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Part I Scilab i General Inform ation ...... . .......... ........... . .. .. 3 1.1 W hat Is Sclab?: .... ... ............. . .. . .............. 3 1L 2 iHow to Start , . .. ............ ........ . .. 4 1.2.1 Instalation ... .. ...................... ............. .... 4 1.2.2 First Steps .. . .... . ... ... .. ............. 4 1.2.3 Line Editor . .. . .... ... ... ... . . . ... ........ 5 1.2.4 Documentation .... . .. ........... ... 6 1.3 Typical Usage ........... .. 6 1.4 Seilab on the W eb ... . ................ .. . ............. 7 2 Introduction to Scilab ..... .................................. .. 9 2.1 Scilab Objects .......... ........... 11 2.1.1.. Matrix Construction and Manipulation. . . . . . . . . . .. 12 .2 Strings................... 17 2.1.3 Boolean M atrices .................. ... . 19 2.1 .4 Polynomial M atrices ..... .......... ... . .. .. 20 2.1.5 Sparse M atrices ........ .......... 21 2.1.6 Lists . . .. . ... . .... . .. . .... .. .. . .. ..... 22 2.1.7 Functions . .... ........ ............ . ........ . ...... 26 2.2 Scilab Program m ing ................. ... ........... ..... 27 3 Input and Output Functions .. ........................... .... 37 2.3.5 Graphical User Interface .......... ...... . 43 2.4 Scilab Graphics .... .. ................... 48 2.4.1 Basic Grphing ....... 48 2.4.2 Graphic Tour .. ................... 49 2.4.3 Graphics O bjects ........................... 53 %.3. c esn iero tS se ................. 49. 2.44 Sciln Gra mplhics and TX.. . 56 2.15 O aphics Style ... . .. . . ... 60 2.5 h tri'a n (.i .. . . . .. .. . . .. . ....... . ..... .... 62 , ° .3 2 5. i Linkm g C od( e . .... . ... . ..... . . ... . ........ ........ 63 2 5 2 Vv u an ...... .....nterf. .ce ... ....... . . . G6 . Dc Loadin. . . .... .. 69 3 P.odlhing and Simulation in Scilab . .. .. . . . .. 73 'CS,Lf . .. ... . . . .. . . . . . ....... . 73 1 .1 di 'nir, Dii urentai lq atious . . . . . . . . . . . . 3 A.1,2 BTnuplary Vniue Prob s. ..i . 74 SDit e qI i ons, . .. . ... ... 75 AA4 DiffO wntial AlgTwanic Equation . 76 3.o S ste . . . . ..[... 7 y i2 'th h til i l .'7' E, o , 78 . .l, Ordinar Dif rm ntia E ation ....... ..... . .. 78 . 2.2 vnnldarv bl e Prole . . . ..... . . 90 32. 1 D iff ar e Eq ua io . . . ....... . . . .... . . . . . 95 "3.2. Diffiereia Algebraic Eqna...ion ... . . 98 3.2;. HyA S stes .... ........ 100 4 Optim ization . ........ . ..... . ... 107 4. (.oninents ona OpAtimization and Solving Nonhnear AiEquationq- ... 107 4.2 ep.hu l ()pt niu zation ... . ........ .. .... . . .. .. ... . 108 S S olving Nonlinear Equations .... . ... . . . .. .... . ..... . 112 4.4 Noinear Least Sqares 113 -.5 Pi r a le t i . .... .. . . . . . . FA i .. 1179 .( Knewa , a drafic Pro i . .. . .... .. . 119 4 6.1 . . . .. .. . . . ...... 119 4.6.2I l Q na r ti P.o.a's- ...... . .... .... . ... . . ....... .. .. . 120 - .2 Q a id Pro n. n .... ......... 120 4. 3 S deinite P grai s . . . ....... . . ... 120 4.7 [lT Aia. [) ies .. . . . . . .... ... ...... . 120 5 Ex.triles . 125 1 i inr and uSim ion of an A- Link Pe ndn . .. ...... ....... 125 5. 1.1 qtons of Motion of the v-1 i k Penduumn ... . . . . . . 126 . 2 ( 'atd C( ad Sin ia in . .o...e . .. . .. . . . 130 5 o d3 ul d ..'. . .... . . ....... .. ... ....... . . 13 5 2 A ½ an] Siniii( Iat i33 52 i n . . .. . . . . . . 135 2.2 tio s of M o on .. . . ...... . ..... .... ..... .. 1 36 5 2.3 S u tion Nodel . ..... . . . .. .. 138 5 2 ,4 Scil a Ii ple ientai .1. . . . . ... .... .... . ..... . 139 "13 Op "-Loop Con rol to Sig Up Penduu . . . . . . . ..... 142 5 Z. . nitdel ......... 1 I1i.. ...... 142 5.3.2 Coitrod PrTi )prm Fornn tiifJ n . ....... . ....... .. . . 142 5.3.3 O pti ai,,,on ProA lec t . ... ....... ...... ........ .. 343 5i.3.4 I pleinct atiA in S A ..... . , - ..... ... .... .. .. 145 5A Parameter Fitting and Implicit Models .............. .... ...... ... .. 147 54,1 M athem atical M odel ....... .................. . ... .. . . 148 5.4.2 Scilb Im ple entation ...... .... ........ .. ........ 148 Part II Scicos 6 Introd uctioni ...... . ................. .. ... ......... . L59 7 G etting Started . ..... ......... ........ .................. .. ..... 163 7.1 Construction of a Simple Diagram .... . ... 163 7.1.1 Running Scicos .......... ... . ..... 163 7.1. Editing a od .... . . . . ............. 163 7T 1.3 Diagram Simulation ......... ....... .. . .... . ...... ..... 165 7.1.4 Changing Block Parameters ..................... . ....... 166 7.2 Symbolic Parameters and Context .. .......... ....... . ...... . 169 7.3 H ierarchy ..... . .............. ......... .... . ........ 173 r.3.1 Placing a Super Block in a Diagram ........................ . 173 7.3.2 Editing a Super Block .... ....... ....... ..... . 174 7.4 Save and Load .... .. . .. . .... . . . ..... . .... .. .... 175 7 4.1 Scicos File Forni s ...... ............ 175 7.4.2 Super Block and Palette .................................... 176 . Synchro sm an Special Blocks ................. . . ..... .... . 176 8 Scicos Form alism ........ .... . ....... ....... ...... .. ...... .... 179 8I Activation Signa .... .. .. ....... ..... 179 8.1.1 Block A ctivation .... .......... .... ........ ... . .. . 179 8.1.2 Activation Genera on ............. ............ .. 181 8.2 i heritancei . .. .. ., .. ... . . . . . . . . . 182 83 Always Active Blocks ....... ............... . ..... 183 814 C o tant B locks . ............... ............. . ........ ......... 184 8. 5 Coneditional Blocks ...... . ........ ............. ..... ......... 184 9 Scicos Blocks .. ........... . .. ..... 189 9.1 B lock B ehavior... .................... ........ .. ....... 189 . 1.1 External A ctivatio . ... ...... .. ..... ............ ... 189 9.1.2 Always Activation .... ... . . ... . ..... ......... 191 9.1.3 Internal Zero-Crossi g . .............................. 192 .2 Block s Inside Palettes ,..... .. .. .. .. . ...... . ....... .... .. 192 .3 M odifying Block Par nameters ................ ....... ..... . ... .. 33 9.4 Super Block and Scifunc . .... ..... ... ................. ... ... 193 9. -1 Super Blocks .... .... ... . . 193 9.4.2 Scifunc.. ................... ... ... 194 9.5 Constructing New Basic Blocks ............. 194 9.5.1 Inter cm g Function . .... ...... . ....... .. ........ . 195 9.5.2 Computational unction ...... . ........... . 197 9a153 Saving New Blocks ....... . ...... . .. 207 9 Constructing an Loading a New Palete ..................... ....... 207 10 Examples ...... 209 10.1 Predlator Prev M odel .. . ....... . ..... ... . .............. . 209 10.2 Control A pplication ........ . .. . . . ... . ... ..... .... . 210 10.3 Signal Processing Application .................. ... ... ..... ...... 213 .10. 4 Q ueuing Svstem s ... .... . . . ..... ....... ........ . . 216 10. NeuroKcience Appo ica tion ........ . . ..... ... ...... ... ..... . 218 10. A Fluid NMode of T(CP-Like Behavior ....................... 220 10.7 lnteractive (G UI, ,- ..... ............ .......... . . 221 "1I1 Batch Processing in Scilab . .... ....... 227 .1.1 Piloting Scicos via Scin ab Commands ...... ......... ....... . ..... 227 H1.1±. Function scicosim .... . ......... 228 11.1.2 Function scicos simulate .... .... . . . 232 1.2 D ara Sharin . ... ..... .......... ......... . 233 11.2.1 Context *Variables . ..... ...................... . 234 11.2.2 Input/Output Files ....... . . .. . ............. .. .. 234 S1 .2.3 G obal V riables . ....... . . .. .... . ... 236 11.2 Exam p les ..... . ...... .......... . 237 II.4 Steady-State Solution and Linearization .................... . .. . 2-13 11.4.1 Scilab Function steadycos .. .... . . . 247 11.2 Scilab Function lincos ... ...... . . . 24 12 Code Generation ...... . . . ..... ..... .. . 253 12.1 Code Generation Procedure ................ ... 253 1J22 Lrimitations. ,,,,,. , .±257 12.2.1 Continuous-Time Activation ....... . 257 12.2.2 S nc ronicism . .... ... . . . ...... . .. 258 12.3 A Look Inside ..... . . . . . ... ....... .. 258 12.4 Some Pitfalls ...... . .. . .. . 260 12 5 A p plication . ......... .. .......... ... ....... ...... .. 2 3 13.2 Debugging Tools ........ . . . . . . .. . ... . . . . . 269 1 E xam ples . ............. ......... .... ... . . . 270 13. Log File . .... ...... .... ... 271 13.3.2 A m tion .. ........ .......... .. .... . ... . . 271 S.1 Introduction ............... . .... ..... 273 14.2 I rna ll1 Im plicit Blocks..... ....... . .... . .. . . ......... 275 -143 i m pi it Blocks. ....... .... . . . .. . . . . 27 3,i Sc s E t r ...... ....... .. ..... 276 11.3 .2 Si c s compiler ..... ........... . . .... 276 14.1 3 BIlock (. onstructlon ...... . . . ......... ... 276 1i4. Exiample 277 A Inside Scicos.. .. .. 281 A.1 Scicos Editor. . .... . .... ........ .. 281 A.1. M ain Editor Function .. .. .................. .. 281 A.1.2 Structure of scsm. . - . .. ...... ... .... .. 83 A.2 Scicos Complier .. .I ....... ..... .... 286 A.2.1 First Compilation Stage . ... . . . .... .. 286 A.2.2 Second Compilation Stage .......... . 287 A.2.3 Structure of %cpr... ............... ........... 287 A12.4 Partial Compilation ..... 290 A Scicos Sim ulator........................ .. . ...... 291 B Scicos Blocks of Type 5. ... ........ ..293 BAl Type 5 Block for the Bouncing Ball Example .. . . . .. . . . . .. 293 B.2 Animation Block for the Cart Pendulum Example ... . .. .... 294 C Animation Program for the Car Example ................ . 299 D Extraction Program for the LT)X Graphic Example . . . .. . . .. 301 E Maple Code Used for Modeling the N-Link Pendulum. . .... .. .. . 303