I want to plot a graph of position, velocity and acceleration of a robot joint, but I don't know how to plot it. This is my equation:
(position)
for 0<=t<=tblend,
y = theta1s+((0.5.*acc1).*(t^2));
for tblend<t<tf-tblend,
y = -195.21+(52.08.*t);
for tf-tblend<t<=tf,
y = 20-15.*((5-a)^2);
What command must I use to plot this graph? If possible, I want to display the equation of y too.
First create the grid of t values assuming a stepsize (here I picked 0.1) and the final value you mention called tf:
t = 0:0.1:tf;
Then use logical indexing to apply different functions to different regions of this grid of values:
y = ( theta1s+((0.5.*acc1).*(t^2)) ).*(0 <= t).*(t<=tblend) + ...
( -195.21+(52.08.*t)).*( tblend<t).*(t<tf-tblend) + ...
( 20-15.*((5-a)^2) ).*(tf-tblend<t).*(t<=tf);
This will apply the piecewise definitions of the function y by multiplying each difference piece by a logical that is 1 only on the region where it applies and 0 elsewhere. Then a simple
plot(t,y)
will show you the plot. For printing this functions, you'll need to format the title of your plot figure window using Matlab's native LaTeX syntax. Look up and use the LaTeX command \begin{cases} ... \end{cases} for the piecewise function stuff. You can pass most of this straight to the title() command.
For another solution, if you have the signal processing toolbox, you can just use the built-in
heaviside(t)
function. Suitably change the value of t for each left endpoint of a new segment of the piecewise function and then subtract and corresponding heaviside() term for each right endpoint of a segment. If you don't have the built-in heaviside() function, you can easily find third-party implementations at the Matlab central file exchange.
Related
I am trying trying to graph the polynomial fit of a 2D dataset in Matlab.
This is what I tried:
rawTable = readtable('Test_data.xlsx','Sheet','Sheet1');
x = rawTable.A;
y = rawTable.B;
figure(1)
scatter(x,y)
c = polyfit(x,y,2);
y_fitted = polyval(c,x);
hold on
plot(x,y_fitted,'r','LineWidth',2)
rawTable.A and rawTable.A are randomly generated numbers. (i.e. the x dataset cannot be represented in the following form : x=0:0.1:100)
The result:
second-order polynomial
But the result I expect looks like this (generated in Excel):
enter image description here
How can I graph the second-order polynomial fit in MATLAB?
I sense some confusion regarding what the output of each of those Matlab function mean. So I'll clarify. And I think we need some details as well. So expect some verbosity. A quick answer, however, is available at the end.
c = polyfit(x,y,2) gives the coefficient vectors of the polynomial fit. You can get the fit information such as error estimate following the documentation.
Name this polynomial as P. P in Matlab is actually the function P=#(x)c(1)*x.^2+c(2)*x+c(3).
Suppose you have a single point X, then polyval(c,X) outputs the value of P(X). And if x is a vector, polyval(c,x) is a vector corresponding to [P(x(1)), P(x(2)),...].
Now that does not represent what the fit is. Just as a quick hack to see something visually, you can try plot(sort(x),polyval(c,sort(x)),'r','LineWidth',2), ie. you can first sort your data and try plotting on those x-values.
However, it is only a hack because a) your data set may be so irregularly spaced that the spline doesn't represent function or b) evaluating on the whole of your data set is unnecessary and inefficient.
The robust and 'standard' way to plot a 2D function of known analytical form in Matlab is as follows:
Define some evenly-spaced x-values over the interval you want to plot the function. For example, x=1:0.1:10. For example, x=linspace(0,1,100).
Evaluate the function on these x-values
Put the above two components into plot(). plot() can either plot the function as sampled points, or connect the points with automatic spline, which is the default.
(For step 1, quadrature is ambiguous but specific enough of a term to describe this process if you wish to communicate with a single word.)
So, instead of using the x in your original data set, you should do something like:
t=linspace(min(x),max(x),100);
plot(t,polyval(c,t),'r','LineWidth',2)
The figure shown above is the plot of cumulative distribution function (cdf) plot for relative error (attached together the code used to generate the plot). The relative error is defined as abs(measured-predicted)/(measured). May I know the possible error/interpretation as the plot is supposed to be a smooth curve.
X = load('measured.txt');
Xhat = load('predicted.txt');
idx = find(X>0);
x = X(idx);
xhat = Xhat(idx);
relativeError = abs(x-xhat)./(x);
cdfplot(relativeError);
The input data file is a 4x4 matrix with zeros on the diagonal and some unmeasured entries (represent with 0). Appreciate for your kind help. Thanks!
The plot should be a discontinuous one because you are using discrete data. You are not plotting an analytic function which has an explicit (or implicit) function that maps, say, x to y. Instead, all you have is at most 16 points that relates x and y.
The CDF only "grows" when new samples are counted; otherwise its value remains steady, just because there isn't any satisfying sample that could increase the "frequency".
You can check the example in Mathworks' `cdfplot1 documentation to understand the concept of "empirical cdf". Again, only when you observe a sample can you increase the cdf.
If you really want to "get" a smooth curve, either 1) add more points so that the discontinuous line looks smoother, or 2) find any statistical model of whatever you are working on, and plot the analytic function instead.
I would like to plot some figures like this one:
-axis being real and imag part of some complex valued vector(usually either pure real or imag)
-have some 3D visualization like in the given case
First, define your complex function as a function of (Re(x), Im(x)). In complex analysis, you can decompose any complex function into its real parts and imaginary parts. In other words:
F(x) = Re(x) + i*Im(x)
In the case of a two-dimensional grid, you can obviously extend to defining the function in terms of (x,y). In other words:
F(x,y) = Re(x,y) + i*Im(x,y)
In your case, I'm assuming you'd want the 2D approach. As such, let's use I and J to represent the real parts and imaginary parts separately. Also, let's start off with a simple example, like cos(x) + i*sin(y) which is based on the very popular Euler exponential function. It isn't exact, but I modified it slightly as the plot looks nice.
Here are the steps you would do in MATLAB:
Define your function in terms of I and J
Make a set of points in both domains - something like meshgrid will work
Use a 3D visualization plot - You can plot the individual points, or plot it on a surface (like surf, or mesh).
NB: Because this is a complex valued function, let's plot the magnitude of the output. You were pretty ambiguous with your details, so let's assume we are plotting the magnitude.
Let's do this in code line by line:
% // Step #1
F = #(I,J) cos(I) + i*sin(J);
% // Step #2
[I,J] = meshgrid(-4:0.01:4, -4:0.01:4);
% // Step #3
K = F(I,J);
% // Let's make it look nice!
mesh(I,J,abs(K));
xlabel('Real');
ylabel('Imaginary');
zlabel('Magnitude');
colorbar;
This is the resultant plot that you get:
Let's step through this code slowly. Step #1 is an anonymous function that is defined in terms of I and J. Step #2 defines I and J as matrices where each location in I and J gives you the real and imaginary co-ordinates at their matching spatial locations to be evaluated in the complex function. I have defined both of the domains to be between [-4,4]. The first parameter spans the real axis while the second parameter spans the imaginary axis. Obviously change the limits as you see fit. Make sure the step size is small enough so that the plot is smooth. Step #3 will take each complex value and evaluate what the resultant is. After, you create a 3D mesh plot that will plot the real and imaginary axis in the first two dimensions and the magnitude of the complex number in the third dimension. abs() takes the absolute value in MATLAB. If the contents within the matrix are real, then it simply returns the positive of the number. If the contents within the matrix are complex, then it returns the magnitude / length of the complex value.
I have labeled the axes as well as placed a colorbar on the side to visualize the heights of the surface plot as colours. It also gives you an idea of how high and how long the values are in a more pleasing and visual way.
As a gentle push in your direction, let's take a slice out of this complex function. Let's make the real component equal to 0, while the imaginary components span between [-4,4]. Instead of using mesh or surf, you can use plot3 to plot your points. As such, try something like this:
F = #(I,J) cos(I) + i*sin(J);
J = -4:0.01:4;
I = zeros(1,length(J));
K = F(I,J);
plot3(I, J, abs(K));
xlabel('Real');
ylabel('Imaginary');
zlabel('Magnitude');
grid;
plot3 does not provide a grid by default, which is why the grid command is there. This is what I get:
As expected, if the function is purely imaginary, there should only be a sinusoidal contribution (i*sin(y)).
You can play around with this and add more traces if you need to.
Hope this helps!
I'm new in matlab and I'm trying to find the intersection between a curve (from points) and a line.
I've some points and I've plot the interpolation between this points. Now I want to find the intersection between the interpolation (xi,yi) curve and another line.
x = [94.8;84.4;63.1;49.4;40.6;33.8;23.2;20.1;10.2;9.2;7.9];
y = [0; 11.4;29.7;41.6;47.5;50.1;52.9;50.6;32.2;28.1;0];
xi=94.8:-0.1:7.9;
yi=interp1(x,y,xi,'spline');
plot(x,y,'*');
hold on
plot(xi,yi);
I've researched but everything I've found needs a function. I already tried to convert the curve to a function using polyfit but the fit is not good enought.
It is posible to do this in matlab?
Thanks.
Basically, the error message ask you to input a function handle (similar to function pointer in other languages). It's not necessary to convert it into something that matches a mathematical definition of a function (e.g. polynom):
f=#(xi)(interp1(x,y,xi,'spline'))
This can be evaluated at every xi.
Usage like every other function:
f(1)
f(1:3)
If I have an RC circuit with transfer function 1/(1+sRC) how do I draw the transfer function using MATLAB?
Num2=[1];
Den2=[R*C 1];
RCcirc=tf(Num2,Den2);
How do I declare the R and the C so that there are no errors?
tf is the wrong tool for plotting the transfer function. Try these instead:
Use linspace to generate a range of values for s. Give R and C reasonable values of your choice.
Read up on arithmetic operations in MATLAB, especially ./
Look at how to use plot and familiarize yourself with the command using some simple examples from the docs.
With these you should be able to plot the transfer function in MATLAB :)
First of all you need to understand what transfer function you want. Without defined values of R and C you won't get any transfer function. Compare it to this, you want to plot a sine wave: x = sin(w*t), I hope you can agree with me that you cannot plot such a function (including axes) unless I specifically say e.g. t is the time, ranging from 0 seconds to 10 seconds and w is a pulsation of 1 rad/s. It's exactly the same with your RC network: without any values, it is impossible for numerical software such as MATLAB to come up with a plot.
If you fill in those values, you can use th tf function to display the transfer function in whatever way you like (e.g. a bode plot).
On the other hand, if you just want the expression 1/(1+s*R*C), take a look at the symbolic toolbox, you can do such things there. But to make a plot, you will still have to fill in the R and C value (and even a value for your Laplace variable in this case).