MATLAB: Creation of a simulink block from a Mupad expression containing subscripts.

MATLABmatlab functionmupadsimulinksubscriptssymbolic mathematics toolbox

Why are you using MuPAD instead of Symbolic Math Toolbox? MuPAD notebooks are not recommended.

Best Answer

Use Mux block to get theta 1 ... N. You need so many inputs. The Mux will create the array for you. Take this as a single input u into the model (Matlab function). in the function compute y = sum(sin(u).*cos(u)). note the '.*' for element multiplication.

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MATLAB: Syntax Error Simulink fcn block

Try this

function x_2dot = fcn(u)
x_2dot = 0; % initialize to tell simulink about its size
J = 0.01;
B = 0.1;
K = 0.01;
R = 1;
L = 0.5;
a=1;
m=1;
x_2dot=(-3*B*u(4))/(2*m)-((a*sin(u(5))*u(1))/m)-((a*sin((pi/3)-u(5))*u(2))/m)+((a*sin((pi/3)+u(5))*u(3))/m);
end

MATLAB: Strange behavior of diff function with symbolic variables

Hi,

Your expression, D contains only 2 theta1 terms(in bold) whose derivatives cancel each other. Differentiation of theta2 and theta3 wrt theta1 is zero. Therefore your answer is zero.

D =0.31*cos(theta1)^2 - 2.7e-4*sin(theta2) - 0.88*sin(theta2)*(7.3e-5*cos(theta2) - 0.011*sin(theta2) + 3.1e-4) - 0.88*cos(theta2)*(7.3e-5*sin(theta2) - 4.2e-3*cos(theta2) + 4.6e-4) - 1.0*(0.48*sin(theta3) - 0.88*cos(theta2)*cos(theta3))*(5.1e-4*cos(theta3) - 1.7e-4*sin(theta2) - 0.047*sin(theta3) + 0.088*cos(theta2)*cos(theta3) + 9.5e-4*cos(theta2)*sin(theta3)) - 4.1e-4*cos(theta2) + 0.88*sin(theta2)*(3.2e-4*cos(theta3) + 0.073*sin(theta2) + 9.0e-5*sin(theta3) - 1.7e-4*cos(theta2)*cos(theta3) + 5.9e-4*cos(theta2)*sin(theta3)) + 0.31*sin(theta1)^2 + 1.0*(0.48*cos(theta3) + 0.88*cos(theta2)*sin(theta3))*(0.035*cos(theta3) + 5.9e-4*sin(theta2) - 5.1e-4*sin(theta3) + 9.5e-4*cos(theta2)*cos(theta3) + 0.064*cos(theta2)*sin(theta3)) + 0.33;

I hope I could help.

Regards

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MATLAB: Syntax Error Simulink fcn block

MATLAB: Strange behavior of diff function with symbolic variables

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