Table of contents for Modeling and simulation in Scilab/Scicos / Stephen L. Campbell, Jean-Philippe Chancelier and Ramine Nikoukhah.


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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    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



Library of Congress subject headings for this publication: Scilab, Science Data processing, Science Computer programs