Appendix 1

S-functions under SIMULlNK 3

1. S-functions functioning principle under SIMULINK@ 3

2. Various stages of the simulation
3. S-function creation through a M-file call
4. S-function creation through a C MEX file call

1. S-funclions functioning principle under SIMULlNK 3

The S-functions use a specific syntax enabling interaction onto a dynamic system. They
accomodate themselves to the systems at a large sense, being either continuous, discrete or
even hybrid.
The S-functions are particularly interesting in the following cases:

Adding of a block function to SIMULINK@,

Incorporation of a part of a C language coded program, into a simulation,
Description of a system under mathematical equations form,
Use of graphic animations.

Each SIMULINK@ block presents the following general characteristics:

A u inputs vector,
a y outputs vector,
a x state vector.
The relations between these various vectors are described by the following equations:
y = /o(t,x,u)

Xk+l

=/u(t,x,u)

with:

The x state vector is made of two parts; the first one represents the continuous state and the
second, the discrete one.

504 Appendices

2. Various stages of the simulation

During a simulation, SIMULINK generates repeated calls at vectors' updating stages,
accompanied, at the simulation launching by an initialization stage and by a stop stage, at the
end.
A flag indicator enables knowing at any time, at which simulation stage the system is.
The S-functions may be written either thanks to Mor C-MEX files.
"flag" indicator's meanings
Simulation stage

Function called
~ C-MEXflle
mdlInitializeSizes
mdlGetTimeOfNext VarHit

3
2
1
9

mdlOutputs
mdlUpdate
mdlDerivatives
mdlTerminate

~Mflle

flat!: state

Initialization
Next sampling step calculation
(OPtional)
Outputs calculation
Discrete state updating
Continuous state updating
End of simulation

3. S-function creation through a M-file call

The M-file specified S-function syntax is the following:
function[sys,xO,str,ts]
t,x,u, flag
Pl, P2

= function_name(t,x,u,flag,Pl,P2,

",)

default drive variables passed onto the S-function, through the system,
: optional variables wished to be passed onto the S-function.

The variables returned to the system, according to time, depend onto the x, u vectors and the
flag indicator.
flag = 0, the initialization function has to return to sys: the size-system
informations, to xo: the system's initial state; to str an empty chain (for the m functions)
and to ts the sampling instants. In this purpose the mdlInitializeSizes function
may be used in order to initialize a simsize-type structure containing the following
fields that will be affected onto the sys variable.
NumContStates
NumDiscStates
NumOutputs
Numlnputs
DirFeedthrough
NumSampleTimes

%
%
%
%
%
%

number of continuous states

number of discrete states
number of outputs
number of inputs
D empty matrix
number of ts matrix lines

ts is a [NumSampleTimes, 2] matrix containing the [period offset]sampling

instants,

S-junctions under SIMULINJ( 3 505

1, the continuous state updating function has to return x back to sys,
2, the discrete state updating function has to return x(k+ 1) back to sys,
3, the output updating function has to return y back to sys.
4, in the case when the sampling step is variable the next sampling instant is to
be returned back to sys .
flag = 9, end of simulation, system variables erasing, sys has to return a (sys
[ 1) empty vector.

flag
flag
flag
flag

Example 1, use of a S-function to simulate a continuous state model

We use an ex1 . m S-function to simulate a one input and one output continuous process, of
state representation:

A = [-:.5

-1~25]

C =[0 1.5625]

=[~]

D=O

Calling this S-function is done without additional parameters passing. An input signal under
unit step form is applied.

S1MULINJ( model edition

Mux

The ex1 . m file tests the flag and calls a function for each case used.
flag = 0, S-functions parameters of initialization function call:
- number of continuous states,
- number of discrete states,
- number of inputs,
- number of outputs,
- number of sampling instants,
- initial state,
- sampling offset and time.
The DirFeedthrough field of the initialization structure is positionned at 1, when the D
matrix is used or when the case flag = 4 is being used.

506 Appendices

The (1,2) dimension ts vector, sampling offset and period is at zero for a [0 0] continuous
process. For a discrete use with a variable sampling (flag = 4 case use) this vector has to
be initialized with [-2 0].
flag = 1, call of the continuous state calculation function,

x=Ax+Bu
flag

3, call of the output calculation function,

y=Cx+Du
exl.mfile

% Continuou. .tat. model oalculation

function [8Y8,xO,.tr,t.}
% continuou. atat. mod.l
A= [-1.5 -1.25 1 ,
B
[2 , 0];
C
[0 1.5625};
D= 0,

=
=

=ex! (t,x,u, flag)

0];

8Witch flag

0...

0 % Initiali tion .tag.

r.y.,xO,.tr,t.] Initialization(A,B,C,D};

caa. 1 % Stat. calculation atag

y. = DarivatCalcul. (x,u,A,B);
ca.. 3
.y.

% OUtput oalculation .tage

=OUtput.Calcul (x, u, c, D) ;

ca {2,',9}
Y.

=[] 1

% unu.e4 .tag

oth.nri
arror(['ODban d 1 .4 flag. ',num2atr(flag)});
and

% Initiali.ation function
funotion [.y.,xO,.tr,ta] Initialization(A,B,C,D)
if D 0
Dir" 0,
.1

Dir" 1;

and

.i a ~i ,
% .~iz type .tructure
.iz NUmContstat langtb(A); % oontinuou. atat.a number
aiz . NUmDiacstat 0;
% 4iacr.t tat number

S-functions under SIMULINIf' 3 507

.ize . HumDutput 1;
.ize RUmXnput 1;
.ize Dirreedthrough DirP;

" output. number

" input. number
" 0 if D 0, 1 if D ~ 0
" of if flag , u.ed
" .ampling in.tant. number

.ize HumSampleT1me 1;
.Y tm.i C.ize.);
xO .ero.C.i CS;
.tr [) I
t [0 0]; "aontinuou. proae

" State calaulation function

function .Y Darivate.Calcul (x,u,A,S)
.Y. A*x+S*Ul
" OUtput calculetion funotion
funotion aya output.Calcul (x,u,C,D)
.Y. C*x+D*UI
Simulation results
S-function example

3.5

.---.......----.--......,,......-.,...--r---.--~-_.._-__'T-___,

3
2.5

0.5

O~--~--~---L--~----~--~--~---L--~--~

5
Time In s

10

Example 2, S-function use to simulate a discrete state model

In ex2 . m we use a S-function to simulate the previous example discretized process with a Te
sampling period of 0.1 s.

508 Appendices

_ [1.815 - 0.86]

Ad -

Cd

=[0.237 0.225]

Bd -_ [0.25]

This S-function call is done with Te and Xi additional parameters passing. respectively
representing the sampling period and the state initial conditions. An input signal of unit step
type is being applied.

SIMULIN~ model edition

1i!I~

s _lun c toon2

The flag = 2 and flag

processes cases.

EJ

1 cases are respectively used in discrete and continuous

ex2.mfile
% Discrete state med.1 simu1atiaD

functiaD [sys,xO,str,ts) - ex2(t,x,u,f1ag,Te,Xi)

[1.815 -0.86 ; 1 0];
[0.25 I 0];
Cd [0.237 0.225];
Dd 01

Ad Bd -

IlWitcb flag,
cas. 0
% Xnitialization stag.
[sys,xO,str,ts) Xnitia1ization(Ad,Dd,T.,Xi);
cas. 2
% State calculation stage
sya Derivat Ca1cu1 (x,u,Ad,Bd);
cas. 3
% OUtput calculation stage
sya OutputsCalcu1 (x,u,Cd,Dd);
ca (1,4,9)
% unus.d stag.s
ays [);
otherwise
error(['0Dband1ed flag ',n~str(flag)]);
end

S-functions under SIMULlN~ 3 509

Xniti.11 tion(Ad,Dd,T.,X1)
.1
DirJ'
end 1

.i tm.i ,

. i. HUmContSt.t 0,

.iz RUmDi.cSt.t 1Dgth{Ad)1

.iz HumOutput 11

. i. JlIUDT!\P'lt 1;

.iz Dirrdthrough Dirr;

. i. HumSamp1.Ttm. 1,

~ tm.iz (.iz ),
xO XiI
% .t.t. initi.l cODditiona
.tr [11
t [T. 0]; % offtl T ampling period

% St.t. c.lcul.tion function

funotion .Y. Deriv.tCalcul (x,u,Ad,Bd)
.Y. Ad-x+Bd-u;
% OUtput calcul.tion funotion
function ay OUtputaCalcul (x,u,Cd,Dd)
'ay Cd-x+Dd-u;

Simulation results with Te =0.1 s and Xi =[0.2 O.5J

5-Funclion example

3,5 .----r---r-__,.----r---r---,r--"T"""-""T"---,----,

~ ~---------

>

0,5

/"l,J

011--~ , 5~-~-~--L--~-~--L--~-~-~L-~

5
Time In s

10

510 Appendices

Example 3, use 0/ a So/unction to simulate a discrete state model with variable sampling
period
We use a ex3 . m S-function to simulate the previous example discrete process to which we
add an input defining the process sampling period.
This S-function call is done with Xi additional parameter passing, representing the state initial
conditions. The sampling period, measured in seconds is chosen as being equal to the voltage
amplitude (measured in volts), applied onto the S-function second input.

SIMULlNx. model edition

I!I~ EJ

. s.funchon3

s-runcUon example
Variable sampling, discrete stale system

~~~----------------~M~

The flag = 4 case is used to calculate the future sampling instant. In order to validate the
using of this case, it is necessary at position to 1 the DirFeedThrough element of the Sfunction initialization structure and to initialize ts = [-2 0].
ex3.mfile

% Diacret. atat. mod.l a!mulation

% Variable aampling p.riod

function [aya,xO,.tr,t.) ex3(t,x,u.flag,Xi)

Ad [1.815 -0.86 ; 1 0); ad [0.25 ; 0);
Cd - [0.237 0.225); D4 0;

awitch flag
c... 0
% ~tiali.ation atag.
(aya,xO tr.ta) ~tialization(Ad,Xi);
ca.. 2
% State calculation atag.
aya Derivat.aCalcul (x,u,Ad,ad);
ca.. 3
% OUtput calculation atage
aya OUtputaCalcul (x,u,C4,D4);
c... ,
% Next T. oalculation atage
aya NextT.Ca1cul (t,u);
ca (l,9) % enua.d atag.a
ay [);
oth.:nd

S-functions under SIMULINK' 3 511

% Initi.lis.tion function
function [..v.,zO,.tr,t.] - XDiti.li tion(Ad,Xi)

.i - .tm.i ,
.i NUmContSt.t - 0;
.i NUmDi.cSt.t - length(Ad),
.i BUmOutput 1;

. i . RUmXnput. - 2;

.i Dirr4through - 1; % Th. fl.g-' u r.quir to

% po.ition DirF4through-l
.i NUmBampl.Time. 1;
.Y8 - .!mai (.i ),
xO Xi,
.tr - [];
t (-2 0];
% In or4.r to Obt.in a variable .amp1ing .tap
% St.t. calcul.tion function
function .Y. - Dariv.t C.lcul (x,u,Ad,Bd)
8Y8 Ad*x+Bd*u(1) ,
% Output calcul.tion function
function ..v Output.C.lcul (x,u,C4,D4)
.Y. C4*x+D4*u(1);
% Beat Te function c.lcul.tion
function .Y X8XtT.Calcul (t,u)
..v. - t+u{2);
Simulation results for Te = 0.1 s until t = 3 s then Te = 0.5 s and again, with
Xi = [0.2 -O.5J :
SFunction example

3.5r---'---~---'~--.----r--~----~--'---~--~
3

2.5

>

.!:

"

!!
>

1.5

(;

0.5

o
-0.5 '--__.......__-'-__--''--__.L-__-L._ _---..1____' ' -__- ' -__- ' -__---l
023
4
5
6
7
8
9
10
Time in s

512 Appendices

4. S-function creation through a C MEX file call

Let us take the previous example, in order to transcribe it into a C MEX file. It is, of course,
necessary to have a C or C++ compiler at one's disposal.
The function is called without parameters passing, the original conditions are nil and the
sampling period of O.ls without offset.
The flag indicator is then replaced by a call
chart.
The mdlUpdate, mdlDerivatives and
corresponding to the flag = 2, flag =
imperatively have to be present even if not used.
code.

to functions, as shown in the 1st paragraph

mdlTerminate functions respectively
1 and flag = 9 of the M functions,
In this case, the functions will be empty of

ex4.cfile

'*

H_ definition of the B-function *'

'define B_FONCTION~ ex4
'* Hece ary inclu.ion to the SimStruct definition and of
the a ociated macro. *'
'include -.t..truc.h'* State matrix declaration *'
.tatic double A4[2][2J 1.815, -0.86),(1 ,0,
.tatic double 84[2](1) 0.25),(0,
.tatic double Cd[l) [2] (0.237, 0.225),
.tatic double Dd 0,
'* 8-function'. characteri.tic. initializatioa *'
.tatic void mdlInitializeSise.(SimStruct *S)
(

SetRumCoatState.(S,O) ,
'* Coatiauou tate. DUmber *'
SetRUmni.cState.(S,2),
'* ni.crete .tate. DUmber *'
SetNUmIDput.(S,l) ,
Input. ZlUIIIber
*,
SetBUmOutput.(S.l) ,
OUtput. mDIIber
SetoirectreedThrough(S.O) ,
direct feedthrough flag *'
Se~DDBampleTtm..(S,l)1
1* .~ling inatant. mDIIber
SetRumBrCDPar. . . (S,O) ,
Se~ork(8,0)1
setHumIWork(S,O) ,
SetNumPWork(S,O) ,

'*'*'*

*'
*'

1* Off.etle 0.1 ~ling period initialisation *1

.tatic void mdlInitiali.eSampleTime.(SimStruct *S)
(

SetSampleTime(S, 0, 0.1);
SetOff.etTime(S, 0, 0.0),
)

1* Hil initial conditiona' initialization *1

.tatic void mdlInitialiseCODditiona(r.al_T *xO, 8imStruct *8)

S-functions under SIMULlN~ 3 513

int il
for (i 0, i<21 i++)
(

.0++ 0,
)
)

'* OUtput calculation *'

atatio void md1OUtputa(rea1_T *y, o~t rea1_T *.,
oonat real_T *u, 8imBtruot *8, int_T tid)
(

y[O] Cd[O] [0] *.[0] +Cd[O) [1] *.[1] J

}

'* Contiuuoua .tage updating*'

atatic void md1Darivativea(real_T *4a, conat real_T *.,
oonat r.al_T *u, 8tmstruot *S, int_T tid)

'*
{

Abaence of oode beoauae the funotion i. 41.crata *'

.tatio void mdlTerminat.(Stmstruot *S)

(

*'

'* Ab.ana. of oode becau the function i . not uaa4 in thi.

c
)

'*

Wao.aaery h.ading for the S-funotiona *'

'Udaf IlATLAB~r:[1"
linolud. SDNOLXNK.o
I.l.e
'include cg_.fun.h

Ien41f

In order to compile this file, it is necessary to specify the type of compiler and its installation
directory. For this, you have to execute the cmex -setup command and to answer the
questions asked. In return, the mexop t s . ba t file is created and contains the paths,
commands and options of compilation and linkage.

514 Appendices

The .C file may then be compilated, thanks to the help of the cmex.ba t file to be found in
the <MATLAB>\BIN directory where <MAT LAB> designates the MATLAB installation
directory.

Appendix 2

Masking a set of blocks in SIMULlN~ 3

1. Dumped sinusoidal generator

2. Pseudo-random binary sequence generator

The encapsulation or masking of a blocks-set, like the S-functions is very important

functionality in SIMULINK@.
The association of a set of blocks is transformed in one only in order to achieve a specialised
task (such as calculation, signal generation, etc.) Amongst the interesting points of masking,
we can notice :
creation of particular blocks linked to each of user field,
dialog boxes number reduction,
organising into a hierarchy and clarity of SIMULINK@ models.
We will study the blocks masking in order to create 2 signal generators: damped sinus and
pseudo-random binary sequence (PRBS).

1. Damped sinusoidal generator

We want to cerate a SIMULINK@ block which allows to generate the damped signal of the
following expression:
x(t)

= a e-k t sin(wt-tp)

We begin by create the blocks-set which achieve this expression:

G~in

kt
Oot ProduGl:

...

516 Appendices

The sinus and exponential operators are defined by the same MATLAB Function
block of the Nonlinear library.
After mouse selecting the whole content of the figure, the Create Subsystem option of
the Edi t menu enables to create the equivalent subsystem.
By double-clique onto the obtained block, we retrieve the system's detail, to which are added
the input and output ports. It is necessary, like shown here above, to name these
ports with variables names used, so a, phi, w, k et x in our case.

Subsystem

This subsystem may be used to generate the signal :

"

kt
Dol Product

Ready

x(t)= 4 e- O.2t sin2t

which we send to workspace via the x global variable.

Masking a set of blocks in SIMULlN~ 517

In this example, the variables characterising the signal are constant inputs of the subsystem
block. The mask edition enable dialog box creation through which the user may enter the
different values of the input variables, editing a help text or drawing curve.
In the previous subsystem, we replace the constant inputs values by variable names; those of
the signal to be generated, in the same constant blocks.

1------"1l>1w
kl

Subryslom

After selecting this subsystem, after suppressing the To Workspace block, we create
another by Crea te Subsys tern of the Edi t menu. This system inputs-less, has one output
named Outl. We double-clique onto this subsystem to change its label in x.

~----~'~I----~
Su~om

In this block, the used variables and the type of the used function don't appear.
Its masking may to personalise it by drawing onto it a sinusoidal curve and creating a dialog
box in order to specify the values of the used variables.
After selecting this icon, we choose Mask Subsys tern option of the Edi t menu.
We obtain the Mask Editor window, with its 3 menus, Icon, Initialization and
Documentation. In this window, we define the mask parameters.

518 Appendices

Iconmenu
Mask Type:
Drawing commands:

mask title or dialog box title, like: Damped sinusoidal signal

generator.
drawing curve commands or editing text onto the mask block ..
In our case the mask icon become with the drawn curve:

We have 4 options for the mask icon properties:

: makes the icon frame visible or invisible,

1. Icon frame

2. Icon transparency : The Transparent option enables displaying the input

or output variables names, defined in the subsystem,
: defines the icon rotation property according to the text or
the drawn curve onto it.
4. Drawing co-ordinates: defines the icon frame co-ordinates as graphic window.
Normalized:
the co-ordinates values are fixed, (0,0) for the left below
and (1,1) for the high right comer,
Autoscale:
Automatic adaptation co-ordinates with the minimal and
the maximal values of the drawn curve,
Pixel:
drawn curve using pixels units .
3. Icon rotation

In our example, the curve is drawn for the time values going from
the Autoscale option .

to 10 by step of 0.01 with

Menu Documentation

In this menu, we define the variables whose will be entered in the dialog box.
Mask type:

mask title appearing in the dialog box title,

Block description: description text block appearing in the dialog box,

Block help:

help text.

The Documen ta t i on menu enables the documentation of the dialog box.

Masking a set of blocks in SIMULINf( 519

pIoI{D:U01 :1O,~2"fD:O.01 : 1 OJ~ eIql(-O.21D:O.01 :1OJ))

lconlran.~

Icon lotaliorr

~=-=~

The help block text always appears when we clique onto the help button of the dialog box.
In order to validate it, we must clique onto the apply button.
Initialization menu

This menu enables defining the variables, as wall as their signification (prompt) which we
retrieve in the dialog box in which we may enter numerical, chains or Boolean values.
The numeric value of the variable may be directly entered in the edition field or chosen in a
pop menu. The Boolean type is expected in marking (1 logic) or keeping empty (0 logic) the
correspondent check box.
A variable may have chain type value. MA TLAB interprets it using the eval command.
The variable type is controlled by the Control type button by what we can choose:

Edit

numerical value case,

Checkbox

check box,

Popup

popup menu.

520 Appendices

The prompt corresponds to the variable signification and in the Variable filed we define
the variable name which will take the specified value in the dialog box.
When we fill the Prompt and Variable fields, this variable signification, name and type
are noticed in the end of parameter list delimited zone
The display order is that it appears like it appears in the dialog box ..
The Down and up buttons are expected for modifying and organising this order. If we want to
delete a variable, we must clique onto the Delete button.
The Assignment button bears 2 choices ; Evaluate signifies one that MATLAB will
directly evaluate and Li teral when this variable is character chain type.
Each variable entering (prompt and name) is done after selecting the Add button.
The following figure illustrates these several options of entering different types variables will
be appear in the dialog box when we have to use the edited mask block.
M d ~k

r r~ltOi

rlfullpp rl _S lnlJ sJ S uh svs lpJn

H ra ~

JI I~ II' D~ I

Icon

l r ,"

.... \We' JDo'rpllch....toiIU ligna! genetalo

~

II.

Add

Type

.-

PIoqIt

'oJ.

p\lUlltiOD

I pbue

II

'l&!

<<end of puaeter 11aO>

II

Down

I~J [

dulplDg

r.r.
~,~.'
f~

edit
edit
ed1t

rJ

If D. . .

"4IiIbIe

coefficient

:-!:

......

Praqj: J~

Conbal \?PC

jEdl

.f

"... Jo

JEvoUotll

.E

ro,

I,..... COIM\rId$:

....

;.

"

Ilr

:1;1

' OK

'I I!

,'"

Creel

-,

J II

.
Umd.

I lL

Help

J II

AA*.>

The prompt and the variable name definition is made after clicking onto the Add button.

Masking a set a/blocks in SlMULlNJ<!& 52l

If we want to enter a list of variables whose will be available in a popup menu, we must enter
them in Popup s tr ings zone separating each of them by the I symbol.
An example of popup menu using is provided in the following paragraph in which we
generate a pseudo-random binary sequence (PRBS). The popup menu enables the choice of
sequence number corresponding to its length.
When the mask is created and we want to modify one of the 3 menus properties, we must
execute Edi t Mask option of the Edi t menu.
The Look Under Mask option enables displaying the whole masked blocks.
If we want to generate the following signal :
x(t)=5 e -O.2t

sin(wt-~),

we double-clique onto the masked block in order to inquire the different dialog box fields
(variable values specification).

Blo ck P,II ,lmc tc ls S ubsys te m

Ei

P. __ en ~~--~--~~~~~~,--~~~~
~

15

r
piI2

The generated signal by the mask goes to the workspace through the x global variable.

522 Appendices

S ubsystlm

Ir..Q.OXl

i'0d&45

Curve drawing
plot(x)
,. grid
title('4ampe4 .inu. - 5; . . 2 rad/.;\phi \pi/2;k-O.2')
xlahel ( 'time' )
damped sinus - a=5; w = 2 rad/s;

cI>

= rr/2; k=0.2

/\

I\

(\

/ \ ! \\V
I \/

\j

-1

-2

/'--.

-----

IV

-3

-4
-5

10

20

30

40

50

60

time

The expressions of signal variables may be represented by the gain instead of

cons tan t ones.
Another model example, which generates the same damped sinusoidal signal may be the
following:

Masking a set of blocks in SIMULIN[(l' 523

~ o'h;; - d,;",~cdSln
----

- --

-~

- --- ----,.r-T1E3

Dol P,oduot

This model, more compact that the previous one, bears only one input, the phase ({J. The
other parameters: the pulsation w, the dumping coefficient k and the amplitude a are defined
by the gain blocks.
Like previously, the same dialog box may be used for the correspondent of the obtained
subsystem, obtained by this model.

2. Pseudo-random binary sequence generator (PRBS)

The pseudo-random binary sequences are very used in the fields like process control and
signal processing, in order to represent a supposed white binary and centred signal.
Each PRBS sequence is defined by a characteristic polynomial, the jth element of a 1023
length sequence is done by :
u(j)=-u(j - 7)*u(j -10)

To initialise the sequence first values to 1 (the 10 firsts of the sequence of length 1023), we
use transfer function blocks, for what we define the initial state and transform them to delays.
These Discrete Transfer (with initial states), are provided in the
Blocksets & Toolboxes / Simulink Extras / Additional Discrete library.
Each sequence is transformed to a subsystem.

524 Appendices

The 1023 length PRBS sequence is implemented as follows:

l-=-: PIlU S

1U 2:.l/f'IIIl S /S ulJ > y > t "lII~

Fiil IE3

11023 length PReS .. qutn ..

To select one of the 6 sequences, we use the sf_select S-function for which we pass the
Te sampling time and k representing the sequence number which we specify in a popup menu
of the final mask dialog box. This S-function bears 6 inputs corresponding to the 6 PRBS
sequences and one output which be the kth sequence.
sf-select.m
% S-function : PUS quenc. ..1.ction

function [.y.,xO,.tr,t.) f_ 1.ct(t,x,u,flag,Te,k)

.witch nag
ca.. 0
k 1;
[.y.,xO,.tr,t.] xnitiali.ation(T.);
ca.. 3
.y u(k);
ca (l,2,4,9)
.y [],

oth.rw1

flag

,n~.tr(flag)]);

function [ay.,xO,.tr,t.] xnitiali.ation(T.)

.iz tm.iz ;
.iz HUmContStat 0;
.iz . NUmDi.cStat 0;
.iz. HUmOutput 1; % 1 output
.iz tlwDZnput 6;
% 6 input
iz Dlrrdthrough 0;
.iz NUmSa=pl.Ttm. 1;
.y tm.iz (.iz );
xO []l
. t r [)l
t [T. 0];

Masking a set of blocks in SIMULlN[( 525

The outputs of the 6 sequences blocks are multiplexed then multiplied by the a gain
representing the amplitude, before their passing to the sequence selection S-function.

We select the set of blocks that we transform into subsystem which then be masked.

PRSS

526 Appendices

The mask editor window of Initialization menu is:

.. 00 13:

M " , k Frllim PflllS _ ~l"n",/PflB S

loan

11 IriiIIuIian I,

. .1Ik.
Yr

I PA BS sequence gene!5Of
Tp

-Aaa

~r o

Ilr

O~

VIriIbIe

-,

...---I a.pl1tude a:
DUlbe~

lJlji

-I

Iad o pu_tel:

11lt

I rFI)"_~ 1 n r

'r>ProIrfA;. J'~ period i'l ,

Variable:

I Te

Pi

Intialzalion CClI'IWNrldr.

Ir

OK

1 n lAnce! -I If

Umilk

Ir

:!!

JEeft

:':::

.a

IU

. :,..!!: J

ConIroII,pp

Ii

Ito-I

popup
ecl1t

o elqQeDCl

I II

AAJIIo

The obtained masked subsystem is used to generate the 6th sequence of length 1023.

U~----+I~I
ll!!!!JJJ

PlbrJlquoncel
T. f ill

PR8S

The generated signal is sent to the prbs_sequence .mat data file.

By double clicking onto the PRBS mask block, we open the dialog box, in which we specify :
the Te sampling period in seconds,
the 6 sequence number in the popup menu,
the amplitude of 3.
The sampling period value is transmitted to low hierarchical level blocks, so the sequence
selection S-function and the Discrete Tranfer Fcn (with initial states)
blocks used for PRBS models generation with different lengths.

Masking a set of blocks in SIMULlN~ 527

In this window, we recognise the popup menu used for the number sequence choice.
The following command lines enable drawing the generated PRBS sequence.
~

load prba_aequenc., t prba(l,:); prba prba(2,:),

ataira(t,prba) , axia([O 100 -3.5 3.5)
titl.('PRBS a.quenc. of lengtb 1023 and amplitude 3')
xlabel ( , .~l f )
PRBS sequence 01 length 1023 and amplitude 3

o
1

.3

'--

10

l...

L...

20

30

40

50
samp les

60

70

80

90

100

In the following figure, we generate a PRBS sequence of length 31 (sequence number 1)

around a constant value of 5, which may correspond to an operating point onto we may
identify a real process model.

528 Appendices

nIl
PRes

~1------1~~1
~

Aq3'JI'...eJ
ToFIl.

Cown!

.tair.(t,prb.)

axl.([O 100 37J)

axl.([O 100 3.5 6.5J)
titl.('PRBB queaaa of length 31, amplitud. 1, around 5
con.tant valua')
xlabel ( .ampl )
P RBS sequence of length 31 , amplitude I, around 5 constant value
6 . S r--'--~--'--~--r-~--r--~--r--.

r-

5.5

" .5

3.5

10

20

30

40

50
samples

80

70

80

90

100

Bibliography

Anderson B. D.O., Moore 1. B., Optimal Filtering, Prentice-Hall, Englewood Cliffs, NJ,
1979.
Anderson, C. W., Learning to control an inverted pendulum using neural networks, IEEE
Control Magazine, pp. 31-37, April 1989.
Arago 14, Logiquefloue, Observatoire

Fran~ais

des Techniques Avancees, Masson, 1994.

Astrom K J., Wittenmark B., Computer-Controlled Systems, Theory and Design, PrenticeHall International Editions, 1984.
Bellanger M., Traitement numerique du signal, Theorie et Pratique, Masson, 1996.
Biran A., Breiner M., MATLAB for Engineers, Addison-Wesley Publishers Ltd., 1995.
Brossier 1. M. , Egalisation adaptative et estimation de phase: Application aux
communications sous-marines. These de Docteur de l'Institut National Polytechnique de
Grenoble.
Brown M., Harris C. 1., Fuzzy Logic, Neural Network and B-Spline for Intelligent Control,
IMA 1. Math. Control and Information Theory, 8, pp. 239-265, 1991.
Brown M., Harris Ch., Neurofuzzy adaptive modelling and control, Series in Systems and
Control Engineering, Prentice-Hall International, 1994.
Brown R. G., Hwang P. Y. C., Introduction to random signals and applied Kalman filtering
with MATLAB exercises and solutions, 3rd Edition, John Wiley & Sons, 1997.
Candy J. V., Signal Processing: The Model-Based Approach, New York: McGraw-Hill,
1986.
Carayannis G., Manolakis D. G., and Kalouptsidis N., A Fast Sequential Algorithm for Leastsquares Filtering and Prediction, IEEE Trans. Acoustics, Speech, Signal Processing,
ASSP-31, pp. 1394-1402, 1983.
Catlin D. E., Estimation, and the Discrete Kalman Filter, Springer-Verlag, 1989.
Chui C. K, Chen G, Kalman filtering with real-time application, Springer-Verlag, 1987
Cioffi, J. M., The Fast Adaptive Rotor's RLS Algorithm, IEEE Trans. Acoustics, Speech,
Signal Processing, ASSP-38, pp. 631-653, 1990.
Connor J., Atlas L., Recurrent Networks and Time Series Prediction, International Joint
Conference on Neural Networks, Seattle, IEEE Publications, pp. 1301-1307.
Davalo E., Nairn P., Des Reseaux de Neurones, Eyrolles, 1990.
Dieulesaint E., Royer D., Automatique appliquee, tome 2, Systemes linea ires de commande
signaux echantillonnes, Masson, 1990.

Domany E., Van Hemmen 1. L., Schulten K, Models of neural networks, Springer-Verlag,
1991.

530 Bibliography

Dorf R. C., Bishop R. H., Modem Control Systems, 7th Edition., Reading MA : AddisonWesley, 1995.
Dubois D., Prade H., Fuzzy Sets and Systems : Theory and Applications, Orlando, FL:
Academic Press, 1980.
Duvaut P., Traitement de signal, Hermes, 1994.
Elbert T. F., Estimation and Control of Systems, New York: Van Nostrand Reinhold, 1984.
Fausett L., Fundamentals of Neural Networks, Architectures, Algorithms and Applications,
Prentice-Hall International Editions, 1994.
Foulloy L., Commande qualitative et commande floue: vers une methode d'ecriture, Actes
des douziemes journees internationales sur I'intelligence artificielle, les systemes
experts et Ie langage naturel, Avignon, France, pp. 473-485, Juin 1992.
Foulloy L., Galichet S., Topology of fuzzy controllers, in Theoretical Aspects of Fuzzy
Control, Nguyen H. T., Sugeno M., et al., Wiley, Inter-Science, 1995.
Gelb A., Applied Optimal Estimation, Cambridge, MA : MIT Press, 1974.
Glover J.R., Adaptative noise cancelling applied to sinusoidal interferences, IEEE Trans.
Acoust. Speech Signal Process., vol. ASSP-25 pp. 484-491, 1977.
Grewal M. S., Andrews A. P., Kalman Filtering Theory and Practice, Englewood Cliffs, NJ :
Prentice-Hall, 1989.
Grimble M. J., Optimal control and stochastic estimation, Theory and Applications, John
Wiley & Sons, 1988.
Haykin S. S., Adaptive Filter Theory, Englewood Cliffs, NJ : Prentice-Hall, 1996.
Landau I. D., Identification et commande des systemes, Hermes, 1988.
Landau I. D., Dugard L., La commande adaptative - Aspects Pratiques et TMoriques,
Paris: Masson, 1986.
Landau I. D., M'Sirdi K. N., M'Saad M., Techniques de Modelisation Recursives pour
I 'Analyse Spectrale, Traitement du Signal, Vol. 3, n 4-5,1986
Jaume D., Thelliez S., Verge M., Commande des systemes dynamiques par calculateur,
Eyrolles, 1991.
Jezequel L., Active control in mechanical engineering, Hermes, 1995.
Jodouin J. F., Les rbeaux de neurones, principes et definitions, Hermes, 1994.
Johnson c., Process control instrumentation technology, Prentice-Hall International, 1988.
King P. J., Mamdani E. H., The Application of fuzzy control systems to industrial processes,
Automatica, Vol. 13, pp. 235-242, 1977.
Kosko B., Neural Networks and fuzzy systems, A dynamical systems approach to machine
intelligence, Prentice-Hall International, 1993.
Kosko B., Neural Networks and Fuzzy Systems, Englewood Cliffs, NJ: Prentice-Hall, 1992.
Kosko B., Neural Networks for Signal Processing, Englewood Cliffs, NJ: Prentice-Hall,
1992.

c., Fuzzy Logic in Control Systems, Fuzzy Logic Controller: Parts 1 and 2, IEEE
Trans. Sys. Man and Cyb., vol. 20, No.2, pp. 404-435.

Lee C.

Bibliography 531

Ljung L., Soderstrom T., Theory and Practice of Recursive Identification, Boston: MIT Press,
1983.
Luenberger D. G., Introduction to dynamic systems, Wiley, 1979.
Mamdani E. H., Application of fuzzy algorithms of simple dynamic plant, Proc. IEEE, 121,
pp. 1585-1588, 1974.
Marven c., Ewers G., A Simple Approach to Digital Signal Processing, Texas Instruments,
1993.
Meditch 1. S., Stochastic Optimal Linear Estimation and Control, New York: McGraw-Hill,
1969.
Meunier B., La logiquefloue, Que sais-je n 2702, P.U.F., Paris, 1993.
Miller W. T., Sutton R. S., & P. 1. Werbos, eds, Neural Networks for Control, Cambridge,
MA: MIT Press, 1990.
Minkler G., Minkler 1., Theory and Application of Kalman Filtering, Palm Bay, FL:
Magellan
Book Co., 1993.
Minsky M., Papert S., Perceptrons, Cambridge, MA: MIT press, 1969.
Mokhtari M., Mesbah A., Apprendre et Maftriser MATlAB, versions 4 & 5 et SIMUUNK,
Springer-Verlag, 1997.
Murat K., Techniques de traitement numerique des signaux, Collection Traitement de
l'Information, Presses Techniques et Universitaires Romandes.
Narendra K. S., Adaptive control using neural network, in Neural Networks for Control
CW. T. Miller et al. Eds), Cambridge, MA : MIT Press, pp. 115-142.
Nie 1., Linkens D., Fuzzy-Neural Control, Principles, Algorithms and Applications,
Prentice-Hall, 1995.
Oppenheim A. V., Digital Signal Processing, Prentice-Hall International, 1975.
Oppenheim A. V., Schafer R. W., Discrete-Time Signal Processing, Englewood Cliffs, NJ:
Prentice-Hall,1989.
Pedrycz W., Fuzzy Control and Fuzzy Systems, 2nd Edition Research Studies Press, Taunton,
John Wiley and Sons, 1993.
Porat B., Digital Processing of Random Signals, Theory & Methods, Prentice-Hall
Information and System Sciences, 1994.
Soderstrom T, Stoica P., System Identification, Englewood Cliffs, NJ: Prentice-Hall, 1985.
Sorenso H. W., Kalman Filtering: Theory and Application, New York: IEEE Press, 1985.
Stengel R. F., Stochastic Optimal Control- Theory and Application, New York: Wiley, 1986.
Sugeno M., Industrial Applications offuzzy control, Amsterdam: North-Holland, 1985.
Sugeno M., Special issue onfuzzy control, Fuzzy Sets and Systems, 26, pp. 149-223, 1988.
Sutton R. S., Two Problems with Backpropagation and other Streepest-descent Learning
Procedures for Networks, Proceedings of the Eighth Annual Conference of the
Cognitive Science Society, pp. 823-831, 1986.

532 Bibliography

The Math Works Inc.

Neural Network TOOLBOX, User's Guide
Signal Processing TOOLBOX, User's Guide
SIMULINK, Dynamic System Simulation for MATLAB
Control System TOOLBOX, User's Guide
Fuzzy System TOOLBOX, User's Guide

Vemuri V., Artificial Neural Networks, Theoretical Concepts, Washington, DC: IEEE
Computer Society Press, 1988.
Widrow B., Lehr M. A., 30 Years of Adaptive Neural Networks,' Perceptron, Madaline, and
Backpropagation, Proceedings of IEEE, yol. 78, n 10, pp. 1415-1441, 1990.
Widrow B., Steams S., Adaptive Signal Processing, Prentice-Hall, 1985.
Zadeh L. A., Fuzzy sets, Information and Control, Vol. 8, pp. 338-353, 1965.

Index

A
a posteriori, 222
a priori error, 222, 225, 226, 247
acceleration, 93
acker, 357, 362
Ackennan, 62,63, 68, 70, 75,356
acoustic wave, 463
Adaline, 150,445
adaptation coefficient, 237, 454, 468
adaptation gain matrix, 79
adaptation gain, 211, 224, 225, 226, 227,
245,247,498
adaptation speed, 223
adaptive control, 200
adaptive equalizer, 498
adaptive filter, 220, 453, 460, 463, 493
adaptive neural networks, 150
adaptive predictor, 227, 229
adaptive, 219
add button, 521
add,520
aggregation, 332
air gap, 276
algorithm, 219
amplifier, 257
analog, 1, 15
analog and digital control, 2
ARMA,152
attenuation, 238,454,463
autocorrelation matrix, 221, 225, 226, 247
autoregressive model, 227, 228
autoregressive process, 227
axis, 488, 493

B
backpropagation algorithm, 170
backpropagation error, 165
balancing coefficient, 441
bias vector, 166
bias, 179
bilinear transformation, 15

binary sequence, 49
bipolar sigmoid, 166
bode, 7,18,66,235,260

C language, 503
C MEX file, 504, 512
C++ compiler, 512
c2d, 20, 90, 285, 356, 361
canon, 59, 60
canonical, 56
Cart with inverted pendulum, 304
cart, 303
case, 497
Cayley-Hamilton theorem, 62
ceil,457
centered white noise, 227
central frequency, 231, 234, 239, 244,
245,251
centre of gravity method, 331
centre of gravity, 304
channel, 481
characteristic equation, 287, 411
characteristic polynomial, 63, 524
checkbox, 520
closed-loop, 2, 3,14, 15, 17,22,26,32,
61
closed loop stability, 184
coefficients vector, 220, 221, 225, 226,
247,250
coil, 276
companion, 56
compensation, 352
complex poles, 60
conduit, 30, 463
continuous state model, 505
continuous system, 51
Control System TOOLBOX, 18,410
controllability, 53
convergence, 238,249,461
coordinates, 341

534 Index

counternoise, 463
ctrb,59,69,74,357

D
damping coefficient, 32, 39
damping factor, 281
damping ratio, 3
dcgain,22
dead zone, 274
defuzzification, 318, 321
delete, 520
deltalin, 170
deltalog, 170
deltatan, 170
dendrite, 149
denormalization, 373
derivative action, 3, 4, 7, 9, 23, 24, 272
derivative corrector, 1, 3
derivative return corrector, 1, 4
derivative, 423
deterministic process, 54
dialog box, 517
differential equation, 48
differential equations, 429
digital filter, 219
digital signal processor, 219, 466
direct chain, 67
direct current motor, 47, 50, 57, 58, 65,
74,79,90
dirFeedthrough, 504
discrete state model, 507
discrete system, 51, 74
discrete Transfer, 524
discretisation, 1, 15, 20
disnormaiisation, 195
disp, 5, 6, 7, 8, 22, 26
dispersion channel, 484
distortion, 454
distortion factor, 484
distortion ratio, 258
disturbance rejection, 416
disturbance, 340
dlqr, 368, 369
documentation, 519
DSP, 219,329,466

E
echo cancellation, 453
edit Mask, 521

eigenvalues, 55, 60
electrical time constant, 66
electromagnet, 275
electromagnetic levitation, 276
equalization, 482
equalizer, 481
estimation, 229
estimation error, 55
evolution matrix, 55
exact least squares criterion, 222
exponential, 230 '
exponential envelope, 237

F
factor, 226
feedback,22,23, 26,82,411
filter, 11,39,41
filter coefficients, 220
filter order, 459
filter time constant, 223, 468
find,14,26,33,290
flag indicator, 504
flag, 524
fliplr, 235, 240, 248
floor, 456, 457
follower system, 13, 14
forecastings, 251
from file, 496
function, 455, 460, 465, 484, 497,504
fundamental frequency, 463
fuzzification, 291, 303
Fuzzy control, 422
fuzzy controller, 303
fuzzy corrector, 291
fuzzy matrix, 334
Fuzzy regulation, 315
fuzzy regulator, 427
fuzzy rules, 329, 424

G
gain margin, 55, 79, 262
gain, 523
gantry, 429
gap, 184
gaussian membership, 298
generalised Bell curve, 316
gensurf, 320
gensurf, 294
global,497

Index 535
gradient algorithm, 222, 454, 464
Graphic animation, 418
graphic animations, 503
graphic editor, 316
Graphical animation, 303, 340
gravity center, 294
gtext,491

H
Hadamard product, 172
hands-free telephone, 443
harmonics, 465
heating resistor, 347
hidden layer cells, 176
hydraulic friction coefficient, 47
hyperbolic tangent, 166

identification, 31, 51
impulse, 20, 21
impz,20
indicial response, 70
inductance, 47
induction, 276
inertia moment, 47
Inference rules, 294, 303
informative signal, 234
initial conditions, 49
instrumentation amplifier, 347
integral action, 23, 24
integral control, 1, 3
integral correction, 414
integration, 57, 198
intercorrelation, 79
intercorrelation matrix, 81, 221
interference, 231, 481
inverted pendulum, 303

K
kalman, 81, 364, 369
Kalman filter, 78
Kalman predicter, 54
Kalman reconstructor, 364
Kinetic energy, 303, 304

L
Lagrange equation, 303
Laplace transform, 49, 277, 348

learning gain, 216

learning stage, 205
learnwh, 152,445
least mean squares criterion, 222
least squares, 31
leftarrow, 475
lemma, 224
length, 466, 499
levitation, 275
line, 19,20,22,23,25,26,491
linear neuron, 445
linear phase filter, 487
linearisation, 277
L~S,220,227,455,464,481

loglog, 9, 11
logsig, 167, 170, 374
logspace, 261, 265
Look Under ~ask, 521
look-up counts, 463
loudspeaker, 464
LQ, 1,27,29,43,368
LQI control, 441
LQI controller, 429
LQI monovariable control, 440
LQI, 1,27,28,30,31,32,34,36,38,39,
40,41,43
Iqr,368
Isim,84
Luenberger observer, 54

M
293, 318
margin, 22, 261
mask, 520
~ask Subsystem, 518
masking, 515
masking a set of blocks in SI~ULINK,
516
matrix algebra, 47
mdIDerivatives,512
mdlTerrninate,512
mdlUpdate,512
mean square deviation, 482
measurement noise, 78
~easurement Update, 79
membership degree, 422
membership functions, 329, 422
microphone, 463
modeling noise, 78, 79, 84, 86, 90
moment of inertia, 306

~amdani,

536 Index

monovariable,47
motor, 30
multivariable, 1,27,28,30,36,41,43,47
Multivariable RST control, 435

N
naturrufrequency, 11,32,39,41,281
network, 373
network training, 189
Neurru Network TOOLBOX, 152,445
neurru networks, 149, 187, 189
neuron, 149
neuronru control, 378
neuronru inverse model, 371
noise cancellation in a conduit, 464
noise power, 472
non-linear organ, 469
non-stationary signru, 461, 462
normruization, 373
nurn2str,5,6,7,8,22,26
NumContStates, 504
NumDiscStates, 504
Nurnlnputs, 504
NumOutputs, 504
NurnSampleTimes, 504
nyquist, 21
Nyquist criterion, 1, 17
Nyquist diagram, 17

observability,53
observation equation, 49, 53
observers, 54
open loop gain, 258
operationru amplifier, 257
optimru control, 27, 28, 30, 39
optimru observer, 55
optimization criterion, 220
originru, 52
oscillator, 257
oven, 347
oven control, 348
overshoot, 203, 439
overshooting, 353

partiru derivative, 306

passband,7,239,244
pendulum, 341
perceptron, 150
permeability,276
phase delay corrector, 1,7
phase lag corrector, 267
phase lead corrector, 1, 5
phase margin, 262
phenomenon, 252
PI corrector, 281
PID, 9, 10, 11,23
PIR, 14,24,25,26
place, 357, 362
plot, 491
plotfis, 295
plotmf,292
poles and zeros compensation, 286
poles placement, 74
poly, 63, 70
polynomiru, 38, 39, 40, 41
polynornirus compensation, 287
polyvrum, 63, 70, 75, 357
popup menu, 524
position error, 3, 24, 36, 70
potentiru energy, 303, 304
power according, 276
power amplifier, 257
power spectrru density, 477
PRBS, 173,521
prediction equation, 55
predictive control, 184
probability,227
process control, 524
process noise, 78
prompt, 520
propagation time, 464
proportional action, 3, 23
proportionnru corrector, I, 2
psd,467,470, 475
purelin, 170
pursuit error, 200
pzmap, 284

Q
quadratic linear control, 27, 368

p
pade,25
parrulel, 82

R
randn, 90, 229

Index 537

random binary sequence, 481

random, 219,227,234,236,239
rank,53,59,69,74,357
rate limiter, 271
readfis, 292
reconstructors, 54
recursive filter, 78
recursive polynomial, 481
recursive, 223
reference model, 207
reference signals, 436
regulating system, 13
regulation matrix, 435
regulation polynomial, 38
rejection, 38, 40, 41
rejection filter, 231, 234
reluctance, 276
resistance, 47
resistive bridge, 262
resonance, 463
response time, 15,23,24,26, 36, 70
RLS, 220,460, 472
rod,323
roots, 357
rotor, 47
RST,I,38,41,43,429
rule view, 294, 334

sampling period, 74
saturation, 3, 166,351
save, 482, 498
scalar, 219, 222, 223
selectivity, 231
semilogx, 5, 6, 7, 9, 11
semilogy, 230
sensor,89,282,347
series, 23, 25
set, 34, 37,42,45,290,494
set-point, 427
S-function, 449, 454, 464, 472, 503, 525
showrule, 319
signal prediction, 213
simsizes, 342, 456, 461
SIMULINK, 449, 496, 503
sinusoidal interference, 234, 236
sizes, 525
sizes,DirFeedthrough, 3, 525
sizes.NumContStates, 34, 525
sizes.NumDiscStates, 34, 525

sizes.NumInputs, 342, 525

sizes.NumOutputs, 342, 525
sizes.NumSampleTimes, 342, 525
slew rate, 271
Smith,14
solve lin, 152
spectrum, 469
ss,58,65, 74, 76,80,82,90,356,361
ssdata, 59, 361
stability criterion, 55
stability, 1,4,7,15,16,17,222,264
stairs, 35, 37,42,45,483
state matrix, 49 '
state modelling, 307
state reconstruction, 47, 54
state representation, 47, 50, 59, 63, 68, 76,
82,355
state return, 360
state return control, 56
state return matrix, 60
state variables, 48, 57, 64, 65, 71, 72, 78
static gain, 2, 23, 32, 39, 41
stationary, 78
statistical, 225, 226, 227, 251
std,89
steady state, 443
stem, 77, 467, 491
step, 17, 19,22,23,25,26,27,39
stimulus vector, 166
stochastic, 227
stochastic process, 54
stochastic reconstructor, 364
subplot, 36, 37, 45, 483, 485
subsystem, 284,352,516
Sugeno,318
superelevated cosine, 484
surfaces, 333
suspended mass, 424
suspended rod, 328
switch, 455, 460, 497
System modelling, 303

T
tachometer, 5
tansig, 170
telephone, 445
telephone line,453
text,288
tf, 22, 57, 235, 240, 248, 265
thermocouple, 347

538 Index
threshold, 166,472
time constant, 2, 3, 5, 11,23,230
time response, 439
Time Update, 78
To Workspace, 517
trace,227,248,251,254,255,256
training law, 151
transfer function, 2, 14, 16, 22, 24, 29, 32,
41,258
transformation matrix, 56
transmission delay, 454
transmission line, 453
transparent, 519
transport delay, 454, 464, 496
trapezoidal membership, 291
traprnf, 329
traprnfs, 291
triangular membership function, 318
Tustin, 15,20

u
uniform random number, 340
unipolar sigmoid, 166

uparrow, 261

v
variable sampling period, 510
variance matrix, 78, 472
variance, 93,218,234,483
view, 294

w
weight, 179
weighting coefficient, 33, 34, 36
white noise, 469
Widrow-Hoff,154

zeros, 91, 229

zero order hold, 296
zpk,60, 69,260,285
zpkdata, 260
Z-transfer, 286
Z-transform, 228, 232