Simulation of Dynamic Systems with MATLAB and Simulink  book cover
2nd Edition

Simulation of Dynamic Systems with MATLAB and Simulink

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ISBN 9781439836736
Published February 16, 2011 by CRC Press
815 Pages - 765 B/W Illustrations

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Book Description

"… a seminal text covering the simulation design and analysis of a broad variety of systems using two of the most modern software packages available today. … particularly adept [at] enabling students new to the field to gain a thorough understanding of the basics of continuous simulation in a single semester, and [also provides] a more advanced treatment of the subject for researchers and simulation professionals."

—From the Foreword by Chris Bauer, PhD, PE, CMSP

Continuous-system simulation is an increasingly important tool for optimizing the performance of real-world systems, and a massive transformation has occurred in the application of simulation in fields ranging from engineering and physical sciences to medicine, biology, economics, and applied mathematics. As with most things, simulation is best learned through practice—but explosive growth in the field requires a new learning approach.

A response to changes in the field, Simulation of Dynamic Systems with MATLAB® and Simulink®, Second Edition has been extensively updated to help readers build an in-depth and intuitive understanding of basic concepts, mathematical tools, and the common principles of various simulation models for different phenomena.

Includes an abundance of case studies, real-world examples, homework problems, and equations to develop a practical understanding of concepts

Accomplished experts Harold Klee and Randal Allen take readers through a gradual and natural progression of important topics in simulation, introducing advanced concepts only after they construct complete examples using fundamental methods. Presented exercises incorporate MATLAB® and Simulink®—including access to downloadable M-files and model files—enabling both students and professionals to gain experience with these industry-standard tools and more easily design, implement, and adjust simulation models in their particular field of study.

More universities are offering courses—as well as masters and Ph.D programs—in both continuous-time and discrete-time simulation, promoting a new interdisciplinary focus that appeals to undergraduates and beginning graduates from a wide range of fields. Ideal for such courses, this classroom-tested introductory text presents a flexible, multifaceted approach through which simulation can play a prominent role in validating system design and training personnel involved.

Table of Contents

Mathematical Modeling

Derivation of a Mathematical Model

Difference Equations

First Look at Discrete-Time Systems

Case Study: Population Dynamics (Single Species)

Continuous-Time Systems

First-Order Systems

Second-Order Systems

Simulation Diagrams

Higher-Order Systems

State Variables

Nonlinear Systems

Case Study: Submarine Depth Control System

Elementary Numerical Integration

Discrete-Time System Approximation of a Continuous-Time Integrator

Euler Integration

Trapezoidal Integration

Numerical Integration of First-Order and Higher Continuous-Time Systems

Improvements to Euler Integration

Case Study: Vertical Ascent of a Diver

Linear Systems Analysis

Laplace Transform

Transfer Function

Stability of Linear Time Invariant Continuous-Time Systems

Frequency Response of LTI Continuous-Time Systems


z-Domain Transfer Function

Stability of LTI Discrete-Time Systems

Frequency Response of Discrete-Time Systems

Control System Toolbox

Case Study: Longitudinal Control of an Aircraft

Case Study: Notch Filter for Electrocardiograph Waveform


Building a Simulink® Model

Simulation of Linear Systems

Algebraic Loops

More Simulink® Blocks


Discrete-Time Systems

MATLAB® and Simulink® Interface

Hybrid Systems: Continuous- and Discrete-Time Components

Monte Carlo Simulation

Case Study: Pilot Ejection

Case Study: Kalman Filtering

Intermediate Numerical Integration

Runge–Kutta (RK)—One-Step Methods

Adaptive Techniques

Multistep Methods

Stiff Systems

Lumped Parameter Approximation of Distributed Parameter Systems

Systems with Discontinuities

Case Study: Spread of an Epidemic

Simulation Tools

Steady-State Solver

Optimization of Simulink® Models


Adding Blocks to the Simulink® Library Browser

Simulation Acceleration

Advanced Numerical Integration

Dynamic Errors (Characteristic Roots, Transfer Function)

Stability of Numerical Integrators

Multirate Integration

Real-Time Simulation

Additional Methods of Approximating Continuous-Time System Models

Case Study: Lego Mindstorms NXT

View More



Dr. Harold Klee received his Ph.D in systems science from Polytechnic Institute of Brooklyn in 1972, his MS in systems engineering from Case Institute of Technology in 1968, and his BSME from The Cooper Union in 1965. Dr. Klee has been a faculty member in the College of Engineering at the University of Central Florida (UCF) since 1972. During his tenure there, he has been a five-time recipient of the college’s Outstanding Teacher Award. He has been instrumental in the development of simulation courses in both the undergraduate and graduate curricula. A charter member of the Core Faculty of the Institute of Simulation and Training, which is responsible for developing the interdisciplinary MS and Ph.D programs in simulation at UCF, Dr. Klee has served as the director of the UCF Driving Simulation Lab for more than 15 years, and he has been editor in chief of the Modeling and Simulation magazine for three years.

Dr. Randal Allen has over 20 years of industry experience and is currently an aerospace and defense consultant working under contract to provide 6DOF aerodynamic simulation, modeling, analysis, design, integration, and test of navigation, guidance, and control systems.  His previous experience includes launch systems integration and flight operations for Titan-IV missions, propulsion modeling for the Iridium satellite constellation, and field application engineering for MATRIXx. He is an Associate Fellow of the American Institute of Aeronautics and Astronautics (AIAA) and is the current chairperson the Central Florida Section.  He is certified as a modeling and simulation professional (CMSP) by the National Training and Simulation Association (NTSA) and also certified to deliver Franklin-Covey’s Focus and Execution track which provides training on achieving your highest priorities.

Dr. Allen’s academic background includes a Ph.D. in Mechanical Engineering from the University of Central Florida, an Engineer’s Degree in Aeronautical and Astronautical Engineering from Stanford University, an M.S. in Applied Mathematics and a B.S. in Engineering Physics, both from the University of Illinois (Urbana-Champaign).  He also serves as an Adjunct Professor in the Mechanical, Materials, and Aerospace Engineering (MMAE) department at the University of Central Florida (UCF) in Orlando, Florida.