Introduction to Matlab

Matlab Basics

John J. H. Oh
Pohang Univ. Of Science and Technology

Based on lectures by F. Gustafsson, Linköping University

 Introduction to Matlab 2

What is Matlab?
A software environment for interactive numerical computations

Examples:
 Matrix computations and linear algebra
 Solving nonlinear equations
 Numerical solution of differential equations
 Mathematical optimization
 Statistics and data analysis
 Signal processing
 Modelling of dynamical systems
 Solving partial differential equations
 Simulation of engineering systems
 Introduction to Matlab 3

Matlab Background

Matlab = Matrix Laboratory

Originally a user interface for numerical linear algebra
routines (Lapak/Linpak)
Commercialized 1984 by The Mathworks
Since then heavily extended (defacto-standard)

Alternatives Complements
Matrix-X Maple (symbolic)
Octave (free; GNU) Mathematica (symbolic)
Lyme (free; Palm)
 Introduction to Matlab 4

Construction
Core functionality: compiled C-routines
Most functionality is given as m-files, grouped into toolboxes
 m-files contain source code, can be copied and altered
 m-files are platform independent (PC, Unix/Linux, MAC)
Simulation of dynamical systems is performed in Simulink

Sig. Proc Contr. Syst.

Simulink
C-kernel m-files
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Matlab Desktop

Launch Pad

Command
Window

History
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Matlab Desktop – cont’d

Workspace

Command
Window

Current
DIrectory
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The Matlab Environment

Matlab is an interpreted language

 Commands are typed into the COMMAND Window and
executed immediately
 Variables are allocated in memory as soon as they are first
used in an expression
 Commands must be re-entered to be re-executed
All variables created in the Command Window are in what
is called the Base Workspace
 Variables can be reassigned new values as needed
 Variables can be selectively cleared from the workspace
The Workspace can be saved to a data file
 File extension is .mat (ex: mydata.mat)
 File is in binary and essentially unreadable by humans
 .mat files can be reloaded back into the Matlab Workspace
 Introduction to Matlab 8

Matlab Help
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The Help System

Search for appropriate function

>> lookfor keyword

Rapid help with syntax and function definition

>> help function

An advanced hyperlinked help system is launched by

>> helpdesk

Complete manuals as PDF files

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Matlab Editor Access to

commands

Color keyed
text with auto
indents

tabbed sheets for other

files being edited
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Interactive Calculations
Matlab is interactive, no need to declare variables
>> 2+3*4/2
>> a=5e-3; b=1; a+b

Most elementary functions and constants are already defined

>> cos(pi)
>> abs(1+i)
>> sin(pi)

Last call gives answer 1.2246e-016 !?

 Introduction to Matlab 12

Floating point numbers in Matlab

IEEE Standard for double precision numbers

s e f
1 2 12 13 64

Round-off: eps = 2-52

Underflow: realmin = 2-1022
Overflow: realmax = (2-eps) ·21023
Introduction to Matlab 13

Variable and Memory Management

Matlab uses double precision (approx. 16 significant digits)
>> format long
>> format compact

All variables are shown with

>> who
>> whos

Variables can be stored on file

>> save filename
>> clear
>> load filename
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Vectors and Matrices

Vectors (arrays) are defined as
>> v = [1, 2, 4, 5]
>> w = [1; 2; 4; 5]

Matrices (2D arrays) defined similarly

>> A = [1,2,3;4,-5,6;5,-6,7]
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Matrix Operators
All common operators are overloaded
>> v + 2

Common operators are available

>> B = A’
>> A*B
>> A+B

Note:
 Matlab is case-sensitive
A and a are two different variables
• Transponate conjugates complex entries; avoided by
>> B=A.’
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Indexing Matrices
Indexing using parentheses
>> A(2,3)

Index submatrices using vectors

of row and column indices
>> A([2 3],[1 2])

Ordering of indices is important!

>> B=A([3 2],[2 1])
>> B=[A(3,2),A(3,1);A(2,2);A(2,1)]
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Indexing Matrices
Index complete row or column using
the colon operator
>> A(1,:)

Can also add limit index range

>> A(1:2,:)
>> A([1 2],:)

General notation for colon operator

>> v=1:5
>> w=1:2:5
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Matrix Functions
Many elementary matrices predefined
>> help elmat;
>> I=eye(3)

Elementary functions are often overloaded

>> help elmat
>> sin(A)

Specialized matrix functions and operators

>> As=sqrtm(A)
>> As^2
>> A.*A

Note: in general, ”.<operator>” is elementwise operation

 Introduction to Matlab 19

Numerical Linear Algebra

Basic numerical linear algebra
>> z=[1;2;3]; x=inv(A)*z
>> x=A\z

Many standard functions predefined

>> det(A)
>> rank(A)
>> eig(A)

The number of input/output arguments can often be varied

>> [V,D]=eig(A)
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Inner (dot) Product

v α
w v.w = ( x1 , x2 ).( y1 , y2 ) = x1 y1 + x2 . y2

The inner product is a SCALAR!

v.w = ( x1 , x2 ).( y1 , y2 ) =|| v || ⋅ || w || cos α

v.w = 0 ⇔ v ⊥ w
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Matrices

Sum:
Cn×m = An×m + Bn×m
 a11 a12  a1m 
a
 21 a22  a2 m  cij = aij + bij
An×m = a31 a32  a3m 
  A and B must have the same
    
dimensions
an1 an 2  anm 
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Matrices

Product: A and B must have

Cn× p = An×m Bm× p compatible dimensions
m
cij = ∑ aik bkj
k =1 An×n Bn×n ≠ Bn×n An×n

1 0  0
Identity Matrix:
 
0 1  0
I = IA = AI = A
   
 
0 0  1
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Matrices
Transpose:
Cm×n = A T
n× m ( A + B) = A + B
T T T

cij = a ji ( AB)T = B T AT

If A =A
T
A is symmetric
 Introduction to Matlab 24
Matrices

Determinant: A must be square

 a11 a12  a11 a12

det   = = a11a22 − a21a12
a21 a22  a21 a22

 a11 a12 a13 

a22 a23 a21 a23 a21 a22
det a21 a22 
a23  = a11 − a12 + a13
a32 a33 a31 a33 a31 a32
a31 a32 a33 
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Matrices

Inverse: A must be square

−1 −1
An×n A n× n =A n×n An×n = I
−1
 a11 a12  1  a22 − a12 
a  = − a
 21 a22  a11a22 − a21a12  21 a11 
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2D Translation
P’

t
P
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2D Translation Equation

P’
t
ty P P = ( x, y )
y t = (t x , t y )
x tx

P ' = ( x + t x , y + t y ) = P+t
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2D Translation using Matrices

P’ P = ( x, y )
t
ty P
t = (t x , t y )
y
t P
x tx  x
 x + t x  1 0 t x   
P' →   = ⋅  y
 y + t y  0 1 t y   1 
 
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Scaling
P’

P
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Scaling Equation

P’
s.y
P = ( x, y )
P P ' = ( sx, sy )
y
P' = s ⋅ P
x s.x
 sx   s 0  x 
P' →   =  ⋅ 
 sy  0 s   y 

P' = S ⋅ P S
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Rotation

P’
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Rotation Equations

Counter-clockwise rotation by an angle θ

 x' cosθ − sin θ   x 

P’  y ' =  sin θ cosθ   y 
Y’   
θ
P
y P' = R.P
x
X’
 Introduction to Matlab 33

Graphics

Visualization of vector data is available

>> x=-pi:0.1:pi; y=sin(x);
>> plot(x,y)
>> plot(x,y,’s-’)
>> xlabel(’x’); ylabel(’y=sin(x)’);

Can change plot properties in Figure menu, or via ”handle”

>> h=plot(x,y); set(h, ’LineWidth’, 4);

Many other plot functions available

>> v=1:4; pie(v)
Introduction to Matlab 34

Graphics
Three-dimensional graphics
>> A = zeros(32);
>> A(14:16,14:16) = ones(3);
>> F=abs(fft2(A));
>> mesh(F)
>> rotate3d on

Several other plot functions available

>> surfl(F)

Can change lightning and material properties

>> cameramenu
>> material metal
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Graphics
Bitmap images can also be visualized
>> load mandrill
>> image(X); colormap(map)
>> axis image off