6.

094
Introduction to Programming in MATLAB

Lecture 1: Variables, Scripts,

and Operations

Danilo epanovi

IAP 2010
 Course Layout

Lectures
1: Variables, Scripts and Operations
2: Visualization and Programming
3: Solving Equations, Fitting
4: Images, Animations, Advanced Methods
5: Optional: Symbolic Math, Simulink
 Course Layout

Problem Sets / Office Hours

One per day, should take about 3 hours to do
Submit doc or pdf (include code, figures)
No set office hours but available by email

Requirements for passing

Attend all lectures
Complete all problem sets (-, , +)

Prerequisites
Basic familiarity with programming
Basic linear algebra, differential equations, and
probability
 Outline

(1) Getting Started

(2) Scripts
(3) Making Variables
(4) Manipulating Variables
(5) Basic Plotting
 Getting Started

To get MATLAB Student Version for yourself

https://msca.mit.edu/cgi-bin/matlab
Use VPN client to enable off-campus access
Note: MIT certificates are required

Open up MATLAB for Windows

Through the START Menu

On Athena
add matlab
matlab &
 Current directory

Workspace

Command Window

Command History

Courtesy of The MathWorks, Inc. Used with permission.

 Making Folders

Use folders to keep your programs organized

To make a new folder, click the Browse button next to Current

Directory

Click the Make New Folder button, and change the name of the
folder. Do NOT use spaces in folder names. In the MATLAB
folder, make two new folders: IAPMATLAB\day1

Highlight the folder you just made and click OK

The current directory is now the folder you just created
To see programs outside the current directory, they should be in
the Path. Use File-> Set Path to add folders to the path
 Customization
File Preferences
Allows you personalize your MATLAB experience

Courtesy of The MathWorks, Inc. Used with permission.

 MATLAB Basics

MATLAB can be thought of as a super-powerful

graphing calculator
Remember the TI-83 from calculus?
With many more buttons (built-in functions)

In addition it is a programming language

MATLAB is an interpreted language, like Java
Commands executed line by line
 Help/Docs

help
The most important function for learning MATLAB on
your own
To get info on how to use a function:
help sin
Help lists related functions at the bottom and links to
the doc
To get a nicer version of help with examples and easy-to-
read descriptions:
doc sin
To search for a function by specifying keywords:
doc + Search tab
 Outline

(1) Getting Started

(2) Scripts
(3) Making Variables
(4) Manipulating Variables
(5) Basic Plotting
 Scripts: Overview

Scripts are
collection of commands executed in sequence
written in the MATLAB editor
saved as MATLAB files (.m extension)

To create an MATLAB file from command-line

edit helloWorld.m
or click

Courtesy of The MathWorks, Inc. Used with permission.

 Scripts: the Editor
* Means that it's not saved
Line numbers
MATLAB file Real-time
path Debugging tools error check

Help file

Comments

Possible breakpoints Courtesy of The MathWorks, Inc. Used with permission.

 Scripts: Some Notes

COMMENT!
Anything following a % is seen as a comment
The first contiguous comment becomes the script's help file
Comment thoroughly to avoid wasting time later

Note that scripts are somewhat static, since there is no

input and no explicit output

All variables created and modified in a script exist in the

workspace even after it has stopped running
 Exercise: Scripts

Make a helloWorld script

When run, the script should display the following text:
Hello World!
I am going to learn MATLAB!
Hint: use disp to display strings. Strings are written
between single quotes, like 'This is a string'
 Exercise: Scripts

Make a helloWorld script

When run, the script should display the following text:
Hello World!
I am going to learn MATLAB!
Hint: use disp to display strings. Strings are written
between single quotes, like 'This is a string'

Open the editor and save a script as helloWorld.m. This is

an easy script, containing two lines of code:
% helloWorld.m
% my first hello world program in MATLAB

disp('Hello World!');
disp('I am going to learn MATLAB!');
 Outline

(1) Getting Started

(2) Scripts
(3) Making Variables
(4) Manipulating Variables
(5) Basic Plotting
 Variable Types

MATLAB is a weakly typed language

No need to initialize variables!

MATLAB supports various types, the most often used are

3.84
64-bit double (default)
a
16-bit char

Most variables youll deal with will be vectors or matrices of

doubles or chars

Other types are also supported: complex, symbolic, 16-bit

and 8 bit integers, etc. You will be exposed to all these
types through the homework
 Naming variables

To create a variable, simply assign a value to a name:

var1=3.14
myString=hello world

Variable names
first character must be a LETTER
after that, any combination of letters, numbers and _
CASE SENSITIVE! (var1 is different from Var1)

Built-in variables. Dont use these names!

i and j can be used to indicate complex numbers
pi has the value 3.1415926
ans stores the last unassigned value (like on a calculator)
Inf and -Inf are positive and negative infinity
NaN represents Not a Number
 Scalars

A variable can be given a value explicitly

a = 10
shows up in workspace!

Or as a function of explicit values and existing variables

c = 1.3*45-2*a

To suppress output, end the line with a semicolon

cooldude = 13/3;
 Arrays

Like other programming languages, arrays are an

important part of MATLAB
Two types of arrays

(1) matrix of numbers (either double or complex)

(2) cell array of objects (more advanced data structure)

MATLAB makes vectors easy!

Thats its power!
 Row Vectors

Row vector: comma or space separated values between

brackets
row = [1 2 5.4 -6.6]
row = [1, 2, 5.4, -6.6];

Command window:

Workspace:

Courtesy of The MathWorks, Inc. Used with permission.

 Column Vectors

Column vector: semicolon separated values between

brackets
column = [4;2;7;4]

Command window:

Workspace:

Courtesy of The MathWorks, Inc. Used with permission.

 size & length

You can tell the difference between a row and a column

vector by:
Looking in the workspace
Displaying the variable in the command window
Using the size function

To get a vector's length, use the length function

 Matrices

Make matrices like vectors

1 2
Element by element a=
a= [1 2;3 4]; 3 4

By concatenating vectors or matrices (dimension matters)

a = [1 2];
b = [3 4];
c = [5;6];

d = [a;b];
e = [d c];
f = [[e e];[a b a]];
str = ['Hello, I am ' 'John'];
Strings are character vectors
 save/clear/load
Use save to save variables to a file
save myFile a b
saves variables a and b to the file myfile.mat
myfile.mat file is saved in the current directory
Default working directory is
\MATLAB
Make sure youre in the desired folder when saving files. Right
now, we should be in:
MATLAB\IAPMATLAB\day1

Use clear to remove variables from environment

clear a b
look at workspace, the variables a and b are gone

Use load to load variable bindings into the environment

load myFile
look at workspace, the variables a and b are back

Can do the same for entire environment

save myenv; clear all; load myenv;
 Exercise: Variables

Get and save the current date and time

Create a variable start using the function clock
What is the size of start? Is it a row or column?
What does start contain? See help clock
Convert the vector start to a string. Use the function
datestr and name the new variable startString
Save start and startString into a mat file named
startTime
 Exercise: Variables

Get and save the current date and time

Create a variable start using the function clock
What is the size of start? Is it a row or column?
What does start contain? See help clock
Convert the vector start to a string. Use the function
datestr and name the new variable startString
Save start and startString into a mat file named
startTime

help clock
start=clock;
size(start)
help datestr
startString=datestr(start);
save startTime start startString
 Exercise: Variables

Read in and display the current date and time

In helloWorld.m, read in the variables you just saved using
load
Display the following text:
I started learning MATLAB on *start date and time*
Hint: use the disp command again, and remember that
strings are just vectors of characters so you can join two
strings by making a row vector with the two strings as sub-
vectors.
 Exercise: Variables

Read in and display the current date and time

In helloWorld.m, read in the variables you just saved using
load
Display the following text:
I started learning MATLAB on *start date and time*
Hint: use the disp command again, and remember that
strings are just vectors of characters so you can join two
strings by making a row vector with the two strings as sub-
vectors.

load startTime
disp(['I started learning MATLAB on ' ...
startString]);
 Outline

(1) Getting Started

(2) Scripts
(3) Making Variables
(4) Manipulating Variables
(5) Basic Plotting
 Basic Scalar Operations
Arithmetic operations (+,-,*,/)
7/45
(1+i)*(2+i)
1 / 0
0 / 0

Exponentiation (^)
4^2
(3+4*j)^2

Complicated expressions, use parentheses

((2+3)*3)^0.1

Multiplication is NOT implicit given parentheses

3(1+0.7) gives an error

To clear command window

clc
 Built-in Functions

MATLAB has an enormous library of built-in functions

Call using parentheses passing parameter to function

sqrt(2)
log(2), log10(0.23)
cos(1.2), atan(-.8)
exp(2+4*i)
round(1.4), floor(3.3), ceil(4.23)
angle(i); abs(1+i);
 Exercise: Scalars

You will learn MATLAB at an exponential rate! Add the

following to your helloWorld script:
Your learning time constant is 1.5 days. Calculate the number of
seconds in 1.5 days and name this variable tau
This class lasts 5 days. Calculate the number of seconds in 5 days
and name this variable endOfClass
This equation describes your knowledge as a function of time t:
t /
k = 1 e
How well will you know MATLAB at endOfClass? Name this
variable knowledgeAtEnd. (use exp)
Using the value of knowledgeAtEnd, display the phrase:

At the end of 6.094, I will know X% of MATLAB

Hint: to convert a number to a string, use num2str

 Exercise: Scalars

secPerDay=60*60*24;
tau=1.5*secPerDay;
endOfClass=5*secPerDay
knowledgeAtEnd=1-exp(-endOfClass/tau);
disp(['At the end of 6.094, I will know ' ...
num2str(knowledgeAtEnd*100) '% of MATLAB'])
 Transpose

The transpose operators turns a column vector into a row

vector and vice versa
a = [1 2 3 4+i]
transpose(a)
a'
a.'

The ' gives the Hermitian-transpose, i.e. transposes and

conjugates all complex numbers

For vectors of real numbers .' and ' give same result
 Addition and Subtraction

Addition and subtraction are element-wise; sizes must

match (unless one is a scalar):
[12 3 32 11] 12 3 9
1 1 2
+ [ 2 11 30 32] =
10 13 23
= [14 14 2 21]
0 33
33

The following would give an error

c = row + column
Use the transpose to make sizes compatible
c = row + column
c = row + column
Can sum up or multiply elements of vector
s=sum(row);
p=prod(row);
 Element-Wise Functions

All the functions that work on scalars also work on vectors

t = [1 2 3];
f = exp(t);
is the same as
f = [exp(1) exp(2) exp(3)];

If in doubt, check a functions help file to see if it handles

vectors elementwise

Operators (* / ^) have two modes of operation

element-wise
standard
 Operators: element-wise

To do element-wise operations, use the dot: . (.*, ./, .^).

BOTH dimensions must match (unless one is scalar)!
a=[1 2 3];b=[4;2;1];
a.*b, a./b, a.^b all errors
a.*b', a./b, a.^(b) all valid

4 1 1 1 1 2 3 1 2 3
2 2 2 .* 1 2 3 = 2 4 6
[1 2 3] .* 2 = ERROR
1 3 3 3 1 2 3 3 6 9
1 4 4 3 3.* 3 3 = 3 3
2 .* 2 = 4

3 1 3
1 2 12 22
3 1.* 3 1 = 3 1 3 4 .^ 2 = 2 2
3 4
Can be any dimension
 Operators: standard

Multiplication can be done in a standard way or element-wise

Standard multiplication (*) is either a dot-product or an outer-
product
Remember from linear algebra: inner dimensions must MATCH!!
Standard exponentiation (^) can only be done on square matrices
or scalars
Left and right division (/ \) is same as multiplying by inverse
Our recommendation: just multiply by inverse (more on this
later)

4 1 2 1 2 1 2 1 1 1 1 2 3 3 6 9
[1 2 3]* 2 = 11 3 4 ^ 2 = 3 4 * 3 4

2 2 2 * 1 2 3 = 6 12 18

1 Must be square to do powers 3 3 3 1 2 3 9 18 27
1 3* 3 1 = 11 3 3* 3 3 = 3 3
 Exercise: Vector Operations

Calculate how many seconds elapsed since the start of

class
In helloWorld.m, make variables called secPerMin,
secPerHour, secPerDay, secPerMonth (assume 30.5 days
per month), and secPerYear (12 months in year), which
have the number of seconds in each time period.
Assemble a row vector called secondConversion that has
elements in this order: secPerYear, secPerMonth,
secPerDay, secPerHour, secPerMinute, 1.
Make a currentTime vector by using clock
Compute elapsedTime by subtracting currentTime from
start
Compute t (the elapsed time in seconds) by taking the dot
product of secondConversion and elapsedTime (transpose
one of them to get the dimensions right)
 Exercise: Vector Operations

secPerMin=60;
secPerHour=60*secPerMin;
secPerDay=24*secPerHour;
secPerMonth=30.5*secPerDay;
secPerYear=12*secPerMonth;
secondConversion=[secPerYear secPerMonth ...
secPerDay secPerHour secPerMin 1];
currentTime=clock;
elapsedTime=currentTime-start;
t=secondConversion*elapsedTime';
 Exercise: Vector Operations

Display the current state of your knowledge

Calculate currentKnowledge using the same relationship as
before, and the t we just calculated:
t /
k = 1 e
Display the following text:

At this time, I know X% of MATLAB

 Exercise: Vector Operations

Display the current state of your knowledge

Calculate currentKnowledge using the same relationship as
before, and the t we just calculated:
t /
k = 1 e
Display the following text:

At this time, I know X% of MATLAB

currentKnowledge=1-exp(-t/tau);
disp(['At this time, I know ' ...
num2str(currentKnowledge*100) '% of MATLAB']);
 Automatic Initialization

Initialize a vector of ones, zeros, or random numbers

o=ones(1,10)
row vector with 10 elements, all 1
z=zeros(23,1)
column vector with 23 elements, all 0
r=rand(1,45)
row vector with 45 elements (uniform [0,1])
n=nan(1,69)
row vector of NaNs (useful for representing uninitialized
variables)
The general function call is:
var=zeros(M,N);

Number of rows Number of columns

 Automatic Initialization

To initialize a linear vector of values use linspace

a=linspace(0,10,5)
starts at 0, ends at 10 (inclusive), 5 values

Can also use colon operator (:)

b=0:2:10
starts at 0, increments by 2, and ends at or before 10
increment can be decimal or negative
c=1:5
if increment isnt specified, default is 1

To initialize logarithmically spaced values use logspace

similar to linspace, but see help
 Exercise: Vector Functions

Calculate your learning trajectory

In helloWorld.m, make a linear time vector tVec that has
10,000 samples between 0 and endOfClass
Calculate the value of your knowledge (call it
knowledgeVec) at each of these time points using the same
equation as before:
t /
k = 1 e
 Exercise: Vector Functions

Calculate your learning trajectory

In helloWorld.m, make a linear time vector tVec that has
10,000 samples between 0 and endOfClass
Calculate the value of your knowledge (call it
knowledgeVec) at each of these time points using the same
equation as before:
t /
k = 1 e
tVec = linspace(0,endOfClass,10000);
knowledgeVec=1-exp(-tVec/tau);
 Vector Indexing

MATLAB indexing starts with 1, not 0

We will not respond to any emails where this is the
problem.
a(n) returns the nth element
a = [13 5 9 10]

a(1) a(2) a(3) a(4)

The index argument can be a vector. In this case, each

element is looked up individually, and returned as a vector
of the same size as the index vector.
x=[12 13 5 8];
a=x(2:3); a=[13 5];
b=x(1:end-1); b=[12 13 5];
 Matrix Indexing

Matrices can be indexed in two ways

using subscripts (row and column)
using linear indices (as if matrix is a vector)
Matrix indexing: subscripts or linear indices

b(1,1) 14 33 b(1,2) b(1) 14 33 b(3)

b(2,1)
9 8 b(2,2) b(2)
9 8 b(4)

Picking submatrices
A = rand(5) % shorthand for 5x5 matrix
A(1:3,1:2) % specify contiguous submatrix
A([1 5 3], [1 4]) % specify rows and columns
 Advanced Indexing 1

To select rows or columns of a matrix, use the :

12 5
c=
2 13
d=c(1,:); d=[12 5];
e=c(:,2); e=[5;13];
c(2,:)=[3 6]; %replaces second row of c
 Advanced Indexing 2

MATLAB contains functions to help you find desired values

within a vector or matrix
vec = [5 3 1 9 7]

To get the minimum value and its index:

[minVal,minInd] = min(vec);
max works the same way

To find any the indices of specific values or ranges

ind = find(vec == 9);
ind = find(vec > 2 & vec < 6);
find expressions can be very complex, more on this later

To convert between subscripts and indices, use ind2sub,

and sub2ind. Look up help to see how to use them.
 Exercise: Indexing

When will you know 50% of MATLAB?

First, find the index where knowledgeVec is closest to 0.5.
Mathematically, what you want is the index where the value
of knowledgeVec 0.5 is at a minimum (use abs and min).
Next, use that index to look up the corresponding time in
tVec and name this time halfTime.
Finally, display the string: I will know half of MATLAB after X days
Convert halfTime to days by using secPerDay
 Exercise: Indexing

When will you know 50% of MATLAB?

First, find the index where knowledgeVec is closest to 0.5.
Mathematically, what you want is the index where the value
of knowledgeVec 0.5 is at a minimum (use abs and min).
Next, use that index to look up the corresponding time in
tVec and name this time halfTime.
Finally, display the string: I will know half of MATLAB after X days
Convert halfTime to days by using secPerDay

[val,ind]=min(abs(knowledgeVec-0.5));
halfTime=tVec(ind);
disp(['I will know half of MATLAB after ' ...
num2str(halfTime/secPerDay) ' days']);
 Outline

(1) Getting Started

(2) Scripts
(3) Making Variables
(4) Manipulating Variables
(5) Basic Plotting

Did everyone sign in?

 Plotting

Example
x=linspace(0,4*pi,10);
y=sin(x);

Plot values against their index

plot(y);
Usually we want to plot y versus x
plot(x,y);

MATLAB makes visualizing data

fun and easy!
 What does plot do?
plot generates dots at each (x,y) pair and then connects the dots
with a line
To make plot of a function look smoother, evaluate at more points
x=linspace(0,4*pi,1000);
plot(x,sin(x));
x and y vectors must be same size or else youll get an error
plot([1 2], [1 2 3])
error!!

1 1

10 x values: 0.8

0.6
1000 x values:
0.8

0.6

0.4 0.4

0.2 0.2

0 0

-0.2 -0.2

-0.4 -0.4

-0.6 -0.6

-0.8 -0.8

-1 -1
0 2 4 6 8 10 12 14 0 2 4 6 8 10 12 14
 Exercise: Plotting

Plot the learning trajectory

In helloWorld.m, open a new figure (use figure)
Plot the knowledge trajectory using tVec and
knowledgeVec. When plotting, convert tVec to days by
using secPerDay
Zoom in on the plot to verify that halfTime was calculated
correctly
 Exercise: Plotting

Plot the learning trajectory

In helloWorld.m, open a new figure (use figure)
Plot the knowledge trajectory using tVec and
knowledgeVec. When plotting, convert tVec to days by
using secPerDay
Zoom in on the plot to verify that halfTime was calculated
correctly

figure
plot(tVec/secPerDay, knowledgeVec);
 End of Lecture 1

(1) Getting Started

(2) Scripts
(3) Making Variables
(4) Manipulating Variables
(5) Basic Plotting

Hope that wasnt too much!!

MIT OpenCourseWare
http://ocw.mit.edu

6.094 Introduction to MATLAB

January (IAP) 2010

For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.
 6.094
Introduction to programming in MATLAB

Lecture 2: Visualization and Programming

Danilo epanovi

IAP 2010
 Homework 1 Recap

How long did it take to do required problems?

Did anyone do optional problems?
Was level of guidance appropriate?
Unanswered Questions?

Some things that came up:

Use of semicolon never required if one command per line.
You can also put multiple commands on one line; in this
case a semicolon is necessary to separate commands:
x=1:10; y=(x-5).^2; plot(x,y);
Assignment using indices remember that you can index
into matrices to either look up values or to assign value:
x=rand(50,1); inds=find(x<0.1); y=x(inds);
x(inds)=-x(inds); x(inds)=3;
 Outline

(1) Functions
(2) Flow Control
(3) Line Plots
(4) Image/Surface Plots
(5) Vectorization
 User-defined Functions
Functions look exactly like scripts, but for ONE difference
Functions must have a function declaration

Help file

Function declaration
Outputs Inputs

Courtesy of The MathWorks, Inc. Used with permission.

 User-defined Functions

Some comments about the function declaration

Inputs must be specified

function [x, y, z] = funName(in1, in2)

Must have the reserved Function name should

word: function match MATLAB file
name
If more than one output,
must be in brackets

No need for return: MATLAB 'returns' the variables whose

names match those in the function declaration
Variable scope: Any variables created within the function
but not returned disappear after the function stops running
 Functions: overloading

We're familiar with

zeros
size
length
sum

Look at the help file for size by typing

help size

The help file describes several ways to invoke the function

D = SIZE(X)
[M,N] = SIZE(X)
[M1,M2,M3,...,MN] = SIZE(X)
M = SIZE(X,DIM)
 Functions: overloading

MATLAB functions are generally overloaded

Can take a variable number of inputs
Can return a variable number of outputs

What would the following commands return:

a=zeros(2,4,8); %n-dimensional matrices are OK
D=size(a)
[m,n]=size(a)
[x,y,z]=size(a)
m2=size(a,2)

You can overload your own functions by having variable

input and output arguments (see varargin, nargin,
varargout, nargout)
 Functions: Excercise

Write a function with the following declaration:

function plotSin(f1)

In the function, plot a sin wave with frequency f1, on the

range [0,2]: sin ( f1 x )

To get good sampling, use 16 points per period.

1

0.8

0.6

0.4

0.2

-0.2

-0.4

-0.6

-0.8

-1
0 1 2 3 4 5 6 7
 Functions: Excercise

Write a function with the following declaration:

function plotSin(f1)

In the function, plot a sin wave with frequency f1, on the

range [0,2]: sin ( f1 x )

To get good sampling, use 16 points per period.

In an MATLAB file saved as plotSin.m, write the following:

function plotSin(f1)

x=linspace(0,2*pi,f1*16+1);
figure
plot(x,sin(f1*x))
 Outline

(1) Functions
(2) Flow Control
(3) Line Plots
(4) Image/Surface Plots
(5) Vectorization
 Relational Operators

MATLAB uses mostly standard relational operators

equal ==
not equal ~=
greater than >
less than <
greater or equal >=
less or equal <=
Logical operators elementwise short-circuit (scalars)
And & &&
Or | ||
Not ~
Xor xor
All true all
Any true any

Boolean values: zero is false, nonzero is true

See help . for a detailed list of operators
 if/else/elseif

Basic flow-control, common to all languages

MATLAB syntax is somewhat unique

IF ELSE ELSEIF
if cond if cond if cond1
commands commands1 commands1
end else elseif cond2
commands2 commands2
end else
Conditional statement:
evaluates to true or false commands3
end

No need for parentheses: command blocks are between

reserved words
 for

for loops: use for a known number of iterations

MATLAB syntax:
Loop variable

for n=1:100
commands
end Command block

The loop variable

Is defined as a vector
Is a scalar within the command block
Does not have to have consecutive values (but it's usually
cleaner if they're consecutive)
The command block
Anything between the for line and the end
 while

The while is like a more general for loop:

Don't need to know number of iterations

WHILE

while cond
commands
end

The command block will execute while the conditional

expression is true
Beware of infinite loops!
 Exercise: Conditionals
Modify your plotSin(f1) function to take two inputs: plotSin(f1,f2)

If the number of input arguments is 1, execute the plot command

you wrote before. Otherwise, display the line 'Two inputs were
given'
Hint: the number of input arguments are in the built-in variable
nargin
 Exercise: Conditionals
Modify your plotSin(f1) function to take two inputs:
plotSin(f1,f2)

If the number of input arguments is 1, execute the plot command

you wrote before. Otherwise, display the line 'Two inputs were
given'
Hint: the number of input arguments are in the built-in variable
nargin

function plotSin(f1,f2)
x=linspace(0,2*pi,f1*16+1);
figure
if nargin == 1
plot(x,sin(f1*x));
elseif nargin == 2
disp('Two inputs were given');
end
 Outline

(1) Functions
(2) Flow Control
(3) Line Plots
(4) Image/Surface Plots
(5) Vectorization
 Plot Options

Can change the line color, marker style, and line style by
adding a string argument
plot(x,y,k.-);

color marker line-style

Can plot without connecting the dots by omitting line style

argument
plot(x,y,.)

Look at help plot for a full list of colors, markers, and

linestyles
 Playing with the Plot

to select lines
and delete or
change to see all plot
properties tools at once
to slide the plot
to zoom in/out around

Courtesy of The MathWorks, Inc. Used with permission.

 Line and Marker Options

Everything on a line can be customized

plot(x,y,'--s','LineWidth',2,...
'Color', [1 0 0], ...
'MarkerEdgeColor','k',...
'MarkerFaceColor','g',...
'MarkerSize',10)

You can set colors by using

a vector of [R G B] values 0.8

or a predefined color 0.6

character like 'g', 'k', etc. 0.4

0.2

See doc line_props for a full list of-0.2

properties that can be specified
-0.4

-0.6

-0.8
-4 -3 -2 -1 0 1 2 3 4
 Cartesian Plots

We have already seen the plot function

x=-pi:pi/100:pi;
y=cos(4*x).*sin(10*x).*exp(-abs(x));
plot(x,y,'k-');

The same syntax applies for semilog and loglog plots

semilogx(x,y,'k');
50
10

semilogy(y,'r.-'); 40
10

loglog(x,y); 30
10

For example:
20
10

x=0:100; 10
10

semilogy(x,exp(x),'k.-');
0
10
0 10 20 30 40 50 60 70 80 90 100
 3D Line Plots

We can plot in 3 dimensions just as easily as in 2

time=0:0.001:4*pi;
x=sin(time);
y=cos(time);
z=time;
plot3(x,y,z,'k','LineWidth',2);
zlabel('Time');
10

Use tools on figure to rotate it 5

Can set limits on all 3 axes 0

-5
xlim, ylim, zlim
-10
1
0.5 1
0 0.5
0
-0.5 -0.5
-1 -1
 Axis Modes

Built-in axis modes

axis square
makes the current axis look like a box
axis tight
fits axes to data
axis equal
makes x and y scales the same
axis xy
puts the origin in the bottom left corner (default for plots)
axis ij
puts the origin in the top left corner (default for
matrices/images)
 Multiple Plots in one Figure

To have multiple axes in one figure

subplot(2,3,1)
makes a figure with 2 rows and three columns of axes, and
activates the first axis for plotting
each axis can have labels, a legend, and a title
subplot(2,3,4:6)
activating a range of axes fuses them into one

To close existing figures

close([1 3])
closes figures 1 and 3
close all
closes all figures (useful in scripts/functions)
 Copy/Paste Figures
Figures can be pasted into other apps (word, ppt, etc)
Edit copy options figure copy template
Change font sizes, line properties; presets for word and ppt
Edit copy figure to copy figure
Paste into document of interest

Courtesy of The MathWorks, Inc. Used with permission.

 Saving Figures
Figures can be saved in many formats. The common ones
are:

.fig preserves all

information

.bmp uncompressed
image

.eps high-quality
scaleable format

.pdf compressed
image

Courtesy of The MathWorks, Inc. Used with permission.

 Advanced Plotting: Exercise

Modify the plot command in your plotSin function to use

squares as markers and a dashed red line of thickness 2
as the line. Set the marker face color to be black
(properties are LineWidth, MarkerFaceColor)
If there are 2 inputs, open a new figure with 2 axes, one on
top of the other (not side by side), and activate the top one
(subplot)
plotSin(6) plotSin(1,2)
1 1

0.8
0.8

0.6
0.6
0.4
0.4
0.2

0.2
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

-0.2

-0.4

-0.6

-0.8

-1
0 1 2 3 4 5 6 7
 Advanced Plotting: Exercise

Modify the plot command in your plotSin function to use

squares as markers and a dashed red line of thickness 2
as the line. Set the marker face color to be black
(properties are LineWidth, MarkerFaceColor)
If there are 2 inputs, open a new figure with 2 axes, one on
top of the other (not side by side), and activate the top one
(subplot)

if nargin == 1
plot(x,sin(f1*x),'rs--',...
'LineWidth',2,'MarkerFaceColor','k');
elseif nargin == 2
subplot(2,1,1);
end
 Outline

(1) Functions
(2) Flow Control
(3) Line Plots
(4) Image/Surface Plots
(5) Vectorization
 Visualizing matrices

Any matrix can be visualized as an image

mat=reshape(1:10000,100,100);
imagesc(mat);
colorbar

imagesc automatically scales the values to span the entire

colormap

Can set limits for the color axis (analogous to xlim, ylim)
caxis([3000 7000])
 Colormaps
You can change the colormap:
imagesc(mat)
default map is jet
colormap(gray)
colormap(cool)
colormap(hot(256))

See help hot for a list

Can define custom colormap

map=zeros(256,3);
map(:,2)=(0:255)/255;
colormap(map);
 Surface Plots

It is more common to visualize surfaces in 3D

Example: f ( x, y ) = sin ( x ) cos ( y )

x [ , ] ; y [ , ]

surf puts vertices at specified points in space x,y,z, and

connects all the vertices to make a surface

The vertices can be denoted by matrices X,Y,Z

3

How can we make these matrices

2

4 2

3 6
2
1
8
4 2

loop (DUMB)
10
0
6
12
1
8
14 -1

10
0
16

built-in function: meshgrid

12 -2
18
14 -1

20 -3
16 2 4 6 8 10 12 14 16 18 20
-2
18

20 -3
2 4 6 8 10 12 14 16 18 20
 surf

Make the x and y vectors

x=-pi:0.1:pi;
y=-pi:0.1:pi;

Use meshgrid to make matrices (this is the same as loop)

[X,Y]=meshgrid(x,y);

To get function values,

evaluate the matrices
Z =sin(X).*cos(Y);

Plot the surface

surf(X,Y,Z)
surf(x,y,Z);
 surf Options

See help surf for more options

There are three types of surface shading
shading faceted
shading flat
shading interp
You can change colormaps
colormap(gray)
 contour

You can make surfaces two-dimensional by using contour

contour(X,Y,Z,'LineWidth',2)
takes same arguments as surf
color indicates height
can modify linestyle properties
can set colormap
hold on
mesh(X,Y,Z)
 Exercise: 3-D Plots

Modify plotSin to do the following:

If two inputs are given, evaluate the following function:
Z = sin ( f1 x ) + sin ( f 2 y )
y should be just like x, but using f2. (use meshgrid to get
the X and Y matrices)
In the top axis of your subplot, display an image of the Z
matrix. Display the colorbar and use a hot colormap. Set
the axis to xy (imagesc, colormap, colorbar, axis)
In the bottom axis of the subplot, plot the 3-D surface of Z
(surf)
 Exercise: 3-D Plots

function plotSin(f1,f2)

x=linspace(0,2*pi,round(16*f1)+1);
figure

if nargin == 1
plot(x,sin(f1*x),'rs--',...
'LineWidth',2,'MarkerFaceColor','k');
elseif nargin == 2
y=linspace(0,2*pi,round(16*f2)+1);
[X,Y]=meshgrid(x,y);
Z=sin(f1*X)+sin(f2*Y);
subplot(2,1,1); imagesc(x,y,Z); colorbar;
axis xy; colormap hot
subplot(2,1,2); surf(X,Y,Z);
end
 Exercise: 3-D Plots
plotSin(3,4) generates this figure
2
6

5
1
4

3 0

2
-1
1

0 -2
0 1 2 3 4 5 6

2
0
-2
8
6 7
6
4 5
4
2 3
2
1
0 0
 Specialized Plotting Functions

MATLAB has a lot of specialized plotting functions

polar-to make polar plots
polar(0:0.01:2*pi,cos((0:0.01:2*pi)*2))
bar-to make bar graphs
bar(1:10,rand(1,10));
quiver-to add velocity vectors to a plot
[X,Y]=meshgrid(1:10,1:10);
quiver(X,Y,rand(10),rand(10));
stairs-plot piecewise constant functions
stairs(1:10,rand(1,10));
fill-draws and fills a polygon with specified vertices
fill([0 1 0.5],[0 0 1],'r');
see help on these functions for syntax
doc specgraph for a complete list
 Outline

(1) Functions
(2) Flow Control
(3) Line Plots
(4) Image/Surface Plots
(5) Vectorization
 Revisiting find

find is a very important function

Returns indices of nonzero values
Can simplify code and help avoid loops

Basic syntax: index=find(cond)

x=rand(1,100);
inds = find(x>0.4 & x<0.6);

inds will contain the indices at which x has values between

0.4 and 0.6. This is what happens:
x>0.4 returns a vector with 1 where true and 0 where false
x<0.6 returns a similar vector
The & combines the two vectors using an and
The find returns the indices of the 1's
 Example: Avoiding Loops

Given x= sin(linspace(0,10*pi,100)), how many of the

entries are positive?

Using a loop and if/else Being more clever

count=0; count=length(find(x>0));
for n=1:length(x)
length(x) Loop time Find time
if x(n)>0
100 0.01 0
count=count+1;
10,000 0.1 0
end
100,000 0.22 0
end
1,000,000 1.5 0.04

Avoid loops!
Built-in functions will make it faster to write and execute
 Efficient Code

Avoid loops
This is referred to as vectorization
Vectorized code is more efficient for MATLAB
Use indexing and matrix operations to avoid loops
For example, to sum up every two consecutive terms:
a=rand(1,100); a=rand(1,100);
b=zeros(1,100); b=[0 a(1:end-1)]+a;
for n=1:100 Efficient and clean.
Can also do this using
if n==1 conv
b(n)=a(n);
else
b(n)=a(n-1)+a(n);
end
end
Slow and complicated
 End of Lecture 2

(1) Functions
(2) Flow Control
(3) Line Plots
(4) Image/Surface Plots
(5) Vectorization
Vectorization makes
coding fun!
MIT OpenCourseWare
http://ocw.mit.edu

6.094 Introduction to MATLAB

January (IAP) 2010

For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.
 6.094
Introduction to programming in MATLAB

Lecture 3 : Solving Equations and Curve Fitting

Danilo epanovi

IAP 2008
 Homework 2 Recap

How long did it take?

Using min with matrices:

a=[3 7 5;1 9 10; 30 -1 2];
b=min(a); % returns the min of each column
m=min(b); % returns min of entire a matrix
m=min(min(a)); % same as above
m=min(a(:)); % makes a a vector, then gets min
Common mistake:
[m,n]=find(min(a)); % think about what happens
How to make and run a function: save the file, then call it
from the command window like any other function. No need
to 'compile' or make it official in any other way
 Outline

(1) Linear Algebra

(2) Polynomials
(3) Optimization
(4) Differentiation/Integration
(5) Differential Equations
 Systems of Linear Equations

Given a system of linear equations MATLAB makes linear

x+2y-3z=5
algebra fun!
-3x-y+z=-8
x-y+z=0
Construct matrices so the system is described by Ax=b
A=[1 2 -3;-3 -1 1;1 -1 1];
b=[5;-8;0];

And solve with a single line of code!

x=A\b;
x is a 3x1 vector containing the values of x, y, and z

The \ will work with square or rectangular systems.

Gives least squares solution for rectangular systems. Solution
depends on whether the system is over or underdetermined.
 More Linear Algebra

Given a matrix
mat=[1 2 -3;-3 -1 1;1 -1 1];

Calculate the rank of a matrix

r=rank(mat);
the number of linearly independent rows or columns

Calculate the determinant

d=det(mat);
mat must be square
if determinant is nonzero, matrix is invertible

Get the matrix inverse

E=inv(mat);
if an equation is of the form A*x=b with A a square matrix,
x=A\b is the same as x=inv(A)*b
 Matrix Decompositions

MATLAB has built-in matrix decomposition methods

The most common ones are

[V,D]=eig(X)
Eigenvalue decomposition
[U,S,V]=svd(X)
Singular value decomposition
[Q,R]=qr(X)
QR decomposition
 Exercise: Linear Algebra

Solve the following systems of equations:

System 1:
x + 4 y = 34
3 x + y = 2

System 2:
2x 2 y = 4
x + y = 3
3x + 4 y = 2
 Exercise: Linear Algebra

Solve the following systems of equations:

System 1: A=[1 4;-3 1];

x + 4 y = 34 b=[34;2];
3 x + y = 2 rank(A)
x=inv(A)*b;

System 2: A=[2 -2;-1 1;3 4];

2x 2 y = 4 b=[4;3;2];
rank(A)
x + y = 3
rectangular matrix
3x + 4 y = 2 x1=A\b;
gives least squares solution
error=abs(A*x1-b)
 Outline

(1) Linear Algebra

(2) Polynomials
(3) Optimization
(4) Differentiation/Integration
(5) Differential Equations
 Polynomials

Many functions can be well described by a high-order

polynomial

MATLAB represents a polynomials by a vector of coefficients

if vector P describes a polynomial
ax3+bx2+cx+d

P(1) P(2) P(3) P(4)

P=[1 0 -2] represents the polynomial x2-2

P=[2 0 0 0] represents the polynomial 2x3

 Polynomial Operations

P is a vector of length N+1 describing an N-th order polynomial

To get the roots of a polynomial
r=roots(P)
r is a vector of length N

Can also get the polynomial from the roots

P=poly(r)
r is a vector length N

To evaluate a polynomial at a point

y0=polyval(P,x0)
x0 is a single value; y0 is a single value

To evaluate a polynomial at many points

y=polyval(P,x)
x is a vector; y is a vector of the same size
 Polynomial Fitting

MATLAB makes it very easy to fit polynomials to data

Given data vectors X=[-1 0 2] and Y=[0 -1 3]

p2=polyfit(X,Y,2);
finds the best second order polynomial that fits the points
(-1,0),(0,-1), and (2,3)
see help polyfit for more information
plot(X,Y,o, MarkerSize, 10);
hold on;
x = -3:.01:3;
plot(x,polyval(p2,x), r--);
 Exercise: Polynomial Fitting

Evaluate y = x2 for x=-4:0.1:4.

Add random noise to these samples. Use randn. Plot the

noisy signal with . markers

Fit a 2nd degree polynomial to the noisy data

Plot the fitted polynomial on the same plot, using the same
x values and a red line
 Exercise: Polynomial Fitting
2
Evaluate y = x for x=-4:0.1:4.
x=-4:0.1:4;
y=x.^2;

Add random noise to these samples. Use randn. Plot the

noisy signal with . markers
y=y+randn(size(y));
plot(x,y,.);
Fit a 2nd degree polynomial to the noisy data
p=polyfit(x,y,2);
Plot the fitted polynomial on the same plot, using the same
x values and a red line
hold on;
plot(x,polyval(p,x),r)
 Outline

(1) Linear Algebra

(2) Polynomials
(3) Optimization
(4) Differentiation/Integration
(5) Differential Equations
 Nonlinear Root Finding

Many real-world problems require us to solve f(x)=0

Can use fzero to calculate roots for any arbitrary function

fzero needs a function passed to it.

We will see this more and more as we delve into solving
equations.
Make a separate function file
x=fzero('myfun',1)
x=fzero(@myfun,1)
1 specifies a
point close to where
you think the root is

Courtesy of The MathWorks, Inc. Used with permission.

 Minimizing a Function

fminbnd: minimizing a function over a bounded interval

x=fminbnd('myfun',-1,2);
myfun takes a scalar input and returns a scalar output
myfun(x) will be the minimum of myfun for -1x 2

fminsearch: unconstrained interval

x=fminsearch('myfun',.5)
finds the local minimum of myfun starting at x=0.5
 Anonymous Functions

You do not have to make a separate function file

x=fzero(@myfun,1)
What if myfun is really simple?

Instead, you can make an anonymous function

x=fzero(@(x)(cos(exp(x))+x^2-1), 1 );
input function to evaluate

x=fminbnd(@(x) (cos(exp(x))+x^2-1),-1,2);
 Optimization Toolbox

If you are familiar with optimization methods, use the

optimization toolbox

Useful for larger, more structured optimization problems

Sample functions (see help for more info)

linprog
linear programming using interior point methods
quadprog
quadratic programming solver
fmincon
constrained nonlinear optimization
 Exercise: Min-Finding

Find the minimum of the function f ( x ) = cos ( 4 x ) sin (10 x ) e

x

over the range to . Use fminbnd.

Plot the function on this range to check that this is the
minimum.
 Exercise: Min-Finding

Find the minimum of the function f ( x ) = cos ( 4 x ) sin (10 x ) e

x

over the range to . Use fminbnd.

Plot the function on this range to check that this is the
minimum.

Make the following function:

function y=myFun(x)
y=cos(4*x).*sin(10*x).*exp(-abs(x));

Find the minimum in the command window:

x0=fminbnd('myFun',-pi,pi);
Plot to check if it's right
figure; x=-pi:.01:pi; plot(x,myFun(x));
 Outline

(1) Linear Algebra

(2) Polynomials
(3) Optimization
(4) Differentiation/Integration
(5) Differential Equations
 Numerical Differentiation
1

MATLAB can 'differentiate' numerically0.8

x=0:0.01:2*pi; 0.6

0.4
y=sin(x); 0.2

dydx=diff(y)./diff(x); 0

diff computes the first difference -0.2

-0.4

-0.6

Can also operate on matrices -0.8

mat=[1 3 5;4 8 6]; -1

0 100 200 300 400 500 600 700

dm=diff(mat,1,2)
first difference of mat along the 2nd dimension, dm=[2 2;4 -2]
see help for more details
The opposite of diff is the cumulative sum cumsum

2D gradient
[dx,dy]=gradient(mat);
 Numerical Integration

MATLAB contains common integration methods

Adaptive Simpson's quadrature (input is a function)

q=quad('myFun',0,10);
q is the integral of the function myFun from 0 to 10
q2=quad(@(x) sin(x)*x,0,pi)
q2 is the integral of sin(x)*x from 0 to pi
Trapezoidal rule (input is a vector)
x=0:0.01:pi;
z=trapz(x,sin(x));
z is the integral of sin(x) from 0 to pi
z2=trapz(x,sqrt(exp(x))./x)
x
z2 is the integral of e x from 0 to pi
 Outline

(1) Linear Algebra

(2) Polynomials
(3) Optimization
(4) Differentiation/Integration
(5) Differential Equations
 ODE Solvers: Method

Given a differential equation, the solution can be found by

integration:

Evaluate the derivative at a point and approximate by straight line

Errors accumulate!
Variable timestep can decrease the number of iterations
 ODE Solvers: MATLAB

MATLAB contains implementations of common ODE solvers

Using the correct ODE solver can save you lots of time and
give more accurate results
ode23
Low-order solver. Use when integrating over small intervals
or when accuracy is less important than speed
ode45
High order (Runge-Kutta) solver. High accuracy and
reasonable speed. Most commonly used.
ode15s
Stiff ODE solver (Gear's algorithm), use when the diff eq's
have time constants that vary by orders of magnitude
 ODE Solvers: Standard Syntax

To use standard options and variable time step

[t,y]=ode45('myODE',[0,10],[1;0])

ODE integrator: Initial conditions

23, 45, 15s Time range
ODE function
Inputs:
ODE function name (or anonymous function). This function
takes inputs (t,y), and returns dy/dt
Time interval: 2-element vector specifying initial and final
time
Initial conditions: column vector with an initial condition for
each ODE. This is the first input to the ODE function
Outputs:
t contains the time points
y contains the corresponding values of the integrated
variables.
 ODE Function
The ODE function must return the value of the derivative at
a given time and function value

Example: chemical reaction

10
Two equations
dA A B
= 10 A + 50 B
dt 50
dB
= 10 A 50 B
dt

ODE file:
y has [A;B]
dydt has
[dA/dt;dB/dt]

Courtesy of The MathWorks, Inc. Used with permission.

 ODE Function: viewing results

To solve and plot the ODEs on the previous slide:

[t,y]=ode45('chem',[0 0.5],[0 1]);
assumes that only chemical B exists initially
plot(t,y(:,1),'k','LineWidth',1.5);
hold on;
plot(t,y(:,2),'r','LineWidth',1.5);
legend('A','B');
xlabel('Time (s)');
ylabel('Amount of chemical (g)');
title('Chem reaction');
 ODE Function: viewing results

The code on the previous slide produces this figure

Chem reaction
1
A
0.9 B

0.8

0.7
Amount of chemical (g)

0.6

0.5

0.4

0.3

0.2

0.1

0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (s)
 Higher Order Equations
Must make into a system of first-order equations to use
ODE solvers
Nonlinear is OK!
Pendulum example:
g
&& + sin ( ) = 0
L
g
&& = sin ( )
L
let & =
g
& = sin ( )
L
v
x=

v
dx &
=
dt &
Courtesy of The MathWorks, Inc. Used with permission.
 Plotting the Output

We can solve for the position and velocity of the pendulum:

[t,x]=ode45('pendulum',[0 10],[0.9*pi 0]);
assume pendulum is almost horizontal
plot(t,x(:,1));
hold on;
plot(t,x(:,2),'r');
legend('Position','Velocity');
8
Position
Velocity
6
Velocity (m/s)
Position in terms of 4

angle (rad) 2

-2

-4

-6

-8
0 1 2 3 4 5 6 7 8 9 10
 Plotting the Output

Or we can plot in the phase plane:

plot(x(:,1),x(:,2));
xlabel('Position');
yLabel('Velocity');
The phase plane is just a plot of one variable versus the
other: 8

4
Velocity is greatest
2 when theta=0
Velocity

-2

Velocity=0 when -4

theta is the greatest -6

-8
-3 -2 -1 0 1 2 3
Position
 ODE Solvers: Custom Options

MATLAB's ODE solvers use a variable timestep

Sometimes a fixed timestep is desirable
[t,y]=ode45('chem',[0:0.001:0.5],[0 1]);
Specify the timestep by giving a vector of times
The function value will be returned at the specified points
Fixed timestep is usually slower because function values
are interpolated to give values at the desired timepoints

You can customize the error tolerances using odeset

options=odeset('RelTol',1e-6,'AbsTol',1e-10);
[t,y]=ode45('chem',[0 0.5],[0 1],options);
This guarantees that the error at each step is less than
RelTol times the value at that step, and less than AbsTol
Decreasing error tolerance can considerably slow the solver
See doc odeset for a list of options you can customize
 Exercise: ODE

Use ode45 to solve for y ( t ) on the range t=[0 10], with

initial condition y ( 0 ) = 10 and dy dt = t y 10
Plot the result.
 Exercise: ODE

Use ode45 to solve for y ( t ) on the range t=[0 10], with

initial condition y ( 0 ) = 10 and dy dt = t y 10
Plot the result.

Make the following function

function dydt=odefun(t,y)
dydt=-t*y/10;
Integrate the ODE function and plot the result
[t,y]=ode45(odefun,[0 10],10);

Alternatively, use an anonymous function

[t,y]=ode45(@(t,y) t*y/10,[0 10],10);

Plot the result

plot(t,y);xlabel('Time');ylabel('y(t)');
 Exercise: ODE

The integrated function looks like this:

Function y(t), integrated by ode45

10

6
y(t)

0
0 1 2 3 4 5 6 7 8 9 10
Time
 End of Lecture 3

(1) Linear Algebra

(2) Polynomials
(3) Optimization
(4) Differentiation/Integration
(5) Differential Equations

We're almost done!

MIT OpenCourseWare
http://ocw.mit.edu

6.094 Introduction to MATLAB

January (IAP) 2010

For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.
 6.094
Introduction to programming in MATLAB

Lecture 4: Advanced Methods

Danilo epanovi

IAP 2010
 Homework 3 Recap

How long did it take?

Common issues:
The ODE file should be separate from the command that
solves it. ie. you should not be calling ode45 from within
your ODE file
The structure of the output of an ode solver is to have time
running down the columns, so each column of y is a
variable, and the last row of y are the last values

HW 4 was updated today, so download it again if you

already started. Show a juliaAnimation
Today is the last required class: make sure the sign-in
sheet is accurate regarding your credit/listener status
 Outline

(1) Probability and Statistics

(2) Data Structures
(3) Images and Animation
(4) Debugging
(5) Online Resources
 Statistics

Whenever analyzing data, you have to compute statistics

scores = 100*rand(1,100);

Built-in functions
mean, median, mode

To group data into a histogram

hist(scores,5:10:95);
makes a histogram with bins centered at 5, 15, 2595
N=histc(scores,0:10:100);
returns the number of occurrences between the specified
bin edges 0 to <10, 10 to <2090 to <100. you can plot
these manually:
bar(0:10:100,N,'r')
 Random Numbers

Many probabilistic processes rely on random numbers

MATLAB contains the common distributions built in

rand
draws from the uniform distribution from 0 to 1
randn
draws from the standard normal distribution (Gaussian)
random
can give random numbers from many more distributions
see doc random for help
the docs also list other specific functions
You can also seed the random number generators
rand('state',0); rand(1); rand(1);
rand('state',0); rand(1);
 Changing Mean and Variance

We can alter the given distributions

y=rand(1,100)*10+5;
gives 100 uniformly distributed numbers between 5 and 15
y=floor(rand(1,100)*10+6);
gives 100 uniformly distributed integers between 10 and
15. floor or ceil is better to use here than round
400

350

y=randn(1,1000)
300

250

200

y2=y*5+8 150

100

increases std to 5 and makes the mean 8 50

0
-25 -20 -15 -10 -5 0 5 10 15 20 25

90

80

70

60

50

40

30

20

10

0
-25 -20 -15 -10 -5 0 5 10 15 20 25
 Exercise: Probability
We will simulate Brownian motion in 1 dimension. Call the script
brown
Make a 10,000 element vector of zeros
Write a loop to keep track of the particles position at each time
Start at 0. To get the new position, pick a random number, and if
its <0.5, go left; if its >0.5, go right. Store each new position in
the kth position in the vector
Plot a 50 bin histogram of the positions.
 Exercise: Probability
We will simulate Brownian motion in 1 dimension. Call the script
brown
Make a 10,000 element vector of zeros
Write a loop to keep track of the particles position at each time
Start at 0. To get the new position, pick a random number, and if
its <0.5, go left; if its >0.5, go right. Store each new position in
the kth position in the vector
Plot a 50 bin histogram of the positions.

x=zeros(10000,1);
for n=2:10000
if rand<0.5
x(n)=x(n-1)-1;
else
x(n)=x(n-1)+1;
end
end
figure;
hist(x,50);
 Outline

(1) Probability and Statistics

(2) Data Structures
(3) Images and Animation
(4) Debugging
(5) Online Resources
 Advanced Data Structures

We have used 2D matrices

Can have n-dimensions
Every element must be the same type (ex. integers,
doubles, characters)
Matrices are space-efficient and convenient for calculation
Large matrices with many zeros can be made sparse:
a=zeros(100); a(1,3)=10;a(21,5)=pi; b=sparse(a);

Sometimes, more complex data structures are more

appropriate
Cell array: it's like an array, but elements don't have to
be the same type
Structs: can bundle variable names and values into one
structure
Like object oriented programming in MATLAB
 Cells: organization

A cell is just like a matrix, but each field can contain

anything (even other matrices):

3x3 Matrix 3x3 Cell Array

2
J o h n
1.2 -3 5.5 4
32
-2.4 15 -10
M a r y 27 1
7.8 -1.1 4 18

L e o []

One cell can contain people's names, ages, and the ages of
their children
To do the same with matrices, you would need 3 variables
and padding
 Cells: initialization

To initialize a cell, specify the size

a=cell(3,10);
a will be a cell with 3 rows and 10 columns

or do it manually, with curly braces {}

c={'hello world',[1 5 6 2],rand(3,2)};
c is a cell with 1 row and 3 columns

Each element of a cell can be anything

To access a cell element, use curly braces {}

a{1,1}=[1 3 4 -10];
a{2,1}='hello world 2';
a{1,2}=c{3};
 Structs

Structs allow you to name and bundle relevant variables

Like C-structs, which are objects with fields

To initialize an empty struct:

s=struct([]);
size(s) will be 1x1
initialization is optional but is recommended when using large
structs

To add fields
s.name = 'Jack Bauer';
s.scores = [95 98 67];
s.year = 'G3';
Fields can be anything: matrix, cell, even struct
Useful for keeping variables together

For more information, see doc struct

 Struct Arrays

To initialize a struct array, give field, values pairs

ppl=struct('name',{'John','Mary','Leo'},...
'age',{32,27,18},'childAge',{[2;4],1,[]});
size(s2)=1x3
every cell must have the same size
person=ppl(2);
person is now a struct with fields name, age, children
the values of the fields are the second index into each cell
person.name
returns 'Mary' ppl ppl(1) ppl(2) ppl(3)
ppl(1).age
returns 32 name: 'John' 'Mary' 'Leo'
age: 32 27 18
childAge: [2;4] 1 []
 Structs: access

To access 1x1 struct fields, give name of the field

stu=s.name;
scor=s.scores;
1x1 structs are useful when passing many variables to a
function. put them all in a struct, and pass the struct

To access nx1 struct arrays, use indices

person=ppl(2);
person is a struct with name, age, and child age
personName=ppl(2).name;
personName is 'Mary'
a=[ppl.age];
a is a 1x3 vector of the ages; this may not always work,
the vectors must be able to be concatenated.
 Exercise: Cells

Write a script called sentGen

Make a 3x2 cell, and put three names into the first column,
and adjectives into the second column
Pick two random integers (values 1 to 3)
Display a sentence of the form '[name] is [adjective].'
Run the script a few times
 Exercise: Cells

Write a script called sentGen

Make a 3x2 cell, and put three names into the first column,
and adjectives into the second column
Pick two random integers (values 1 to 3)
Display a sentence of the form '[name] is [adjective].'
Run the script a few times

c=cell(3,2);
c{1,1}=John;c{2,1}=Mary-Sue;c{3,1}=Gomer;
c{1,2}=smart;c{2,2}=blonde;c{3,2}=hot
r1=ceil(rand*3);r2=ceil(rand*3);
disp([ c{r1,1}, ' is ', c{r2,2}, '.' ]);
 Outline

(1) Probability and Statistics

(2) Data Structures
(3) Images and Animation
(4) Debugging
(5) Online Resources
 Figure Handles

Every graphics object has a handle

L=plot(1:10,rand(1,10));
gets the handle for the plotted line
A=gca;
gets the handle for the current axis
F=gcf;
gets the handle for the current figure
To see the current property values, use get
get(L);
yVals=get(L,'YData');
To change the properties, use set
set(A,'FontName','Arial','XScale','log');
set(L,'LineWidth',1.5,'Marker','*');
Everything you see in a figure is completely customizable
through handles
 Reading/Writing Images

Images can be imported into matlab

im=imread('myPic.jpg');

MATLAB supports almost all image formats

jpeg, tiff, gif, bmp, png, hdf, pcx, xwd, ico, cur, ras, pbm,
pgm, ppm
see help imread for a full list and details

To write an image, give an rgb matrix or indices and

colormap
imwrite(rand(300,300,3),'test1.jpg');
imwrite(ceil(rand(200)*256),jet(256),...
'test2.jpg');
see help imwrite for more options
 Animations

MATLAB makes it easy to capture movie frames and play

them back automatically

The most common movie formats are:

avi
animated gif

Avi
good when you have natural frames with lots of colors and
few clearly defined edges
Animated gif
Good for making movies of plots or text where only a few
colors exist (limited to 256) and there are well-defined
lines
 Making Animations

Plot frame by frame, and pause in between

close all
for t=1:30
imagesc(rand(200));
colormap(gray);
pause(.5);
end

Can also use drawnow instead of pause

When plotting lines or points, it's faster to change the
xdata and ydata properties rather than plotting each time
h=plot(1:10,1:10);
set(h,'ydata',10:1);
 Saving Animations as Movies

A movie is a series of captured frames

close all
for n=1:30
imagesc(rand(200));
colormap(gray);
M(n)=getframe;
end
To play a movie in a figure window
movie(M,2,30);
Loops the movie 2 times at 30 frames per second
To save as an .avi file on your hard drive
movie2avi(M,'testMovie.avi','FPS',30, ...
'compression', 'cinepak');
See doc movie2avi for more information
 Making Animated GIFs

You can use imwrite to save an animated GIF. Below is a

trivial example

temp=ceil(rand(300,300,1,10)*256);
imwrite(temp,jet(256),'testGif.gif',...
'delaytime',0.1,'loopcount',100);

Alternatively, you can use getframe, frame2im, and

rgb2ind to convert any plotted figure to an indexed image
and then stack these indexed images into a 4-D matrix and
pass them to imwrite. Read the doc on imwrite and these
other functions to figure out how to do this.
 Outline

(1) Probability and Statistics

(2) Data Structures
(3) Images and Animation
(4) Debugging
(5) Online Resources
 display

When debugging functions, use disp to print messages

disp('starting loop')
disp('loop is over')
disp prints the given string to the command window

It's also helpful to show variable values

disp(strcat(['loop iteration ',num2str(n)]));
strcat concatenates the given strings
Sometimes it's easier to just remove some semicolons
 Debugging
To use the debugger, set breakpoints
Click on next to line numbers in MATLAB files
Each red dot that appears is a breakpoint
Run the program
The program pauses when it reaches a breakpoint
Use the command window to probe variables
Use the debugging buttons to control debugger

Clear breakpoint Stop execution; exit

Step to next
Two breakpoints

Where the program is now

Courtesy of The MathWorks, Inc. Used with permission.
 Exercise: Debugging
Use the debugger to fix the errors in the following code:

Courtesy of The MathWorks, Inc. Used with permission.

 Performance Measures

It can be useful to know how long your code takes to run

To predict how long a loop will take
To pinpoint inefficient code

You can time operations using tic/toc:

tic
CommandBlock1
a=toc;
CommandBlock2
b=toc;
tic resets the timer
Each toc returns the current value in seconds
Can have multiple tocs per tic
 Performance Measures

For more complicated programs, use the profiler

profile on
Turns on the profiler. Follow this with function calls
profile viewer
Displays gui with stats on how long each subfunction took

Courtesy of The MathWorks, Inc. Used with permission.

 Outline

(1) Probability and Statistics

(2) Data Structures
(3) Images and Animation
(4) Debugging
(5) Online Resources
 Central File Exchange

The website the MATLAB Central File Exchange!!

Lots of people's code is there
Tested and rated use it to expand MATLAB's functionality

http://www.mathworks.com/matlabcentral/
 End of Lecture 4

(1) Probability and Statistics

(2) Data Structures
(3) Images and Animation
(4) Debugging
(5) Online Resources

THE END
MIT OpenCourseWare
http://ocw.mit.edu

6.094 Introduction to MATLAB

January (IAP) 2010

For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.
 6.094
Introduction to Programming in MATLAB

Lecture 5: Symbolics, Simulink,

File I/O, Building GUIs

Instructor:
Danilo epanovi

IAP 2010
 Outline

(1) Symbolic Math

(2) Simulink
(3) File I/O
(4) Graphical User Interfaces
 Symbolic Math Toolbox

Dont do nasty calculations by hand!

Symbolics vs. Numerics

Advantages Disadvantages

Symbolic Analytical solutions Sometimes can't be

Lets you intuit solved
things about Can be overly
solution form complicated
Numeric Always get a Hard to extract a
solution deeper understanding
Can make solutions Num. methods
accurate sometimes fail
Easy to code Can take a while to
compute
 Symbolic Variables

Symbolic variables are a type, like double or char

To make symbolic variables, use sym

a=sym('1/3');
b=sym('4/5');
mat=sym([1 2;3 4]);
fractions remain as fractions
c=sym('c','positive');
can add tags to narrow down scope
see help sym for a list of tags

Or use syms
syms x y real
shorthand for x=sym('x','real'); y=sym('y','real');
 Symbolic Expressions

Multiply, add, divide expressions

d=a*b
does 1/3*4/5=4/15;

expand((a-c)^2);
multiplies out

factor(ans)
factors the expression

matInv=inv(mat)
Computes inverse symbolically
Cleaning up Symbolic Statements

pretty(ans)
makes it look nicer

collect(3*x+4*y-1/3*x^2-x+3/2*y)
collects terms

simplify(cos(x)^2+sin(x)^2)
simplifies expressions

subs(c^2,c,5) ans=
25
Replaces variables with numbers
or expressions. To do multiple substitutions
pass a cell of variable names followed by a cell of values
subs(c^2,c,x/7) ans=
1/49*x^2
 More Symbolic Operations

We can do symbolics with matrices too

mat=sym('[a b;c d]');

mat2=mat*[1 3;4 -2];

compute the product
d=det(mat)
compute the determinant
i=inv(mat)
find the inverse

You can access symbolic matrix elements as before

i(1,2)
 Exercise: Symbolics

The equation of a circle of radius r centered at (a,b) is

given by: ( x a ) + ( y b ) = r
2 2 2

Use solve to solve this equation for x and then for y

Its always annoying to integrate by parts. Use int to do

the following integral symbolically and then compute the
value by substituting 0 for a and 2 for b: b
dx
x
xe
a
 Exercise: Symbolics

The equation of a circle of radius r centered at (a,b) is

given by: ( x a ) + ( y b ) = r
2 2 2

Use solve to solve this equation for x and then for y

syms a b r x y
solve('(x-a)^2+(y-b)^2=r^2','x')
solve('(x-a)^2+(y-b)^2=r^2','y')

Its always annoying to integrate by parts. Use int to do

the following integral symbolically and then compute the
value by substituting 0 for a and 2 for b: b
dx
x
xe
a
Q=int(x*exp(x),a,b)
subs(Q,{a,b},{0,2})
 Outline

(1) Symbolic Math

(2) Simulink
(3) File I/O
(4) Graphical User Interfaces
 SIMULINK
Interactive graphical environment
Block diagram based MATLAB add-on environment
Design, simulate, implement, and test control, signal
processing, communications, and other time-varying
systems

Courtesy of The MathWorks, Inc. Used with permission.

 Getting Started
In MATLAB,
Start Simulink

Courtesy of The MathWorks, Inc. Used with permission.

Create a new
Simulink file,
similar to how
you make a new
script

Courtesy of The MathWorks, Inc. Used with permission.

 Simulink Library Browser
The Library Browser contains various blocks that you can
put into your model
Examine some blocks:
Click on a library: Sources
Drag a block into Simulink: Band limited white noise
Visualize the block by going into Sinks
Drag a Scope into Simulink

Courtesy of The MathWorks, Inc. Used with permission.

 Connections
Click on the carat/arrow on the right of the band
limited white noise box

Drag the line to the scope

Youll get a hint saying you can quickly connect
blocks by hitting Ctrl
Connections between lines represent signals

Click the play button

Courtesy of The MathWorks, Inc. Used with permission.

Double click on the scope.

This will open up a chart of the variable over the
simulation time
 Connections, Block Specification
To split connections, hold down Ctrl when clicking on a
connection, and drag it to the target block; or drag
backwards from the target block
To modify properties of a block, double-click it and fill in
the property values.

Courtesy of The MathWorks, Inc. Used with permission.

 Behind the curtain
Go to Simulation->Configuration Parameters
at the top menu
See ode45? Change the solver type here

Courtesy of The MathWorks, Inc. Used with permission.

 Exercise: Simulink

Take your white noise signal, and split it into high

frequency and low frequency components. Use the
Transfer Function block from Continuous and use these
transfer functions:
1 0.1s
LP = HP =
0.1s + 1 0.1s + 1
Hook up scopes to the input and the two outputs
Send the two outputs to the workspace by using the to
Workspace block from Sink
 Exercise: Simulink
The diagram should look like this. To change the transfer
function parameters, double click the blocks and specify
the numerator and denominator as polynomials in s
(remember how we defined polynomial vectors before)

Courtesy of The MathWorks, Inc. Used with permission.

 Exercise: Simulink

After running the simulation, double-clicking the scopes will

show:

Input
Low pass

High Pass

Courtesy of The MathWorks, Inc. Used with permission.

 Toolboxes

Math
Takes the signal and performs a math operation
Add, subtract, round, multiply, gain, angle
Continuous
Adds differential equations to the system
Integrals, Derivatives, Transfer Functions,
State Space
Discontinuities
Adds nonlinearities to your system
Discrete
Simulates discrete difference equations
Useful for digital systems
 Building systems

Sources
Step input, white noise, custom input, sine
wave, ramp input,
Provides input to your system
Sinks
Scope: Outputs to plot
simout: Outputs to a MATLAB vector on workspace
MATLAB mat file
 Outline

(1) Symbolic Math

(2) Simulink
(3) File I/O
(4) Graphical User Interfaces
 Importing Data

MATLAB is a great environment for processing data. If you

have a text file with some data:

To import data from files on your hard drive, use

importdata
a=importdata('textFile.txt');
a is a struct with data, textdata, and colheaders fields

x=a.data;
names=a.colheaders;
 Importing Data

With importdata, you can also specify delimiters. For

example, for comma separated values, use:
a=importdata('filename', ', ');
The second argument tells matlab that the tokens of
interest are separated by commas or spaces

importdata is very robust, but sometimes it can have

trouble. To read files with more control, use fscanf (similar
to C/Java), textread, textscan. See help or doc for
information on how to use these functions
 Writing Excel Files

MATLAB contains specific functions for reading and writing

Microsoft Excel files
To write a matrix to an Excel file, use xlswrite
[s,m]=xlswrite('randomNumbers',rand(10,4),...
'Sheet1'); % we specify the sheet name
You can also write a cell array if you have mixed data:
C={'hello','goodbye';10,-2;-3,4};
[s,m]=xlswrite('randomNumbers',C,'mixedData');

s and m contain the 'success' and 'message' output of the

write command
See doc xlswrite for more usage options
 Reading Excel Files

Reading excel files is equally easy

To read from an Excel file, use xlsread
[num,txt,raw]=xlsread('randomNumbers.xls');
Reads the first sheet
num contains numbers, txt contains strings, raw is the
entire cell array containing everything
[num,txt,raw]=xlsread('randomNumbers.xls',...
'mixedData');
Reads the mixedData sheet
[num,txt,raw]=xlsread('randomNumbers.xls',-1);
Opens the file in an Excel window and lets you click on the
data you want!
See doc xlsread for even more fancy options
 Outline

(1) Symbolic Math

(2) Simulink
(3) File I/O
(4) Graphical User Interfaces
 Making GUIs
It's really easy to make a graphical user interface in
MATLAB
To open the graphical user interface development
environment, type guide
guide
Select Blank GUI

Courtesy of The MathWorks, Inc. Used with permission.

 Draw the GUI
Select objects from the left, and draw them where you
want them

Courtesy of The MathWorks, Inc. Used with permission.

 Change Object Settings
Double-click on objects to open the Inspector. Here you can
change all the object's properties.

Courtesy of The MathWorks, Inc. Used with permission.

 Save the GUI
When you have modified all the properties, you can save
the GUI
MATLAB saves the GUI as a .fig file, and generates an
MATLAB file!

Courtesy of The MathWorks, Inc. Used with permission.

 Add Functionality to MATLAB file
To add functionality to your buttons, add commands to the
'Callback' functions in the MATLAB file. For example, when
the user clicks the Draw Image button, the
drawimage_Callback function will be called and executed
All the data for the GUI is stored in the handles, so use set
and get to get data and change it if necessary
Any time you change the handles, save it using guidata
guidata(handles.Figure1,handles);

Courtesy of The MathWorks, Inc. Used with permission.

 Running the GUI
To run the GUI, just type its name in the command window
and the GUI will pop up. The debugger is really helpful for
writing GUIs because it lets you see inside the GUI

Courtesy of The MathWorks, Inc. Used with permission.

 Outline

(1) Symbolic Math

(2) Simulink
(3) File I/O
(4) Graphical User Interfaces

Now you know EVERYTHING!

MIT OpenCourseWare
http://ocw.mit.edu

6.094 Introduction to MATLAB

January (IAP) 2010

For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.