COMPUTATIONAL LAB

(ME-106)

INTRODUCTION
TO
MATLAB
By
K.Kiran Kumar
Assistant professor
Mechanical Engineering Department
B.S.Abdur Rahman University
Email:- kiranmek3@gmail.com
Ph.no:- 9047475841
 WHAT IS MATLAB?

MATLAB (MATrix LABoratory) is basically a high level language

which has many specialized toolboxes for making things easier for us.
 MATLAB is a program for doing numerical computation. It was
originally designed for solving linear algebra type problems using
matrices. It‟s name is derived from MATrix LABoratory.
 MATLAB has since been expanded and now has built-in functions for
solving problems requiring data analysis, signal processing, optimization,
and several other types of scientific computations. It also contains
functions for 2-D and 3-D graphics and animation.
 Powerful, extensible, highly integrated computation, programming,
visualization, and simulation package.
 Widely used in engineering, mathematics, and science.
 Why?
 FEATURES

o MATLAB is an interactive system for doing

numerical computations. MATLAB makes use of
highly respected algorithms and hence you can be
confident about your results.
 Powerful operations can be performed using just
one or two commands. You can also build your
own set of functions. Excellent graphics facilities
are included.
 MATLAB TOOLBOXES

Math and Analysis Signal & Image Processing

Optimization Signal Processing
Requirements Management Interface Image Processing
Statistics Communications
Neural Network Frequency Domain Identification
Symbolic/Extended Math Higher-Order Spectral Analysis
Partial Differential Equations System Identification
PLS Toolbox Wavelet
Mapping Filter Design
Spline
Control Design
Data Acquisition and Import Control System
Data Acquisition Fuzzy Logic
Instrument Control Robust Control
Excel Link μ-Analysis and Synthesis
Portable Graph Object Model Predictive Control
 SIMULINK

 A simulation tool for dynamic systems

Input Output
System

 Simulink library Browser:

 Collection of sources, system modules, sinks
 WHAT ARE WE INTERESTED IN?

 MATLAB is too broad tool used in industry and Research for real
time interfacing of sensors and machine vision etc. and
programming the real time systems for active control of the
system behavior.
 For our course purpose in this Laboratory we will have brief
overview of basics and learn what can be done with MATLAB at
beginner level.
WHY DO WE
NEED TO
PERFORM
ANALYSIS IN
MATLAB ???
 AREAS WHERE MECHANICAL
ENGINEERS USE MATLAB
 Solving kinematics, kinetics and complete
dynamic systems control of Automotive
suspension , Thermal systems etc.,
AERO PLANE SUSPENSION OF LANDING GEAR

M
M

Mg Fs Fc

Yo

d 2 yo
  Mg  Fc  Fs
Ys

M 2
dt
Yin
BASICS
Displacement

distance D
35 Metres
Time

Speed Velocity
65 m/s V
Time

0-60 m/s
in 8.6 Acceleration
second A
Time
 UNDAMPED FREE VIBRATION
Displacement
Displacement
d = D sinnt
D

Time

T Frequency
1
T

m
Period, Tn in [sec]
k 1
Frequency, fn= T in [Hz = 1/sec]
n

k
 n= 2  fn =
m
 CONTINUED…
Natural frequency of a simple single degree of
freedom undamped system is given by the
equation
ωN = square root of (stiffness / mass)

Usually we do not want structures to vibrate in

resonance
COMPONENTS OF A CAR
For comfortable ride in a car requires analysis of
car frame and many other components, e.g.
exhaust systems (bellows), shock absorber, tire
etc.

Let us look into a shock absorber in more detail

 We know what a typical shock absorber does

saves us from unpleasant vibration.
Let us look at a quarter bus/truck/car model

xs
ms

ks cs

xu
mu

kt
u

u = road profile input ks = suspension spring constant

kt = tire spring constant cs = suspension damping constant
mu = unsprung mass ms = sprung mass
xu = displacement of unsprung mass
xs = displacement of sprung mass
 FOUR WHEELER SUSPENSION SYSTEM
 Consider the following suspension system.
 Solve for y given yin

15
M

Mg

y
ys
Suspension system

yin
SUSPENSION SYSTEM IN FOUR
WHEELER
CONTINUED…
CONTINUED…
CONTINUED…
CONVENTIONAL PASSIVE SUSPENSION

zs
sprung mass
(body) Ms

suspension spring suspension damper

zu
unsprung mass
(wheel, axle) Mu

zr
tyre stiffness Kt
 MATLAB MODEL FOR
BUS SUSPENSION
Designing an automatic suspension system for a bus
MATLAB SCREEN
 VARIABLES
 No need for types. i.e.,
int a;
double b;
float c;
 Accuracy and comfort is very high with matlab codes.

>>x=5;
>>x1=2;
ARRAY, MATRIX
LONG ARRAY, MATRIX
GENERATING VECTORS FROM FUNCTIONS
MATRIX INDEX
OPERATORS (ARITHMETIC)
MATRICES OPERATIONS
 THE “DOT OPERATOR”
 By default and whenever possible MATLAB
will perform true matrix operations (+ - *). The
operands in every arithmetic expression are
considered to be matrices.
 If, on the other hand, the user wants the scalar
version of an operation a “dot” must be put in
front of the operator, e.g., .*. Matrices can still
be the operands but the mathematical
calculations will be performed element-by-
element.
 A comparison of matrix multiplication and
scalar multiplication is shown on the next slide.
OPERATORS (ELEMENT BY ELEMENT)
 DOT OPERATOR EXAMPLE
>> A = [1 5 6; 11 9 8; 2 34 78]
A =
1 5 6
11 9 8
2 34 78
>> B = [16 4 23; 8 123 86; 67 259 5]
B =
16 4 23
8 123 86
67 259 5
 DOT OPERATOR EXAMPLE (CONT.)
>> C = A * B % “normal” matrix multiply
C =
458 2173 483
784 3223 1067
5530 24392 3360

>> CDOT = A .* B % element-by-element

CDOT =
16 20 138
88 1107 688
134 8806 390
THE USE OF “.” -OPERATION
MATLAB FUNCTIONS
COMMON MATH FUNCTIONS
BUILT-IN FUNCTIONS FOR HANDLING ARRAYS
MATLAB BUILT-IN ARRAY FUNCTIONS
 Standard Arrays
» eye(2) Other such arrays:
ans = ones(n), ones(r, c)
1 0 zeros(n), zeros(r, c)
0 1
rand(n), rand(r,c)
» eye(2,3)

ans =

1 0 0
0 1 0

»
RANDOM NUMBERS GENERATION
COMPLEX NUMBERS HANDLING
FUNCTIONS
 MATRIXES AND VECTORS
 x = [1,2,3] , vector-row,
 y=[1;2;3], vector-column,

 x=0:0.1:0.8 , vector x=[0,0.1,0.2,0.3....0.8],

 A = [1,3,5;5,6,7;8,9,10], matrix,

 A(1,2), element of matrix, 1. row, 2. column,

 A(:,2), second column of matrix,

 A(1,:), first row of matrix ,

 C=[A;[10,20,30]] matrix with additional row,

 B=A(2:3,1:2), part of matrix,

 x‟, transpose.

42
 MATRIXES AND VECTORS
 size(A), matrix size,
 det(A), determinant,

 inv(A), inverse matrix,

 eye(3), unit matrix,

 zeros(3,4), matrix of zeros,

 rand(3,5), matrix of random values,

 sum(A), sum of elements,

 A*x, matrix-vector product (if dimensions are

corresponding),
 A.*B, element multiplication of two matrixes.

 help sqrt, looking for known command,

 help, help topics are shown,

43
INTRODUCTION TO M-FILES PROGRAMMING
Type-1 Type-2
programming Programming

Program:- Program:-
clc;
clc; clear all;
clear all; p=input('enter the value of p:');
t=input('enter the value of t:');
p=10,000;
r=input('enter the value of r:');
t=2; I=(p*t*r)/100
r=11; Solution:-
Input:
I=(p*t*r)/100; enter the value of p:10000
Solution:- enter the value of t:2
enter the value of r:11
I = 2200
Output:
I = 2200
 GRAPHICS AND DATA DISPLAY

 2-D plotting functions

>> plot(x,y) % linear Cartesian

>> semilogx(x,y) % logarithmic abscissa

• uses base 10 (10n for axis units)

>> semilogy(x,y) % logarithmic ordinate

• uses base 10 (10n for axis units)

>> loglog(x, y) % log scale both dimensions

• uses base 10 (10n for axis units)

>> polar(theta,rho) % angular and radial

 CONTINUED..

 2-D display variants

 Cartesian coordinates
>> bar(x,y) % vertical bar graph
>> barh(x,y) % horizontal bar graph
>> stem(x,y) % stem plot
>> area(x,y) % color fill from horizontal axis to line
>> hist(y,N) % histogram with N bins (default N = 10)

 Polar coordinates
>> pie(y)
>> rose(theta,N) % angle histogram, N bins (default 10)
 GRAPHICS AND DATA DISPLAY

 3-D Plotting syntax

 Line
>> plotfunction(vector1, vector2, vector3)
Vector lengths must be the same
► Example
>> a = 1:0.1:30;
>> plot3( sin(a), cos(a), log(a) )

 Pie
>> pie3(vector)
One dimensional data, but 3-D pie perspective
 GRAPHICS AND DATA DISPLAY

 3-D surface plotting functions

>> contour(x,y,Z) % projection into X-Y plane

>> surf(x,y,Z) % polygon surface rendering

>> mesh(x,y,Z) % wire mesh connecting vertices

>> waterfall(x,y,Z)
• like mesh but without column connection lines
• used for column-oriented data
BASIC TASK: PLOT THE FUNCTION
SIN(X) BETWEEN 0≤X≤4Π
PLOT THE FUNCTION BETWEEN 0≤X≤4Π
PLOT THE FUNCTION e-X/3SIN(X)
BETWEEN 0≤X≤4Π
DISPLAY FACILITIES
CONTD..
LINE SPECIFIERS IN THE plot() COMMAND

plot(x,y,‘line specifiers’)

Line Specifier Line Specifier Marker Specifier

Style Color Type

Solid - red r plus sign +

dotted : green g circle o
dashed -- blue b asterisk *
dash-dot -. Cyan c point .
magenta m square s
yellow y diamond d
black k
 Plots
» x = 1:2:50;
» y = x.^2; 2500

» plot(x,y)
2000

1500

1000

500

0
0 5 10 15 20 25 30 35 40 45 50
 Plots
» plot(x,y,'*-')
» xlabel('Values of x')
» ylabel('y') 2500

2000

1500
y

1000

500

0
0 5 10 15 20 25 30 35 40 45 50
Values of x
 MULTIPLE GRAPHS
t=0:pi/100:2*pi;
y1=sin(t);
y2=sin(t+pi/2); 1

plot(t,y1,t,y2);
0.8

0.6

grid on 0.4

0.2

-0.2

-0.4

-0.6

-0.8

-1
0 1 2 3 4 5 6 7
 MULTIPLE PLOTS

t=0:pi/100:2*pi;
y1=sin(t);
y2=sin(t+pi/2);
subplot(2,2,1)
plot(t,y1)
grid on
subplot(2,2,2)
plot(t,y2);
grid on

subplot(i,j,k)
• i is the number of rows of subplots in the plot
• j is the number of columns of subplots in the plot
• k is the position of the plot
INTERESTING FEATURE OF GENERATING
SINE CURVE

 x = 0:0.05:6; 1

y = sin(pi*x);
0.8

0.6

 Y = (y >= 0).*y; 0.4

 plot(x,y,':',x,Y,'-') 0.2

-0.2

-0.4

-0.6

-0.8

-1
0 1 2 3 4 5 6
 CONTINUED..
 x = 0:0.05:6; 1

0.8

 y = sin(pi*x); 0.6

 Y = (y >= 0).*y; 0.4

plot(x,y,„.',x,Y,'-')
0.2

0

-0.2

-0.4

-0.6

-0.8

-1
0 1 2 3 4 5 6
OPERATORS (RELATIONAL, LOGICAL)
POLYNOMIALS
MATLAB FUNCTIONS FOR POLYNOMIALS
 Contd..
Representing Polynomials:
x4 - 12x3 + 25x + 116
» P = [1 -12 0 25 116];

» roots(P)
ans =
11.7473
2.7028
-1.2251 + 1.4672i
-1.2251 - 1.4672i

» r = ans;
» PP = poly(r)
PP =
1.0000 -12.0000 -0.0000 25.0000 116.0000
Polynomial Multiplication
a = x3 + 2x2 + 3x + 4
b = 4x2 + 9x + 16

» a = [1 2 3 4];
» b = [4 9 16];
» c = conv(a,b)

c=

4 17 46 75 84 64
 Evaluation of a
Polynomial
a = x3 + 2x2 + 3x + 4

» polyval(a, 2)

ans =

26
 Symbolic Math
» syms x
» int('x^3')

ans =

1/4*x^4

» eval(int('x^3',0,2))

ans =

»
 Solving Nonlinear Equations
nle.m
Function of the program:-

function f = nle(x)
f(1) = x(1) - 4*x(1)*x(1) - x(1)*x(2);
f(2) = 2*x(2) - x(2)*x(2) + 3*x(1)*x(2);

Program:-
x0 = [1 1]';
x = fsolve('nle', x0)

Solution:-
x=
0.2500
0.0000
TO FIND EIGEN VALUES AND EIGEN
VECTORS OF MATRICES
CONTINUED…
 SOLVING LINEAR EQUATIONS
(TRY MANUALLY)

 Solve manually and tell me what is the answer..?

That is find out x=

y=
z=
SOLVING SET OF SIMULTANEOUS EQUATIONS
DIFFERENTATION
SOLVING DIFFERENTIAL EQUATIONS
PERFORMING INTEGRATION
 NUMERICAL INTEGRATION
 Numerical integration of the integral f (x) dx is called
quadrature. MATLAB provides the following built-in functions
for numerical integration:

quad:
 It integrates the specified function over specified limits, based on
adaptive Simpson's rule.
 The general call syntax for both quad and quadl is as follows:
Syntax:-
integral = quad(„function‟, a, b)

dblquad: (It calculates double integration)

 MATLAB provides a function dblquad. The calling syntax for
dblquad is:
Syntax:-
I = dblquad(„function_xy‟, xmin, xmax, ymin, ymax)
FLOW CONTROL
CONTROL STRUCTURES
CONTROL STRUCTURES
CONTROL STRUCTURES
 IF STATEMENT
(EXAMPLE)
 n = input(„Enter the upper limit: „);
 if n < 1
disp („Your answer is meaningless!‟)
 end
 x = 1:n;
Jump to here if TRUE

 term = sqrt(x);
Jump to here if FALSE
 y = sum(term)
 EXAMPLE PROGRAM TO EXPLAIN IF LOOP
% Program to find whether roots are imaginary or not%
clc;
clear all;
a=input('enter value of a:');
b=input('enter value of b:');
c=input('enter value of c:');
discr = b*b - 4*a*c;
if discr < 0
disp('Warning: discriminant is negative, roots are imaginary');
end
Solution:-
Input:
enter value of a:1
enter value of b:2
enter value of c:3
Output:
Warning: discriminant is negative, roots are imaginary
 EXAMPLE OF IF ELSE STATEMENT
Program:-
A = 2;
B = 3;
if A > B
'A is bigger'
elseif A < B
'B is bigger'
elseif A == B
'A equals B'
else
error('Something odd is happening')
end

Solution:-
ans =
B is bigger
 IF STATEMENT EXAMPLE
Here are some examples based on the familiar quadratic formula.
1. discr = b*b - 4*a*c;
if discr < 0
disp('Warning: discriminant is negative, roots are imaginary');
end
2. discr = b*b - 4*a*c;
if discr < 0
disp('Warning: discriminant is negative, roots are imaginary');
else
disp('Roots are real, but may be repeated')
end
3. discr = b*b - 4*a*c;
if discr < 0
disp('Warning: discriminant is negative, roots are imaginary');
elseif discr == 0
disp('Discriminant is zero, roots are repeated')
else
disp('Roots are real')
end
 EXAMPLE OF FOR LOOP
Problem: Draw graphs of sin(nπ x) on the interval −1 ≤ x ≤ 1 for
n = 1,2,....,8.We could do this by giving 8 separate plot
commands but it is much easier to use a loop.

Program:-
x=-1:0.05:1;
for n=1:8
subplot(4,2,n);
plot(x, sin(n*pi*x));
end
 EXAMPLE OF FOR & WHILE LOOP
1.) % example of for loop%
Program:-
for ii=1:5
x=ii*ii
End

Solution:
1 4 9 16 25

2.) %example of while loop% 3.) %example of while loop%

Program:-
x=1
x=1
while x <= 10 while x <= 100
x = 3*x
End
x = 3*x
end
Solution:
x=1 x=3 x= 9 x=27 Solution:-
X= 1 3 9 27
 SWITCH STATEMENT EXAMPLE

Program:-
n=input(„enter the value of n: ‟);
switch(rem(n,3))
case 0
m = 'no remainder'
case 1
m = „the remainder is one'
case 2
m = „the remainder is two'
otherwise
error('not possible')
end
Solution:-
enter the value of n: 8
m =the remainder is two
SPRING/MASS/DAMPER SYSTEM EXAMPLE

88
PROBLEM SOLVED BY USING
MATLAB AND SIMULINK
INTRODUCTION
PROBLEM
PROBLEM
 FUNCTION OF THE PROGRAM
function f=programone (t,z)
m=3;
c=8;
k=100;
dzdt=[z(2); -(c/m)*z(2)-(k/m)*z(1)];
 MAIN BODY OF THE PROGRAM
% For a single degree of freedom system in free vibration
clc;
clear all;
%Enter initial conditions
z0=[5;15];
%Enter time span for solution
tspan=[0 10];
%Call solver
[t,z]=ode45(„programone',tspan,x0);
%Set up plot
plot(t,z(:,1));
RESULT
single degree of freedom spring mass damper system behaviour
6
displacement
5

3
displacement in mm

-1

-2

-3
0 5 10 15
time in seconds
DEMONSTRATION OF THE CONCEPT
WITH SIMPLE EXAMPLE
DEMONSTRATION OF THE CONCEPT
WITH SIMPLE EXAMPLE
DEMONSTRATION OF THE CONCEPT
WITH SIMPLE EXAMPLE
DEMONSTRATION OF THE CONCEPT
WITH SIMPLE EXAMPLEPROBLEM
(OSCILLATOR)
MODELLING PENDULUM WITH DAMPING
USING STATE SPACE TRANSFORM
CONTINUED…
 TEST
TO IDENTIFY THE LEVEL OF UNDERSTANDING
PROBLEM:- BY CONSIDERING NONLINEAR DAMPING
 FORMATTING PLOTS
(Used for comparing and Interpreting
Theoretical and Experimental Results)

A plot can be formatted to have a required appearance.

With formatting you can:

 Add title to the plot.

 Add labels to axes.
 Change range of the axes.
 Add legend.
 Add text blocks.
 Add grid.
 FORMATTING PLOTS

There are two methods to format a plot:

1. Formatting commands.
In this method commands, that make changes or additions to the
plot, are entered after the plot() command. This can be done in
the Command Window, or as part of a program in a script file.

2. Formatting the plot interactively in the Figure Window.

In this method the plot is formatted by clicking on the plot and
using the menu to make changes or add details.
 FORMATTING COMMANDS

title(‘string’)
Adds the string as a title at the top of the plot.

xlabel(‘string’)
Adds the string as a label to the x-axis.

ylabel(‘string’)
Adds the string as a label to the y-axis.

axis([xmin xmax ymin ymax])

Sets the minimum and maximum limits of the x- and y-axes.
 FORMATTING COMMANDS

legend(‘string1’,’string2’,’string3’)
Creates a legend using the strings to label various curves (when
several curves are in one plot). The location of the legend is
specified by the mouse.

text(x,y,’string’)
Places the string (text) on the plot at coordinate x,y relative to the
plot axes.

gtext(‘string’)
Places the string (text) on the plot. When the command executes
the figure window pops and the text location is clicked with the
mouse.
 EXAMPLE PROGRAM
clc; 1200
Light Intensity as a Function of Distance

clear all; Theory

Experiment

x=[10:0.1:22]; 1000

y=95000./x.^2; 800

INTENSITY (lux)
xd=[10:2:22]; Comparison between theory and experiment.

yd=[950 640 460 340 250 180 140]; 600

plot(x,y,'-','LineWidth',1.0) 400

hold on
plot(xd,yd,'ro--','linewidth',1.0,'markersize',10)200
hold off
0
8 10 12 14 16 18 20 22 24
xlabel('DISTANCE (cm)') DISTANCE (cm)

ylabel('INTENSITY (lux)')
title('\fontname{Arial}Light Intensity as a Function of Distance','FontSize',14)
axis([8 24 0 1200])
text(14,700,'Comparison between theory and
experiment.','EdgeColor','r','LineWidth',2)
legend('Theory','Experiment',0)
 OPEN WEB RESOURCES
 Mathworks Information
 Mathworks: http://www.mathworks.com
 Mathworks Central: http://www.mathworks.com/matlabcentral
 http://www.mathworks.com/applications/controldesign/
 http://www.mathworks.com/academia/student_center/tutorials/launchpad.
html

 Matlab Demonstrations
 http://www.mathworks.com/cmspro/online/4843/req.html?13616
 http://www.mathworks.com/cmspro/online/7589/req.html?16880
 Select Help-Demos in Matlab
 Matlab/Simulink student Select “Help” in Matlab on extensive help about
Matlab, Simulink and toolboxes
 http://www.mathworks.com/academia/student_center/homework/
 http://www.mathworks.com/academia/student_center

 Other Matlab and Simulink Books

 Mastering Matlab 6, Hanselman & Littlefield, Prentice Hall
 Mastering Simulink 4, Dabney & Harman, Prentice Hall
 Matlab and Simulink Student Version Release 14
 OPEN WEB RESOURCES
www.mathworks.com/
www.mathtools.net/MATLAB
www.math.utah.edu/lab/ms/matlab/matlab.html
www.mit.edu/afs/athena.mit.edu/software/matlab/
www.utexas.edu/its/rc/tutorials/matlab/
www.math.ufl.edu/help/matlab-tutorial/
www.indiana.edu/~statmath/math/matlab/links.html
www.eng.cam.ac.uk/help/tpl/programs/matlab.html
 OPEN WEB RESOURCES
Messner and Tilbury, “Controls Tutorial for MATLAB and SIMULINK: A Web-based
approach,” Prentice-Hall, 1999.
 Sigmon and Davis, MATLAB Primer, 6th Edition, CRC Press, 2001

 Gockenback, “A Practical Introduction to MATLAB,” 2nd Edition, CRC Press, 2005.

 http://www.mathworks.com/access/helpdesk/help/techdoc/matlab.html

 http://www.mathworks.com/access/helpdesk/help/toolbox/simulink/

 http://www.mathworks.com/access/helpdesk/help/pdf_doc/matlab/getstart.pdf

 http://www.mathworks.com/access/helpdesk/help/pdf_doc/matlab/using_ml.pdf

 http://www.mathworks.com/access/helpdesk/help/toolbox/control/control.shtml

 http://www.mathworks.com/academia/student_version/

 http://www.mathworks.com/academia/student_version/companion.html
http://travis.eng.man.ac.uk/barry/control2/lab/SIMULINK.htm

http://matlab.kimhua.co.kr/digest/dec98/nonlinear.html
 OPEN WEB RESOURCES
 http://www.scsolutions.com/feedback.html

 http://www.math.mtu.edu/~msgocken/intro/intro.html

 http://www-personal.engin.umich.edu/~tilbury/tutorials/matlab_tutorial.html

http://www.eng.fsu.edu/~cockburn/matlab/matlab_help.html

http://www.engin.umich.edu/group/ctm/working/mac/simulink_basics/

http://www.messiah.edu/acdept/depthome/engineer/Resources/tutorial/matlab/simu.html

http://rclsgi.eng.ohio-state.edu/courses/me780/handouts/simulink.pdf

http://www.mae.ncsu.edu/homepages/buckner/simulink2.pdf

http://www.tutorgig.com/showurls.jsp?group=896&index=0

http://www.rpi.edu/dept/chem-eng/WWW/faculty/bequette/lou/simtut/simtut_html.html

http://www.math.siu.edu/matlab/tutorials.html
 OPEN WEB RESOURCES
http://wolfman.eos.uoguelph.ca/~jzelek/matlab/ctms/

http://www.engin.umich.edu/group/ctm/

http://www.me.cmu.edu/matlab/html/

http://www.math.utah.edu/lab/ms/matlab/matlab.html

http://www.indiana.edu/~statmath/math/matlab/

http://spicerack.sr.unh.edu/~mathadm/tutorial/software/matlab/

http://www.math.ufl.edu/help/matlab-tutorial/matlab-tutorial.html

http://www.cs.ubc.ca/spider/cavers/MatlabGuide/guide.html

 http://www.class.umd.edu/enme/403/0101/t1.html

 http://www.math.mtu.edu/~msgocken/intro/intro.html

 http://www.engin.umich.edu/group/ctm
THANK YOU…

Any Questions ?