Michael Paluszek and Stephanie Thomas

MATLAB Recipes

A Problem-Solution Approach

2nd ed.
Michael Paluszek
Princeton, NJ, USA
Stephanie Thomas
Princeton Junction, NJ, USA
ISBN 978-1-4842-6123-1e-ISBN 978-1-4842-6124-8
https://doi.org/10.1007/978-1-4842-6124-8
© Michael Paluszek and Stephanie Thomas 2020
This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use.
The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Distributed to the book trade worldwide by Springer Science+Business Media New York, 1 New York Plaza, Suite 4600, New York, NY 10004-1562, USA. Phone 1-800-SPRINGER, fax (201) 348-4505, e-mail [email protected], or visit www.springeronline.com. Apress Media, LLC is a California LLC and the sole member (owner) is Springer Science + Business Media Finance Inc (SSBM Finance Inc). SSBM Finance Inc is a Delaware corporation.
Introduction

Writing software has become part of the job description for nearly every professional engineer and engineering student. While there are many excellent prebuilt software applications for engineers, almost everyone can benefit by writing custom software for their own problems.

MATLAB had its origins for that very reason. Scientists that needed to do operations on matrices used numerical software written in FORTRAN. At the time, using computer languages required the user to go through the write-compile-link-execute process that was time-consuming and error-prone. MATLAB presented the user with a scripting language that allowed the user to solve many problems with a few lines of a script that executed instantaneously. MATLAB had built-in visualization tools that helped the user better understand the results. Writing MATLAB was a lot more productive and fun than writing FORTRAN.

MATLAB has grown greatly since those days. The power of the basic MATLAB software has grown dramatically, and hundreds of MATLAB libraries are now available, both commercially and as open source. MATLAB is so sophisticated that most new users only use a fraction of its power.

The goal of MATLAB Recipes is to help all users harness the power of MATLAB. This book has two parts. The first part, Chapters 1 through 5, gives a framework that you can use to write high-quality MATLAB code that you, your colleagues, and possibly your customers can utilize. We cover coding practices, graphics, debugging, and other topics in a problem-solution format. You can read these sections from cover to cover or just look at the recipes that interest you and use them in your latest MATLAB code.

The second part of the book, Chapters 6 through 12, shows complete MATLAB applications revolving around the control of and simulation of dynamical systems. Each chapter provides the technical background for the topic, ideas on how you can write a simple control system, and an example of how you might simulate the system. Each system is implemented in a MATLAB script supported by a number of MATLAB functions. Each chapter also highlights a general MATLAB topic, like graphics or writing graphical user interfaces (GUIs). We have deliberately made the control systems simple so that the reader won’t need a course in control theory to get results. Control experts can easily take the script and implement their own ideas. We cover a number of areas, ranging from chemical processes to satellites – and we apologize if we didn’t write an example for your area of interest!

The book has something for everyone – from the MATLAB novice to the authors of commercial MATLAB packages. We learned new things writing this book! We hope that you enjoy the book and look forward to seeing your software that it inspires.

About the Authors
../images/335353_2_En_BookFrontmatter_Figb_HTML.jpg

Michael Paluszek is President of Princeton Satellite Systems, Inc. (PSS) in Plainsboro, New Jersey. Mr. Paluszek founded PSS in 1992 to provide aerospace consulting services. He used MATLAB to develop the control system and simulations for the IndoStar-1 geosynchronous communications satellite. This led to the launch of Princeton Satellite Systems’ first commercial MATLAB toolbox, the Spacecraft Control Toolbox, in 1995. Since then, he has developed toolboxes and software packages for aircraft, submarines, robotics, and nuclear fusion propulsion, resulting in Princeton Satellite Systems’ current extensive product line. He is working with the Princeton Plasma Physics Laboratory on a compact nuclear fusion reactor for energy generation and space propulsion.

Prior to founding PSS, Mr. Paluszek was an engineer at GE Astro Space in East Windsor, NJ. At GE, he designed the Global Geospace Sciences Polar despun platform control system and led the design of the GPS IIR attitude control system, the Inmarsat-3 attitude control systems, and the Mars Observer delta-V control system, leveraging MATLAB for control design. Mr. Paluszek also worked on the attitude determination system for the DMSP meteorological satellites. He flew communication satellites on over 12 satellite launches, including the GSTAR III recovery, the first transfer of a satellite to an operational orbit using electric thrusters. At Draper Laboratory, Mr. Paluszek worked on the Space Shuttle, Space Station, and submarine navigation. His Space Station work included designing of Control Moment Gyro-based control systems for attitude control.

Mr. Paluszek received his bachelor’s degree in Electrical Engineering and master’s and Engineer’s degrees in Aeronautics and Astronautics from the Massachusetts Institute of Technology. He is author of numerous papers and has over a dozen US patents. Mr. Paluszek is coauthor of MATLAB Recipes, MATLAB Machine Learning, MATLAB Machine Learning Recipes: A Problem-Solution Approach, and Practical MATLAB Deep Learning, all published by Apress.

../images/335353_2_En_BookFrontmatter_Figc_HTML.jpg

Stephanie Thomas is Vice President of Princeton Satellite Systems, Inc. in Plainsboro, New Jersey. She received her bachelor’s and master’s degrees in Aeronautics and Astronautics from the Massachusetts Institute of Technology in 1999 and 2001. Ms. Thomas was introduced to the PSS Spacecraft Control Toolbox for MATLAB during a summer internship in 1996 and has been using MATLAB for aerospace analysis ever since. In her nearly 20 years of MATLAB experience, she has developed many software tools including the Solar Sail Module for the Spacecraft Control Toolbox, a proximity satellite operations toolbox for the Air Force, collision monitoring Simulink blocks for the Prisma satellite mission, and launch vehicle analysis tools in MATLAB and Java. She has developed novel methods for space situation assessment such as a numeric approach to assessing the general rendezvous problem between any two satellites implemented in both MATLAB and C++. Ms. Thomas has contributed to PSS’ Attitude and Orbit Control textbook, featuring examples using the Spacecraft Control Toolbox, and written many software user guides. She has conducted SCT training for engineers from diverse locales such as Australia, Canada, Brazil, and Thailand and has performed MATLAB consulting for NASA, the Air Force, and the European Space Agency. Ms. Thomas is coauthor of MATLAB Recipes, MATLAB Machine Learning, MATLAB Machine Learning Recipes: A Problem-Solution Approach, and Practical MATLAB Deep Learning, published by Apress. In 2016, Ms. Thomas was named a NASA NIAC Fellow for the project “Fusion-Enabled Pluto Orbiter and Lander.”

Contents
I Coding in MATLAB1
1 Coding Handbook 3
MATLAB Language Primer 3
Brief Introduction to MATLAB 3
Everything Is a Matrix 6
Strings Are Simple 8
Use Strict Data Structures 9
Cell Arrays Hold Anything and Everything 11
Optimize Your Code with Logical Arrays 12
Use Persistent and Global Scope to Minimize Data Passing 12
Understanding Unique MATLAB Operators and Keywords 14
Harnessing the Power of Multiple Inputs and Outputs 16
Use Function Handles for Efficiency 17
Numerics 18
Images 18
Datastore 20
Tall Arrays 22
Sparse Matrices 22
Tables and Categoricals 23
Large MAT-files 23
Advanced Data Types 25
1.​1 Initializing a Data Structure Using Parameters 25
Problem 26
Solution 26
How It Works 26
1.​2 Performing mapreduce on an Image Datastore 29
Problem 29
Solution 29
How It Works 29
1.​3 Creating a Table from a File 31
Problem 32
Solution 32
How It Works 32
1.​4 Processing Table Data 33
Problem 33
Solution 33
How It Works 34
1.​5 String Concatenation 37
Problem 37
Solution 37
How It Works 37
1.​6 Arrays of Strings 37
Problem 37
Solution 37
How It Works 37
1.​7 Non-English Strings 38
Problem 38
Solution 38
How It Works 38
1.​8 Substrings 39
Problem 39
Solution 39
How It Works 39
1.​9 Using JSON-Formatted Strings 39
1.​10 Creating Function Help 40
Problem 40
Solution 40
How It Works 40
1.​11 Locating Directories for Data Storage 42
Problem 42
Solution 42
How It Works 42
1.​12 Loading Binary Data from a File 43
Problem 43
Solution 43
How It Works 43
1.​13 Command-Line File Interaction 45
Problem 45
Solution 45
How It Works 45
1.​14 Using a MEX File to Link to an External Library 47
Problem 47
Solution 47
How It Works 47
1.​15 Protect Your IP with Parsed Files 50
Problem 50
Solution 50
How It Works 50
1.​16 Writing to a Text File 51
Problem 51
Solution 51
How It Works 51
1.​17 Using an Explicit Expansion 55
Problem 55
Solution 55
How It Works 55
1.​18 Using a Script Subfunction 56
Problem 56
Solution 56
How It Works 56
1.​19 Using Memoize 58
Problem 58
Solution 58
How It Works 58
1.​20 Using Java 59
Problem 59
Solution 59
How It Works 59
1.​21 Creating Documents 61
Problem 61
Solution 61
How It Works 61
1.​22 MATLAB Online 64
Problem 64
Solution 64
How It Works 64
2 MATLAB Style 69
2.​1 Developing Your Own MATLAB Style Guidelines 69
Problem 69
Solution 70
How It Works 70
2.​2 Writing Good Function Help 74
Problem 74
Solution 74
How It Works 74
2.3 Overloading Functions and Utilizing varargin 77
Problem 77
Solution 77
How It Works 77
2.​4 Adding Built-in Inputs and Outputs to Functions 78
Problem 78
Solution 78
How It Works 78
2.​5 Adding Argument Checking to Functions 80
Problem 80
Solution 80
How It Works 80
2.​6 Adding Dot Indexing 82
Problem 82
Solution 82
How It Works 82
2.​7 Smart Structuring of Scripts 82
Problem 82
Solution 82
How It Works 83
2.​8 Implementing MATLAB Command-Line Help for Folders 85
Problem 85
Solution 85
How It Works 85
2.​9 Publishing Code into Technical Reports 88
Problem 88
Solution 88
How It Works 89
2.​10 Integrating Toolbox Documentation into the MATLAB Help System 93
Problem 93
Solution 93
How It Works 93
2.​11 Structuring a Toolbox 98
Problem 98
Solution 98
How It Works 98
3 Visualization 101
3.​1 Plotting Data Interactively from the MATLAB Desktop 102
Problem 102
Solution 102
How It Works 102
3.​2 Incrementally Annotate a Plot 107
Problem 107
Solution 107
How It Works 107
3.​3 Create a Custom Plot Page with Subplot 109
Problem 109
Solution 109
How It Works 109
3.​4 Create a Heat Map 112
Problem 112
Solution 112
How It Works 112
3.​5 Create a Plot Page with Custom-Sized Axes 113
Problem 113
Solution 113
How It Works 114
3.​6 Plotting with Dates 115
Problem 115
Solution 116
How It Works 116
3.​7 Generating a Color Distribution 118
Problem 118
Solution 119
How It Works 119
3.​8 Visualizing Data over 2D or 3D Grids 120
Problem 120
Solution 120
How It Works 120
3.​9 Generate 3D Objects Using Patch 123
Problem 123
Solution 123
How It Works 124
3.​10 Working with Light Objects 125
Problem 125
Solution 125
How It Works 125
3.​11 Programmatically​ Setting the Camera Properties 129
Problem 129
Solution 129
How It Works 130
3.​12 Display an Image 132
Problem 132
Solution 132
How It Works 132
3.​13 Graph and Digraph 135
Problem 135
Solution 135
How It Works 135
3.​14 Adding a Watermark 138
Problem 138
Solution 138
How It Works 138
4 Interactive Graphics 143
4.​1 Creating a Simple Animation 143
Problem 143
Solution 143
How It Works 143
4.​2 Playing Back an Animation 147
Problem 147
Solution 147
How It Works 147
4.​3 Animate Line Objects 148
Problem 148
Solution 148
How It Works 149
4.4 Implementation of a uicontrol Button 152
Problem 152
Solution 153
How It Works 153
4.​5 Display Status of a Running Simulation or Loop 155
Problem 155
Solution 155
How It Works 155
4.​6 Create a Custom GUI with App Designer 158
Problem 158
Solution 158
How It Works 158
4.​7 Build a Data Acquisition GUI 165
Problem 165
Solution 165
How It Works 166
5 Testing and Debugging 175
5.​1 Creating a Unit Test 176
Problem 176
Solution 176
How It Works 177
5.​2 Running a Test Suite 184
Problem 184
Solution 184
How It Works 185
5.​3 Setting Verbosity Levels in Tests 186
Problem 186
Solution 186
How It Works 186
5.​4 Create a Logging Function to Display Data 189
Problem 189
Solution 189
How It Works 189
5.​5 Generating and Tracing MATLAB Errors and Warnings 191
Problem 191
Solution 191
How It Works 191
5.​6 Testing Custom Errors and Warnings 192
Problem 192
Solution 192
How It Works 192
5.​7 Testing Generation of Figures 196
Problem 196
Solution 196
How It Works 196
6 Classes 199
6.​1 Object-Oriented Programming 199
6.​2 State Space Systems Base Class 201
Problem 201
Solution 201
How It Works 201
6.​3 State Space Systems Discrete Class 206
Problem 206
Solution 206
How It Works 206
6.​4 Using the State Space Class 207
Problem 207
Solution 208
How It Works 208
6.​5 Using a Mocking Framework 209
Problem 209
Solution 209
How It Works 209
II Applications213
7 The Double Integrator 215
7.​1 Writing the Equations for the Double Integrator Model 215
Problem 215
Solution 215
How It Works 215
7.​2 Creating a Fixed-Step Numerical Integrator 216
Problem 216
Solution 217
How It Works 217
7.​3 Implement a Discrete Proportional-DerivativeContro​ller 219
Problem 219
Solution 219
How It Works 220
7.​4 Double Integrator Simulation 225
Problem 225
Solution 225
How It Works 225
7.​5 Create Time Axes with Reasonable Time Units 229
Problem 229
Solution 229
How It Works 229
7.​6 Create Figures with Multiple Subplots 230
Problem 230
Solution 230
How It Works 230
8 Robotics 235
8.​1 Creating a Dynamical Model of the SCARA Robot 235
Problem 235
Solution 235
How It Works 236
8.​2 Customize a Visualization Function for the Robot 238
Problem 238
Solution 238
How It Works 239
8.​3 Using Numerical Search for Robot Inverse Kinematics 243
Problem 243
Solution 243
How It Works 244
8.​4 Developing a Control System for the Robot 246
Problem 246
Solution 246
How It Works 246
8.​5 Simulating the Controlled Robot 248
Problem 248
Solution 248
How It Works 248
Summary 251
9 Electric Motors 253
9.​1 Motor Model 253
Problem 253
Solution 255
How It Works 255
9.​2 Controlling the Motor 258
Problem 258
Solution 258
How It Works 258
9.​3 Pulsewidth Modulation of the Switches 262
Problem 262
Solution 262
How It Works 262
9.​4 Simulating the Controlled Motor 270
Problem 270
Solution 270
How It Works 270
10 Fault Detection 277
10.​1 Modeling an Air Turbine 277
Problem 277
Solution 277
How It Works 278
10.​2 Building a Detection Filter 280
Problem 280
Solution 280
How It Works 281
10.​3 Simulating the Fault Detection System 284
Problem 284
Solution 284
How It Works 284
10.​4 Building a GUI for the Detection Filter Simulation 287
Problem 287
Solution 287
How It Works 288
11 Chemical Processes 299
11.​1 Modeling the Chemical Mixing Process 299
Problem 299
Solution 299
How It Works 300
11.​2 Sensing the pH of the Chemical Process 303
Problem 303
Solution 303
How It Works 303
11.​3 Controlling the Effluent pH 311
Problem 311
Solution 311
How It Works 311
11.​4 Simulating the Controlled pH Process 312
Problem 312
Solution 312
How It Works 312
12 Aircraft 327
12.​1 Creating a Dynamical Model of an Aircraft 327
Problem 327
Solution 327
How It Works 327
12.​2 Equilibrium Control 332
Problem 332
Solution 332
How It Works 332
12.​3 Designing a Control System for an Aircraft 340
Problem 340
Solution 340
How It Works 340
12.​4 Plotting a 3D Trajectory for an Aircraft 342
Problem 342
Solution 342
How It Works 342
12.​5 Simulating the Controlled Aircraft 346
Problem 346
Solution 346
How It Works 346
12.​6 Draw an Aircraft 351
Problem 351
Solution 351
How It Works 351
13 Spacecraft Attitude Control 359
13.​1 Creating a Dynamical Model of the Spacecraft 359
Problem 359
Solution 360
How It Works 360
13.​2 Computing Angle Errors from Quaternions 364
Problem 364
Solution 364
How It Works 364
13.​3 Simulating the Controlled Spacecraft 366
Problem 366
Solution 366
How It Works 366
13.​4 Performing Batch Runs of a Simulation 373
Problem 373
Solution 373
How It Works 373
14 Automobiles 383
14.​1 Automobile Dynamics 383
Problem 383
Solution 383
How It Works 383
14.​2 Modeling the Automobile Radar 389
Problem 389
Solution 389
How It Works 389
14.​3 Automobile Autonomous Passing Control 393
Problem 393
Solution 393
How It Works 394
14.​4 Automobile Animation 395
Problem 395
Solution 395
How It Works 395
14.​5 Modeling an Automobile Suspension 400
Problem 400
Solution 400
How It Works 400
Bibliography 407
Index 409
..................Content has been hidden....................

You can't read the all page of ebook, please click here login for view all page.
Reset
18.220.136.165