver} | WorkspaceI/O | Diagnostics Solver Solver {ode45} | ode23 | ode113 | ode15s | ode23s | ode5 | ode4 | ode3 | ode2 | ode1 | FixedStepDiscrete | VariableStepDiscrete StartFcn Start simulation callback command or variable StartTime Simulation start time scalar {0.0} StateSaveName State output name variable {xout} StopFcn Stop simulation callback command or variable StopTime Simulation stop time scalar {10.0} TimeSaveName Simulation time name variable {tout} UnconnectedInputMsg Unconnected input ports diagnostic none | {warning} | error UnconnectedLineMsg Unconnected lines diagnostic none | {warning} | error UnconnectedOutputMsg Unconnected output ports diagnostic none | {warning} | error Version Simulink version used to modify the model (read-only) (release) WideVectorLines Wide Vector Lines menu option on | {off} ZeroCross Intrinsic zero-crossing detection (see “Zero-Crossing Detection”) {on} | off Table 8-1: Model Parameters Parameter Description Values 8-5 8 Model and Block Parameters 8-6 slref.book Page 6 Friday, June 21, 2002 5:58 PM These examples show how to set model parameters for the mymodel system. This command sets the simulation start and stop times. set_param('mymodel','StartTime','5','StopTime','100') This command sets the solver to ode15s and changes the maximum order. set_param('mymodel','Solver','ode15s','MaxOrder','3') This command associates a SaveFcn callback. set_param('mymodel','SaveFcn','my_save_cb') Common Block Parameters slref.book Page 7 Friday, June 21, 2002 5:58 PM Common Block Parameters This table lists the parameters common to all Simulink blocks, including block callback parameters (see “Using Callback Routines”). Examples of commands that change these parameters follow this table. Table 8-2: Common Block Parameters Parameter Description Values AttributesFormat String Specifies parameters to be displayed below block in a block diagram string BackgroundColor Block icon background black | {white} | red | green | blue | cyan | magenta | yellow | gray | lightBlue | orange | darkGreen BlockDescription Block description text BlockType Block type text CloseFcn Close callback MATLAB expression CompiledPortWidths Structure of port widths scalar and vector CopyFcn Copy callback MATLAB expression DeleteFcn Delete callback MATLAB expression Description User-specifiable description text DialogParameters Names/attributes of parameters in blocks parameter dialog structure DropShadow Display drop shadow {off} | on FontAngle Font angle (system-dependent) {normal} | italic | oblique FontName Font {Helvetica} 8-7 8 Model and Block Parameters 8-8 slref.book Page 8 Friday, June 21, 2002 5:58 PM FontSize Font size A value of -1 specifies that this block inherits the font size specified by the DefaultBlockFontSize model parameter. {-1} FontWeight Font weight (system-dependent) light | {normal} | demi | bold ForegroundColor Block name, icon, outline, output signals, and signal label {black} | white | red | green | blue | cyan | magenta | yellow | gray | lightBlue | orange | darkGreen InitFcn Initialization callback MATLAB expression InputPorts Array of input port locations [h1,v1; h2,v2; ...] LinkStatus Link status of block none |resolved | unresolved | implicit LoadFcn Load callback MATLAB expression ModelCloseFcn Model close callback MATLAB expression Name Block’s name string NameChangeFcn Block name change callback MATLAB expression NamePlacement Position of block name {normal} | alternate ObjectParameters Names/attributes of block’s parameters structure OpenFcn Open callback MATLAB expression Orientation Where block faces {right} | left | down | up OutputPorts Array of output port locations [h1,v1; h2,v2; ...] Parent Name of the system that owns the block string ParentCloseFcn Parent subsystem close callback MATLAB expression Table 8-2: Common Block Parameters (Continued) Parameter Description Values Common Block Parameters slref.book Page 9 Friday, June 21, 2002 5:58 PM These examples illustrate how to change these parameters. This command changes the orientation of the Gain block in the mymodel system so it faces the opposite direction (right to left). set_param('mymodel/Gain','Orientation','left') This command associates an OpenFcn callback with the Gain block in the mymodel system. set_param('mymodel/Gain','OpenFcn','my_open_cb') This command sets the Position parameter of the Gain block in the mymodel system. The block is 75 pixels wide by 25 pixels high. The position vector is not enclosed in quotation marks. Position Position of block in model window vector [left top right bottom] not enclosed in quotation marks PostSaveFcn Postsave callback MATLAB expression PreSaveFcn Presave callback MATLAB expression Selected Block selected state on | {off} ShowName Display block name {on} | off StartFcn Start simulation callback MATLAB expression StopFcn Termination of simulation callback MATLAB expression Tag User-defined string '' Type Simulink object type (read-only) 'block' UndoDeleteFcn Undo block delete callback MATLAB expression UserData Any MATLAB data type [] UserDataPersistent Save UserData in the model file. on | {off} Table 8-2: Common Block Parameters (Continued) Parameter Description Values 8-9 set_param('mymodel/Gain','Position',[50 250 125 275]) 8 Model and Block Parameters 8-10 slref.book Page 10 Friday, June 21, 2002 5:58 PM Block-Specific Parameters These tables list block-specific parameters for all Simulink blocks. The type of the block appears in parentheses after the block name. Some Simulink blocks are implemented as masked subsystems. The tables indicate masked blocks by adding the designation “masked” after the block type. Note The type listed for nonmasked blocks is the value of the block’s BlockType parameter; the type listed for masked blocks is the value of the block’s MaskType parameter. For more information, see “Mask Parameters” on page 8-26. The Dialog Box Prompt column indicates the text of the prompt for the parameter on the block’s dialog box. The Values column shows the type of value required (scalar, vector, variable), the possible values (separated with a vertical line), and the default value (enclosed in braces). Table 8-3: Continuous Library Block Parameters Block (Type)/Parameter Dialog Box Prompt Values Derivative (Derivative) (no block-specific parameters) Integrator (Integrator) ExternalReset External reset {none} | rising | falling | either InitialConditionSource Initial condition source {internal} | external InitialCondition Initial condition scalar or vector {0} LimitOutput Limit output {off} | on UpperSaturationLimit Upper saturation limit scalar or vector {inf} LowerSaturationLimit Lower saturation limit scalar or vector {–inf} ShowSaturationPort Show saturation port {off} | on ShowStatePort Show state port {off} | on Block-Specific Parameters slref.book Page 11 Friday, June 21, 2002 5:58 PM AbsoluteTolerance Absolute tolerance scalar {auto} State-Space (StateSpace) A A matrix {1} B B matrix {1} C C matrix {1} D D matrix {1} X0 Initial conditions vector {0} Transfer Fcn (TransferFcn) Numerator Numerator vector or matrix {[1]} Denominator Denominator vector {[1 1]} Transport Delay (TransportDelay) DelayTime Time delay scalar or vector {1} InitialInput Initial input scalar or vector {0} BufferSize Initial buffer size scalar {1024} Variable Transport Delay (VariableTransportDelay) MaximumDelay Maximum delay scalar or vector {10} InitialInput Initial input scalar or vector {0} MaximumPoints Buffer size scalar {1024} Zero-Pole (ZeroPole) Zeros Zeros vector {[1]} Poles Poles vector {[0 –1]} Gain Gain vector {[1]} Table 8-3: Continuous Library Block Parameters (Continued) Block (Type)/Parameter Dialog Box Prompt Values 8-11 8 Model and Block Parameters 8-12 slref.book Page 12 Friday, June 21, 2002 5:58 PM Table 8-4: Discontinuities Library Block Parameters Block (Type)/Parameter Dialog Box Prompt Values Backlash (Backlash) BacklashWidth Deadband width scalar or vector {1} InitialOutput Initial output scalar or vector {0} Coulomb & Viscous Friction (Coulombic and Viscous Friction) (masked) Dead Zone (DeadZone) LowerValue Start of dead zone scalar or vector {–0.5} UpperValue End of dead zone scalar or vector {0.5} Hit Crossing (HitCross) HitCrossingOffset Hit crossing offset scalar or vector {0} HitCrossingDirection Hit crossing direction rising | falling | {either} ShowOutputPort Show output port {on} | off Quantizer (Quantizer) QuantizationInterval Quantization interval scalar or vector {0.5} Rate Limiter (RateLimiter) RisingSlewLimit Rising slew rate scalar or vector {1.} FallingSlewLimit Falling slew rate scalar or vector {–1.} Relay (Relay) OnSwitchValue Switch on point scalar or vector {eps} OffSwitchValue Switch off point scalar or vector {eps} OnOutputValue Output when on scalar or vector {1} OffOutputValue Output when off scalar or vector {0} Saturation (Saturate) Block-Specific Parameters slref.book Page 13 Friday, June 21, 2002 5:58 PM UpperLimit Upper limit scalar or vector {0.5} LowerLimit Lower limit scalar or vector {–0.5} Table 8-4: Discontinuities Library Block Parameters (Continued) Block (Type)/Parameter Dialog Box Prompt Values Table 8-5: Discrete Library Block Parameters Block (Type)/Parameter Dialog Box Prompt Values Discrete Filter (DiscreteFilter) Numerator Numerator vector {[1]} Denominator Denominator vector {[1 2]} SampleTime Sample time scalar (sample period) {1} or vector [period offset] Discrete State-Space (DiscreteStateSpace) A A matrix {1} B B matrix {1} C C matrix {1} D D matrix {1} X0 Initial conditions vector {0} SampleTime Sample time scalar (sample period) {1} or vector [period offset] Discrete-Time Integrator (DiscreteIntegrator) IntegratorMethod Integrator method {ForwardEuler} | BackwardEuler | Trapezoidal ExternalReset External reset {none} | rising | falling | either InitialConditionSource Initial condition source {internal} | external InitialCondition Initial condition scalar or vector {0} 8-13 8 Model and Block Parameters 8-14 slref.book Page 14 Friday, June 21, 2002 5:58 PM LimitOutput Limit output {off} | on UpperSaturationLimit Upper saturation limit scalar or vector {inf} LowerSaturationLimit Lower saturation limit scalar or vector {–inf} ShowSaturationPort Show saturation port {off} | on ShowStatePort Show state port {off} | on SampleTime Sample time scalar (sample period) {1} or vector [period offset] Discrete Transfer Fcn (DiscreteTransferFcn) Numerator Numerator vector {[1]} Denominator Denominator vector {[1 0.5]} SampleTime Sample time scalar (sample period) {1} or vector [period offset] Discrete Zero-Pole (DiscreteZeroPole) Zeros Zeros vector {[1]} Poles Poles vector [0 0.5] Gain Gain scalar {1} SampleTime Sample time scalar (sample period) {1} or vector [period offset] First-Order Hold (First Order Hold) (masked) Memory (Memory) X0 Initial condition scalar or vector {0} InheritSampleTime Inherit sample time {off} | on Unit Delay (UnitDelay) X0 Initial condition scalar or vector {0} Table 8-5: Discrete Library Block Parameters (Continued) Block (Type)/Parameter Dialog Box Prompt Values Block-Specific Parameters slref.book Page 15 Friday, June 21, 2002 5:58 PM SampleTime Sample time scalar (sample period) {1} or vector [period offset] Zero-Order Hold (ZeroOrderHold) SampleTime Sample time scalar (sample period) {1} or vector [period offset] Table 8-5: Discrete Library Block Parameters (Continued) Block (Type)/Parameter Dialog Box Prompt Values Table 8-6: Look-Up Tables Block Parameters Block (Type)/Parameter Dialog Box Prompt Values Look-Up Table (Lookup) InputValues Vector of input values vector {[–5:5]} OutputValues Vector of output values vector {tanh([–5:5])} Look-Up Table (2-D) (Lookup Table (2-D)) (masked) RowIndex Row vector ColumnIndex Column vector OutputValues Table 2-D matrix Table 8-7: Math Library Block Parameters Block (Type)/Parameter Dialog Box Prompt Values Abs (Abs) (no block-specific parameters) Algebraic Constraint (Algebraic Constraint) (masked) Combinatorial Logic (CombinatorialLogic) TruthTable Truth table matrix {[0 0;0 1;0 1;1 0; 0 1;1 0;1 0;1 1]} 8-15 8 Model and Block Parameters 8-16 slref.book Page 16 Friday, June 21, 2002 5:58 PM Complex to Magnitude-Angle Complex to Real-Imag Dot Product (Dot Product) (masked) Gain (Gain) Gain Gain scalar or vector {1} Logical Operator (Logic) Operator Operator {AND} | OR | NAND | NOR | XOR | NOT Inputs Number of input ports scalar {2} Magnitude-Angle to Complex Math Function (Math) Operator Function {exp} | log | log10 | square | sqrt | pow | reciprocal | hypot | rem | mod Matrix Gain (Matrix Gain) (masked) MinMax (MinMax) Function Function {min} | max Inputs Number of input ports scalar {1} Product (Product) Inputs Number of inputs scalar {2} Relational Operator (RelationalOperator) Operator Operator == | != | < | {<=} | >= | > Relational Operator (RelationalOperator) Operator Operator == | != | < | {<=} | >= | > Rounding Function (Rounding) Table 8-7: Math Library Block Parameters (Continued) Block (Type)/Parameter Dialog Box Prompt Values Operator Function {floor} | ceil | round | fix Block-Specific Parameters slref.book Page 17 Friday, June 21, 2002 5:58 PM Sign (Signum) (no block-specific parameters) Slider Gain (SliderGain) (masked) Sum (Sum) Inputs List of signs scalar or list of signs {++} Trigonometric Function (Trigonometry) Operator Function {sin} | cos | tan | asin | acos | atan | atan2 | sinh | cosh | tanh Table 8-7: Math Library Block Parameters (Continued) Block (Type)/Parameter Dialog Box Prompt Values Table 8-8: Model-Wide Utilities Block (Type)/Parameter Dialog Box Prompt Values Model Info (CMBlock) (mask) Table 8-9: Ports & Subsystems Block (Type)/Parameter Dialog Box Prompt Values Configurable Subsystem (mask) Choice Block choice string LibraryName Library name string Enable (EnablePort) StatesWhenEnabling States when enabling {held} | reset ShowOutputPort Show output port {off} | on In (Inport) Port Port number scalar {1} 8-17 PortWidth Port width scalar {–1} 8 Model and Block Parameters 8-18 slref.book Page 18 Friday, June 21, 2002 5:58 PM SampleTime Sample time scalar (sample period) {–1} or vector [period offset] Out (Outport) Port Port number scalar {1} OutputWhenDisabled Output when disabled {held} | reset InitialOutput Initial output scalar or vector {0} Subsystem (SubSystem) ShowPortLabels Show/Hide Port Labels Format menu item {on} | off Terminator (Terminator) (no block-specific parameters) Trigger (TriggerPort) TriggerType Trigger type {rising} | falling | either | function-call ShowOutputPort Show output port {off} | on Table 8-9: Ports & Subsystems (Continued) Block (Type)/Parameter Dialog Box Prompt Values Table 8-10: Signal Attributes Block (Type)/Parameter Dialog Box Prompt Values Data Type Conversion IC (InitialCondition) Value Initial value scalar or vector {1} Width (Width) (no block-specific parameters) Block-Specific Parameters slref.book Page 19 Friday, June 21, 2002 5:58 PM Table 8-11: Signal Routing Block (Type)/Parameter Dialog Box Prompt Values Bus Selector (BusSelector) InputSignals Cell array of the input signals nested to reflect the signal hierarchy Data Store Memory (DataStoreMemory) DataStoreName Data store name tag {A} InitialValue Initial value vector {0} Data Store Read (DataStoreRead) DataStoreName Data store name tag {A} SampleTime Sample time scalar (sample period) {–1} or vector [period offset] Data Store Write (DataStoreWrite) DataStoreName Data store name tag {A} SampleTime Sample time scalar (sample period) {–1} or vector [period offset] Demux (Demux) Outputs Number of outputs scalar or vector {3} From (From) GotoTag Goto tag tag {A} Goto (Goto) GotoTag Tag tag {A} TagVisibility Tag visibility {local} | scoped | global Goto Tag Visibility (GotoTagVisibility) GotoTag Goto tag tag {A} 8-19 8 Model and Block Parameters 8-20 slref.book Page 20 Friday, June 21, 2002 5:58 PM Manual Switch (Manual Switch) (masked) Merge Multiport Switch (MultiPortSwitch) Inputs Number of inputs scalar or vector {3} Mux (Mux) Inputs Number of inputs scalar or vector {3} Switch (Switch) Threshold Threshold scalar or vector {0} Table 8-11: Signal Routing (Continued) Block (Type)/Parameter Dialog Box Prompt Values Table 8-12: Sinks Library Block Parameters Block (Type)/Parameter Dialog Box Prompt Values Display (Display) Format Format {short} | long | short_e | long_e | bank Decimation Decimation scalar {1} Floating Floating display {off} on SampleTime Sample time scalar (sample period) {–1} or vector [period offset] Out (Outport) Port Port number scalar {1} OutputWhenDisabled Output when disabled {held} | reset InitialOutput Initial output scalar or vector {0} Scope (Scope) Block-Specific Parameters slref.book Page 21 Friday, June 21, 2002 5:58 PM Location Position of Scope window on screen vector {[left top right bottom]} Open (If Scope is open when the model is opened; cannot be set from dialog box) {off} | on NumInputPorts Number of axes positive integer > 0 TickLabels Hide tick labels {on} | off ZoomMode (Zoom button initially pressed) {on} | xonly | yonly AxesTitles Title (on right-click axes) scalar {auto} Grid (For future use) {on} | off TimeRange Time range scalar {auto} YMin Y min scalar {–5} YMax Y max scalar {5} SaveToWorkspace Save data to workspace {off} | on SaveName Variable name variable {ScopeData} DataFormat Format {matrix | structure} LimitMaxRows Limit rows to last {on} | off MaxRows (no label) scalar {5000} Decimation (Value if Decimation is selected) scalar {1} SampleInput (Toggles with Decimation) {off} | on SampleTime (SampleInput value) scalar (sample period) {0} or vector [period offset] Stop Simulation (StopSimulation) (no block-specific parameters) Terminator (Terminator) (no block-specific parameters) Table 8-12: Sinks Library Block Parameters (Continued) Block (Type)/Parameter Dialog Box Prompt Values 8-21 8 Model and Block Parameters 8-22 slref.book Page 22 Friday, June 21, 2002 5:58 PM To File (ToFile) Filename Filename filename {untitled.mat} MatrixName Variable name variable {ans} Decimation Decimation scalar {1} SampleTime Sample time scalar (sample period) {–1} or vector [period offset] To Workspace (ToWorkspace) VariableName Variable name variable {simout} Buffer Maximum number of rows scalar {inf} Decimation Decimation scalar {1} SampleTime Sample time scalar (sample period) {–1} or vector [period offset] XY Graph (XY scope.) (masked) Table 8-12: Sinks Library Block Parameters (Continued) Block (Type)/Parameter Dialog Box Prompt Values Table 8-13: Sources Library Block Parameters Block (Type)/Parameter Dialog Box Prompt Values Band-Limited White Noise (Continuous White Noise) (masked) Chirp Signal (chirp) (masked) VectorParams1D Interpret vector parameters as 1-D off {on} Clock (Clock) (no block-specific parameters) Constant (Constant) Value Constant value scalar or vector {1} Block-Specific Parameters slref.book Page 23 Friday, June 21, 2002 5:58 PM VectorParams1D Interpret vector parameters as 1-D off {on} Digital Clock (DigitalClock) SampleTime Sample time scalar (sample period) {1} or vector [period offset] From File (FromFile) FileName Filename filename {untitled.mat} From Workspace (FromWorkspace) VariableName Matrix table matrix {[T,U]} Ground (Ground) (no block-specific parameters) In (Inport) Port Port number scalar {1} PortWidth Port width scalar {–1} SampleTime Sample time scalar (sample period) {–1} or vector [period offset] Pulse Generator (Pulse Generator) Amplitude Amplitude scalar {1}, vector, or matrix PhaseDelay Phase delay scalar {0}, vector, or matrix PulseType Pulse type {'Time based'} | 'Sample based' PulseWidth Pulse width scalar {50}, vector, or matrix SampleTime Sample time scalar (sample period) {1} or vector [period offset] VectorParams1D Interpret vector parameters as 1-D off {on} Ramp (Ramp) (masked) Table 8-13: Sources Library Block Parameters (Continued) Block (Type)/Parameter Dialog Box Prompt Values 8-23 8 Model and Block Parameters 8-24 slref.book Page 24 Friday, June 21, 2002 5:58 PM VectorParams1D Interpret vector parameters as 1-D off {on} Random Number (RandomNumber) Seed Initial seed scalar or vector {0} VectorParams1D Interpret vector parameters as 1-D off {on} Repeating Sequence (Repeating table) (masked) Signal Generator (SignalGenerator) WaveForm Wave form {sine} | square | sawtooth | random Amplitude Amplitude scalar or vector {1} Frequency Frequency scalar or vector {1} Units Units {Hertz} | rad/sec VectorParams1D Interpret vector parameters as 1-D off {on} Sine Wave (Sin) Amplitude Amplitude scalar or vector {1} Frequency Frequency scalar or vector {1} Phase Phase scalar or vector {0} SampleTime Sample time scalar (sample period) {–1} or vector [period offset] VectorParams1D Interpret vector parameters as 1-D off {on} Step (Step) Time Step time scalar or vector {1} Before Initial value scalar or vector {0} Table 8-13: Sources Library Block Parameters (Continued) Block (Type)/Parameter Dialog Box Prompt Values Block-Specific Parameters slref.book Page 25 Friday, June 21, 2002 5:58 PM After Final value scalar or vector {1} VectorParams1D Interpret vector parameters as 1-D off {on} Uniform Random Number (Uniform RandomNumber) Minimum Minimum scalar or vector {–1} Maximum Maximum scalar or vector {1} Seed Initial Seed scalar or vector {0} SampleTime Sample Time scalar or vector {0} VectorParams1D Interpret vector parameters as 1-D off {on} Table 8-13: Sources Library Block Parameters (Continued) Block (Type)/Parameter Dialog Box Prompt Values Table 8-14: User-Defined Functions Block Parameters Block (Type)/Parameter Dialog Box Prompt Values Fcn (Fcn) Expr Expression expression {sin(u(1)*exp(2.3*(–u(2))))} MATLAB Fcn (MATLABFcn) MATLABFcn MATLAB function MATLAB function {sin} OutputWidth Output width scalar or vector {–1} S-Function (S-Function) FunctionName S-function name name {system} Parameters S-function parameters Additional parameters if needed 8-25 8 Model and Block Parameters 8-26 slref.book Page 26 Friday, June 21, 2002 5:58 PM Mask Parameters This section lists parameters that describe masked blocks. This table lists masking parameters, which correspond to Mask Editor dialog box parameters. Table 8-15: Mask Parameters Parameter Description/Prompt Values Mask Turns mask on or off. {on} | off MaskCallbackString Mask parameter callbacks delimited string MaskCallbacks Mask parameter callbacks cell array MaskDescription Block description string MaskDisplay Drawing commands display commands MaskEditorHandle Mask editor figure handle (for internal use) handle MaskEnableString Mask parameter enable status delimited string MaskEnables Mask parameter enable status cell array of strings, each either 'on' or 'off' MaskHelp Block help string MaskIconFrame Icon frame (Visible is on, Invisible is off) {on} | off MaskIconOpaque Icon transparency (Opaque is on, Transparent is off) {on} | off MaskIconRotate Icon rotation (Rotates is on, Fixed is off) on | {off} MaskIconUnits Drawing coordinates Pixel | {Autoscale} | Normalized MaskInitialization Initialization commands MATLAB command MaskNames MaskPrompts Prompt (see below) cell array of strings MaskPromptString Prompt (see below) delimited string Mask Parameters slref.book Page 27 Friday, June 21, 2002 5:58 PM When you use the Mask Editor to create a dialog box parameter for a masked block, you provide this information: The prompt, which you enter in the Prompt field The variable that holds the parameter value, which you enter in the Variable field The type of field created, which you specify by selecting a Control type Whether the value entered in the field is to be evaluated or stored as a literal, which you specify by selecting an Assignment type The mask parameters, listed in the table on the previous page, store the values specified for the dialog box parameters in these ways: The Prompt field values for all dialog box parameters are stored in the MaskPromptString parameter as a string, with individual values separated by a vertical bar (|), as shown in this example. MaskPropertyNameSt ring MaskSelfModifiable Indicates that the block can modify itself. on | {off} MaskStyles Control type (see below) cell array {Edit} | Checkbox | Popup MaskStyleString Control type (see below) {Edit} | Checkbox | Popup MaskTunableValues Tunable parameter attributes cell array of strings MaskTunableValue String Tunable parameter attributes delimited string MaskType Mask type string MaskValues Block parameter values (see below) cell array of strings MaskValueString Block parameter values (see below) delimited string MaskVariables Variable (see below) string MaskVisibilities Specifies visibility of parameters Table 8-15: Mask Parameters (Continued) Parameter Description/Prompt Values 8-27 8 Model and Block Parameters 8-28 slref.book Page 28 Friday, June 21, 2002 5:58 PM "Slope:|Intercept:" The Variable field values for all dialog box parameters are stored in the MaskVariables parameter as a string, with individual assignments separated by a semicolon. A sequence number indicates the prompt that is associated with a variable. A special character preceding the sequence number indicates the Assignment type: @ indicates Evaluate, & indicates Literal. For example, "a=@1;b=&2;" indicates that the value entered in the first parameter field is assigned to variable a and is evaluated in MATLAB before assignment, and the value entered in the second field is assigned to variable b and is stored as a literal, which means that its value is the string entered in the dialog box. The Control type field values for all dialog box parameters are stored in the MaskStyleString parameter as a string, with individual values separated by a comma. The Popup strings values appear after the popup type, as shown in this example: "edit,checkbox,popup(red|blue|green)" The parameter values are stored in the MaskValueString mask parameter as a string, with individual values separated by a vertical bar. The order of the values is the same as the order in which the parameters appear on the dialog box. For example, these statements define values for the parameter field prompts and the values for those parameters: MaskPromptString "Slope:|Intercept:" MaskValueString "2|5" 9 slref.book Page 1 Friday, June 21, 2002 5:58 PM Model File Format This section describes the format of a Simulink model file. 9 Model File Format 9-2 slref.book Page 2 Friday, June 21, 2002 5:58 PM Model File Contents A model file is a structured ASCII file that contains keywords and parameter-value pairs that describe the model. The file describes model components in hierarchical order. The structure of the model file is as follows. Model { <Model Parameter Name> <Model Parameter Value> ... BlockDefaults { <Block Parameter Name> <Block Parameter Value> ... } AnnotationDefaults { <Annotation Parameter Name> <Annotation Parameter Value> ... } System { <System Parameter Name> <System Parameter Value> ... Block { <Block Parameter Name> <Block Parameter Value> ... } Line { <Line Parameter Name> <Line Parameter Value> ... Branch { <Branch Parameter Name> <Branch Parameter Value> ... } } Annotation { <Annotation Parameter Name> <Annotation Parameter Value> ... } } } Model File Contents slref.book Page 3 Friday, June 21, 2002 5:58 PM The model file consists of sections that describe different model components: The Model section defines model parameters. The BlockDefaults section contains default settings for blocks in the model. The AnnotationDefaults section contains default settings for annotations in the model. The System section contains parameters that describe each system (including the top-level system and each subsystem) in the model. Each System section contains block, line, and annotation descriptions. See Chapter 8, “Model and Block Parameters” for descriptions of model and block parameters. Model Section The Model section, located at the top of the model file, defines the values for model-level parameters. These parameters include the model name, the version of Simulink last used to modify the model, and simulation parameters. BlockDefaults Section The BlockDefaults section appears after the simulation parameters and defines the default values for block parameters within this model. These values can be overridden by individual block parameters, defined in the Block sections. AnnotationDefaults Section The AnnotationDefaults section appears after the BlockDefaults section. This section defines the default parameters for all annotations in the model. These parameter values cannot be modified using the set_param command. System Section The top-level system and each subsystem in the model are described in a separate System section. Each System section defines system-level parameters and includes Block, Line, and Annotation sections for each block, line, and annotation in the system. Each Line that contains a branch point includes a Branch section that defines the branch line. 9-3 9 Model File Format 9-4 slref.book Page 4 Friday, June 21, 2002 5:58 PM Index slref.book Page 1 Friday, June 21, 2002 5:58 PM A Abs block 2-3 absolute tolerance simset parameter 5-12 specifying for a block state 2-186 absolute value generating 2-3, 2-123 Action Port block 2-5 Action subsystems creating 2-5 with If block 2-168 with SwitchCase block 2-341 add_block command 4-6 add_line command 4-7 add_param command 4-9 Algebraic Constraint block 2-8 algebraic equations modeling 2-8 algebraic loops integrator block reset or IC port 2-112 analysis functions perturbing model 2-175 AND operator 2-23 AnnotationDefaults section of mdl file 9-3 annotations annotation block See Model Info block ashow debug command 7-1 Assert block 2-10 Assignment block 2-12 Atomic Subsystem block 2-330 atrace debug command 7-2 automatic scaling and Look-Up Table (2D) block 2-203 autoscaling Scope axes 2-291 B Backlash block 2-17 Backward Euler method 2-110 Backward Rectangular method 2-110 bafter debug command 7-3 Band-Limited White Noise block 2-21 bdclose command 4-10 bdroot command 4-11 Bitwise Logical Operator block 2-23 block dialog boxes closing 4-12 opening 4-29 block libraries Blocksets and Toolboxes 1-19 Demos 1-20 Extras 1-19 block names newline character in 4-4, 5-3, 6-3 slash character in 4-5, 5-4, 6-4 block parameters changing during simulation 4-33 common 8-7 Continuous library 8-10 Discontinuities library 8-12 Discrete library 8-13 Look-Up Tables library 8-15, 8-25 Math library 8-15 Model-Wide Utilities library 8-17 Ports & Subsystems library 8-17 Signal Attributes library 8-18 Signal Routing library 8-19 Sinks library 8-20 Sources library 8-22 BlockDefaults section of mdl file 9-3 I-1 Index I-2 slref.book Page 2 Friday, June 21, 2002 5:58 PM blocks adding to model 4-6 current 4-23 deleting delete_block command 4-15 handle of current 4-24 specifying path 4-4, 5-3, 6-3 blocks See also block parameters 8-10 Blocksets and Toolboxes library 1-19 bode function 3-4 Boolean expressions modeling 2-64 break debug command 7-4 bshow debug command 7-5 Bus Creator block 2-27 Bus Selector block 2-31 C capping unconnected blocks 2-346, 2-363 Check Discrete Gradient block 2-33 Check Dynamic Gap block 2-36 Check Dynamic Lower Bound block 2-39 Check Dynamic Range block 2-42 Check Dynamic Upper Bound block 2-44 Check Input Resolution block 2-46 Check Static Gap block 2-48 Check Static Lower Bound block 2-51 Check Static Range block 2-54 Check Static Upper Bound block 2-57 Chirp Signal block 2-60 clear debug command 7-6 Clock block 2-62 close_system command 4-12 clutch demo 2-164 Combinatorial Logic block 2-64 combining input lines into vector line 2-236 compare_model command 4-14 Complex to Magnitude-Angle block 2-68 Complex to Real-Imag block 2-69 concatenating matrices 2-220 Configurable Subsystem block 2-70 Constant block 2-74 constant value generating 2-74 continue debug command 7-7 Continuous block library block parameters 8-10 control flow diagrams Action subsystem 2-5 do-while While Iterator block 2-375 for For Iterator block 2-135 if-else If block 2-168 switch Switch Case block 2-341 while While Iterator block 2-375 Coulomb and Viscous Friction block 2-77 Coulomb friction 2-77 Create Subsystem menu item 2-330 current block getting pathname 4-23 handle 4-24 current system getting pathname 4-25 Index slref.book Page 3 Friday, June 21, 2002 5:58 PM D Data Store Memory block 2-79 Data Store Read block 2-82 Data Store Write block 2-84 Data Type Conversion block 2-86 Dead Zone block 2-88 deadband 2-17 debug commands ashow 7-1 atrace 7-2 bafter 7-3 break 7-4 bshow 7-5 clear 7-6 continue 7-7 disp 7-8 emode 7-10 help 7-9 ishow 7-11 minor 7-12 nanbreak 7-13 next 7-14 probe 7-15 quit 7-16 run 7-17 slist 7-18 states 7-19 status 7-20 step 7-21 stop 7-22 systems 7-23 tbreak 7-24 trace 7-25 undisp 7-26 untrace 7-27 xbreak 7-28 zcbreak 7-29 zclist 7-30 decimation factor 5-12 decision tables modeling 2-64 delaying input by variable amount 2-372 delete_block command 4-15 delete_line command 4-16 delete_param command 4-17 demos clutch 2-164 fohdemo 2-133 hardstop 2-164 lorenzs 2-383 Demos library 1-20 Demux block 2-90 Derivative block 2-96 accuracy of 2-96 derivatives calculating 2-96 limiting 2-264 differential/algebraic systems modeling 2-8 Digital Clock block 2-98 Discontinuities block library block parameters 8-12 Discrete block library block parameters 8-13 Discrete Filter block 2-105 Discrete State-Space block 2-107 discrete state-space model 3-3 Discrete Transfer Fcn block 2-116 Discrete Zero-Pole block 2-118 Discrete-Time Integrator block 2-109 I-3 Index I-4 slref.book Page 4 Friday, June 21, 2002 5:58 PM discrete-time systems linearization 3-3 disp command 6-5 disp debug command 7-8 Display block 2-120 as floating display 2-120 displaying signals graphically 2-288 dlinmod function 3-2, 3-3 DocBlock block 2-123 Dot Product block 2-124 dpoly command 6-6 E eigenvalues of linearized matrix 3-3 emode debug command 7-10 Enable block 2-126 Enabled and Triggered Subsystem block 2-128 Enabled Subsystem block 2-129 enabled subsystems Enable block 2-126 expressions applying to block inputs 2-130 MATLAB Fcn block 2-218 external inputs flag 5-6 from workspace 2-175 ut 5-8 Extras block library 1-19 F Fcn block 2-130 compared to Math Function block 2-216 compared to Rounding Function block 2-284 compared to Trigonometric Function block 2-366 files reading from 2-143 writing to To File block 2-349 find_system command 4-18 finding objects 4-18 Finite Impulse Response filter 2-105 finite-state machines implementing 2-64 First-Order Hold block 2-133 compared to Zero-Order Hold block 2-133 fixed step size 5-13 flip-flops implementing 2-64 floating scope definition 2-295 Floating Scope block 2-288 fohdemo demo 2-133 for control flow diagram creating 2-135 For Iterator block 2-135 For Iterator Subsystem block 2-140 For subsystems creating 2-135 Forward Euler method 2-109 Forward Rectangular method 2-109 fprintf command 6-8 Index slref.book Page 5 Friday, June 21, 2002 5:58 PM From block 2-141 From File block 2-143 From Workspace block 2-146 Function-Call Generator block 2-150 Function-Call Subsystem block 2-152 G gain varying during simulation 2-322 gcb command 4-23 gcbh command 4-24 gcs command 4-25 get_param command 4-26 global Goto tag visibility 2-159 Goto block 2-159 Goto Tag Visibility block 2-162 graphics displaying on mask icon 6-11 Greek letters displaying on mask icons 6-5, 6-13 Ground block 2-163 H handle of current block 4-24 hardstop demo 2-164 help debug command 7-9 Hide Name menu item suppressing display of port label 2-239 Hit Crossing block 2-164 hybrid systems linearization 3-3 I IC block 2-166 If Action Subsystem block 2-173 If block 2-168 if-else control flow diagram creating 2-168 image displaying on mask icon 6-9, 6-10 image command 6-9 inf values in mask plotting commands 6-11 Infinite Impulse Response filter 2-105 initial conditions setting 2-166 initial states 5-13 initial step size 5-13 Inport block 2-174 linmod function 3-2 Inport blocks in subsystem 2-330 input ports unconnected 2-163 inputs applying expressions to 2-130 applying MATLAB function to Fcn block 2-130 MATLAB Fcn block 2-218 combining into vector line 2-236 delaying by variable amount 2-372 external 5-8 from outside system 2-174 from previous time step 2-222 from workspace 2-175 generating step between two levels 2-327 interpolated mapping 2-207 logical operations on 2-192 I-5 Index I-6 slref.book Page 6 Friday, June 21, 2002 5:58 PM inputs (continued) multiplying block inputs during simulation 2-322 outputting minimum or maximum 2-228 passing through stair-step function 2-258 piecewise linear mapping of two 2-202 plotting 2-383 reading from file 2-143 width of 2-382 integration block input 2-179 discrete-time 2-109 Integrator block 2-179 interpolated mapping 2-207 inverting signal bits 2-23 ishow debug command 7-11 J Jacobians 3-3 L left-hand approximation 2-109 limiting signals 2-286 limiting derivative of signal 2-264 limiting integral 2-181 linear models extracting linmod function 3-2 linearization discrete-time systems 3-3 linmod function 3-2 linearized matrix eigenvalues 3-3 lines adding 4-7 deleting 4-16 linmod function 3-2 Transport Delay block 2-358 linmod2 function 3-2 local Goto tag visibility 2-159 logic circuits modeling 2-64 Logical Operator block 2-192 Look-Up Table (2-D) block 2-202 Look-Up Table (n-D) block 2-207 Look-Up Tables block library block parameters 8-15, 8-25 lorenzs demo 2-383 M Magnitude-Angle to Complex block 2-213 Manual Switch block 2-215 mask icon displaying graphics on 6-11 displaying image on 6-9, 6-10 displaying port label on 6-12 displaying symbols and Greek letters on 6-13 displaying text on 6-5, 6-8, 6-13 displaying transfer function on 6-6 mask icons displaying symbols and Greek letters on 6-5 question marks in 6-11 mask parameters undefined 6-7 masked blocks parameters 8-26 masked subsystems question marks in icon 6-11 Index slref.book Page 7 Friday, June 21, 2002 5:58 PM masking signal bits 2-23 Math block library block parameters 8-15 Math Function block 2-216 mathematical functions performing Math Function block 2-216 Rounding Function block 2-284 Trigonometric Function block 2-366 mathematical symbols displaying on mask icons 6-5, 6-13 MATLAB Fcn block 2-218 MATLAB functions applying to block input Fcn block 2-130 MATLAB Fcn block 2-218 matrices concatenation 2-220 writing to 2-351 Matrix Concatenation block 2-220 maximum number of output rows 5-13 maximum order of ode15s solver 5-13 maximum step size simset command 5-13 mdl file 9-2 Memory block 2-222 memory region shared Data Store Memory block 2-79 Data Store Read block 2-82 Data Store Write block 2-84 Merge block 2-224 MinMax block 2-228 minor debug command 7-12 model command 5-5 model files 9-2 Model Info block 2-230 model parameters table 8-2 models closing 4-10 comparing compare_model command 4-14 creating new_system command 4-28 getting name 4-11 parameters 8-2 replacing blocks 4-30 simulating 5-7 Model-Wide Utilities block library block parameters 8-17 multiplying block inputs during simulation 2-322 multirate systems linearization 3-3 Mux block 2-236 N Nan values in mask plotting commands 6-11 nanbreak debug command 7-13 new_system command 4-28 newline in block name 4-4, 5-3, 6-3 next debug command 7-14 nonlinear systems spectral analysis of 2-60 normally distributed random numbers 2-262 NOT operator 2-23 I-7 Index I-8 slref.book Page 8 Friday, June 21, 2002 5:58 PM O objects finding 4-18 specifying path 4-4, 5-3, 6-3 ode113 solver Memory block 2-222 ode15s solver maximum order property 5-13 Memory block 2-222 open_system command 4-29 opening block dialog boxes 4-29 Simulink Library Browser 4-35 system windows 4-29 operating point 3-2 options structure getting values 5-16 setting values 5-12 OR operator 2-23 Outport block 2-238 linmod function 3-2 Outport blocks in subsystem 2-330 output maximum rows 5-13 outside system 2-238 refine factor 5-14 selected elements of input vector 2-302 selected information about the signal on input 2-252 specifying points 5-14 switching between two inputs 2-215 values displaying 2-120 variables 5-14 writing to file To File block 2-349 writing to workspace To Workspace block 2-351 zero within range 2-88 output ports capping unconnected 2-346, 2-363 P parameters adding 4-9 block list 8-7 deleting 4-17 getting values of 4-26 masked blocks 8-26 model 8-2 setting values of set_param command 4-33 patch command 6-10 path specifying 4-4, 5-3, 6-3 phase-shifted wave 2-310, 2-312 piecewise linear mapping two inputs 2-202 piecewise linear signal generating Signal Builder block 2-310 plot command 6-11 plotting input signals Scope block 2-288 XY Graph block 2-383 plotting simulation data 5-10 port label displaying on mask icon 6-12 port labels suppressing display 2-239 port_label command 6-12 Index slref.book Page 9 Friday, June 21, 2002 5:58 PM Ports & Subsystems block library block parameters 8-17 probe debug command 7-15 programmable logic arrays modeling 2-64 properties of Scope block 2-295 Pulse Generator block 2-254 Q Quantizer block 2-258 question marks in mask icon 6-11 quit debug command 7-16 R random noise generating 2-262 Random Number block 2-262 and Band-Limited White Noise block 2-21 compared to Band-Limited White Noise block 2-262 random numbers generating normally distributed 2-21 normally distributed 2-262 uniformly distributed 2-368 Rate Limiter block 2-264 Rate Transition block 2-266 reading data from data store 2-82 from file 2-143 from workspace 2-146 Real-Imag to Complex block 2-269 refine factor simset command 5-14 region of zero output 2-88 regular expressions 4-20 relative tolerance 5-14 Repeating Sequence block 2-279 repeating signals 2-279 replace_block command 4-30 replacing blocks in model 4-30 Reshape block 2-281 right-hand approximation 2-110 Rounding Function block 2-284 run debug command 7-17 S sample-and-hold applying to block input 2-222 sampling interval generating simulation time 2-98 Saturation block 2-286 save_system command 4-32 sawtooth wave generating 2-311 Scope axes autoscaling 2-291 Scope block 2-288 properties 2-295 saving axes settings 2-294 scoped Goto tag visibility 2-159 Selector block 2-302 separating vector signal 2-90 sequence of signals 2-254 sequential circuits implementing 2-66 set_param command 4-33 setting parameter values 4-33 S-Function block 2-306 S-Function Builder block 2-308 I-9 Index I-10 slref.book Page 10 Friday, June 21, 2002 5:58 PM shared data store Data Store Memory block 2-79 Data Store Read block 2-82 Data Store Write block 2-84 SHIFT_LEFT operator 2-23 SHIFT_RIGHT operator 2-23 shifting signal bits 2-23 Sign block 2-309 Signal Attributes block library block parameters 8-18 Signal Generator block 2-311 Signal Inspection block 2-252 Signal Routing block library block parameters 8-19 Signal Specification block 2-314 signals displaying graphically 2-288 displaying vector 2-289 displaying X-Y plot of 2-383 generating pulses 2-254 limiting 2-286 limiting derivative of 2-264 passed from Goto block 2-141 passing to From block 2-159 plotting Scope block 2-288 XY Graph block 2-383 repeating 2-279 sim command 5-7 simget command 5-16 simplot command plotting simulation data 5-10 simset command 5-12 simulating models 5-7 simulation parameters specifying using simset command 5-12 stopping Stop Simulation block 2-329 simulation time generating at sampling interval 2-98 outputting 2-62 simulink command 4-35 Simulink Library Browser opening 4-35 sine wave generating Signal Generator block 2-311 Sine Wave block 2-317 generating with increasing frequency Chirp Signal block 2-60 Sine Wave block 2-317 Sinks block library block parameters 8-20 slash in block name 4-5, 5-4, 6-4 Slider Gain block 2-322 slist debug command 7-18 solvers properties specifying 5-12 specifying using simset command 5-14 Sources block library block parameters 8-22 spectral analysis of nonlinear systems 2-60 square wave generating 2-311 ss2tf function 3-4 ss2zp function 3-4 stair-step function passing signal through 2-258 Index slref.book Page 11 Friday, June 21, 2002 5:58 PM state derivatives setting to zero 3-5 state space in discrete system 2-107 states initial 5-13 outputting 5-14 resetting 2-181 saving at end of simulation 5-13 specifying absolute tolerance for 2-186 states debug command 7-19 State-Space block 2-324 status debug command 7-20 Step block 2-327 step debug command 7-21 stop debug command 7-22 Stop Simulation block 2-329 stopping simulation 2-329 Subsystem block 2-330 subsystems and Inport blocks 2-174 enabled 2-126 specifying path 4-4, 5-3, 6-3 Sum block 2-334 Switch Case Action Subsystem block 2-345 switch control flow diagram creating 2-341 switching output between inputs Manual Switch block 2-215 switching output between two inputs 2-215 System section of mdl file 9-3 system windows closing 4-12 systems current 4-25 saving 4-32 specifying path 4-4, 5-3, 6-3 systems debug command 7-23 T tbreak debug command 7-24 Terminator block 2-346 TeX formatting commands using in mask icon text 6-5, 6-13 text command 6-13 tf2ss utility converting Transfer Fcn to state-space form 2-355 time delay simulating 2-358 Time-Based Linearization block 2-347 To File block 2-349 To Workspace block 2-351 trace debug command 7-25 tracing facilities 5-14 Transfer Fcn block 2-355 transfer function displaying on mask icon 6-6 transfer function form converting to 3-4 transfer functions discrete 2-116 linear 2-355 poles and zeros 2-387 discrete 2-118 Transport Delay block 2-358 Trapezoidal method 2-110 Trigger block 2-361 Trigger-Based Linearization block 2-363 Triggered Subsystem block 2-365 triggered subsystems Trigger block 2-361 Trigonometric Function block 2-366 trim function 3-5 truth tables implementing 2-64 I-11 Index I-12 slref.book Page 12 Friday, June 21, 2002 5:58 PM U unconnected input ports 2-163 unconnected output ports capping 2-346, 2-363 undisp debug command 7-26 Uniform Random Number block 2-368 compared to Band-Limited White Noise block 2-368 uniformly distributed random numbers 2-368 Unit Delay block compared to Transport Delay block 2-358 untrace debug command 7-27 Update Diagram menu item changing block parameters during simulation 4-33 V variable time delay 2-372 Variable Transport Delay block 2-372 vdp model Scope block 2-290 vector signals displaying 2-289 generating from inputs 2-236 separating 2-90 viscous friction 2-77 visibility of Goto tag 2-162 W while control flow diagram creating 2-375 While Iterator block 2-375 While Iterator Subsystem block 2-381 While subsystems creating 2-375 white noise generating 2-21 Width block 2-382 workspace destination 5-13 reading data from 2-146 source 5-14 writing output to 2-351 writing data to data store 2-84 writing output to file 2-349 writing output to workspace 2-351 X xbreak debug command 7-28 XOR operator 2-23 XY Graph block 2-383 Z zcbreak debug command 7-29 zclist debug command 7-30 zero crossings detecting Hit Crossing block 2-164 simset command 5-15 zero output in region generating 2-88 Zero-Order Hold block compared to First-Order Hold block 2-133 Zero-Pole block 2-387 zero-pole form converting to 3-4 zooming in on displayed data 2-292