Mathworks SIMULINK RELEASE NOTES

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Simulink

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Release Notes

SummarybyVersion

This table provides quick access to what’s new in each version. For clarification, see “Using Release Notes” on page 2 .

Simulink®Release Notes

Version (Release)

Latest Versi V7.5 (R2010a

V7.4 (R2009b)

V7.3 (R2009a)

V7.2 (R2

V7.1.1 (R2008a+)

V7.1 (R2008a)

.1 (R2007b+)

V7.0

V7.0 (R2007b)

)

008b)

New Features and Changes

Yes Details

No No Bug Reports

Yes

Detai

No No Bug Reports

Yes Details

Version Compatibilit Consideratio

Yes Summary

Yes Summa

Yes Summary

Fixed Bugs

and Known

Problems

Bug Reports Includes fix

Bug Reports Includes fixes

Bug Repor Includes

Bug Reports Includes fixes

Includes fixes

Bug Re Inclu

Includes fixes

Bug Reports Includes fixes

fixes

ports

des fixes

Related Documentation at Web Site

Printable Release Notes: PDF

Current product documentation

V6.6.1 (R2007a+)

.6 (R2007a)

V6.5 (R2006b)

No No Bug

Inc

Yes Details

Yes Summary

Bug Reports Includes fixes

Reports

ludes fixes

Simulink®Release Notes

Version (Release)

V6.4.1 (R2006a+)

V6.4 (R2006a)

V6.3 (R14SP3)

V6.2 (R14SP2)

V6.1 (R14SP1)

V6.0 (R14)

V5.1 (R13SP1)

V5.0.1 (R13.0.1)

New Features and Changes

No No Bug Reports No

Yes Details

No Yes

Version Compatibility Considerations

Yes Summary

Summary

Fixed Bugs and Known Problems

Bug Reports No

Fixed Bugs

Fixed Bugs Printable Release

Fixed Bugs

Related Documentation at Web Site

Notes: PDF V5.1 product documentation

V5.0 (R13)

V4.1 (R12+)

V4.0 (R12)

Yes Details

Yes Summary

Fixed Bugs

No No

Using Release Notes

Use release notes when upgrading to a newer version to learn about:

• New features

• Changes

• Potential impact on your existing files and practices

SummarybyVersion

Review the release notes for other MathWorks™ products required for this product (for example, MATLAB

or Simulink®). Determine if enhancements,

bugs, or compatibility considerations in other products impact you.

If you are upgrading from a software version other than the m ost recent one, review the current release notes and all interim versions. For example, when you upg rade from V1.0 to V1.2, review the release notes for V1.1 and V1.2.

What Is in the Release Notes

New Features and Changes

• New functionality

• Changes to existing functionality

Version Compatibility Con si derations

When a new feature or change introduces a reported incompatibility between versions, the Compatibility Considerations subsection explains the impact.

Compatibility issues reported after the product release appear under Bug Reports at The MathWorks™ Web site. Bug fixes can sometimes result in incompatibilities, so review the fixed bugs in Bug Reports for any compatibility impact.

Fixed Bugs and Known Problems

The MathWorks offers a user-searchable Bug Reports database so you can view Bug Reports. The development team updates this database at release time and as more information becomes available. Bug Reports include provisions for any known workarounds or file replacem ents. Information is available for bugs existing in or fixed in Release 14SP2 or later. Information is not avail able for all bugs in earlier releases.

Simulink®Release Notes

Access Bug Reports using y our MathWorks Account.

Version 7.5 (R2010a) Simulink Software

This table summarizes what’s new in V7.5 (R2010a):

Version 7.5 (R2010a) Simulink®Software

New Features and Changes

Yes Details below

Version Compatibility Considerations

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New features and changes introduced in this version are organized by these topics:

• “Simulation Performance” on page 5

• “Component-Based Modeling” on page 6

• “Embedded MATLAB Function Blocks” on page 8

• “Simulink Data Managem ent” on page 10

• “Simulink Signal Management” on page 14

• “Block Enhancements” on page 17

• “User Interface Enhancements” on page 30

• “S-Functions” on page 34

Fixed Bugs an d Known Problems

Bug Reports Includes fixes

Related Documentation at Web Site

Printable Release Notes: PDF

Current product documentation

• “Documentation Improvements” on page 35

Simulation Performance

Computation of Sparse and Analytical Jacobian for Implicit Simulink Solvers

The implicit Simulink solvers now support numerical and analytical methods for computing the Jacobian m atrix in one of the following representations: sparse perturbation, full perturbation, sparse analytical, and full analytical.

Simulink®Release Notes

The sparse methods attempt to improve performance by taking advantage of sparsity information associated with the Jacobian matrix. Similarly, the analytical methods attempt to improve performance b y computing the Jacobian using analytical equations rather than the perturbation equations.

Since the applicability of these representations is highly model dependent, an

auto option directs Simulink to use a heuristic to choose an appropriate

representation for your model. In the case of a model that has a large number of states and for which the Jacobian is computed in sparse analytical form, the performance improvement may be substantial. In general, the performance improvement achieved varies from model to model.

Sparse Perturbation Suppor t for RSim and Rapid Accelerator Mode

For implicit Simulink solvers, the numerical sparse perturbation method for solving the Jacobian supports both RSim and Rapid Accelerator m od e.

Increased Accuracy in Detecting Zero-Crossing Events

The zero-crossing bracketing algorithm now uses a smaller tolerance for defining the interval in which an event occurs. The resulting increased accuracy of locating an event means that existing models may exhibit slightly different numerical results.

Saving Code Generated by Accelerating Models to slprj Folder

In Accelerator mode and in Rapid A ccelerator mode, a build has historically resulted in the creation of generated code, respectfully, in the

modelname_accel_rtw and the modelname_raccel_rtw folders in the

current working folder. However, in order to be more consistent with other builds, in R2010a and future releases, these files will be created in the slprj/accel/

modelname and the slprj/raccel/modelname folders.

Component-Based Modeling

For Each Subsystem Block

The For Each Subsystem b lock is very useful for modeling scenarios where you need to repeat the same algorithm on individual elements (or submatrices)

Version 7.5 (R2010a) Simulink®Software

of an input signal. The set of blocks within the subsystem represent the algorithmthatistobeappliedtoasingleelement(orsubmatrix)ofthe original signal. You can configure the inputs of the subsystem to decompose the corresponding inputs into elements (or submatrices), and configure the outputs to suitably concatenate the p rocessed results. Additionally, each blo ck that has states inside this subsystem maintains separate sets of states for each elem ent or submatrix it processes. Consequently, the operation of this subsystem is akin to copying the contents of the subsystem as many times as the number of elements in the original input signal, and then processing each element through its respective subsystem copy.

An additional benefit of this subsystem is that it may be utilized to improve code reuse in Real-Time Workshop generated code for certain models. Consider a model containing two reusable Atomic Subsystems with the same scalar algorithm applied to each element of the signal. If the input signal dimensions for these subsystems are different, you will find that two distinct functions are produced in the code generated by Real-Time W orkshop for this model. Now, if you were to convert the two subsystems to For Each Subsystems such that the contents of each processe s a single scalar element, then you will find that the two subsystems produce a single function in the code generated by Real-Time W orkshop . This function is parameterized by thenumberofelementstobeprocessed.

New Function-Call Split Block

A new Function-Call Split block allows you to branch periodic and asynchronous function-call signals and connect them to multiple function-call subsystems (or models). These subsystems (or models) are guaranteed to execute in the order determined by their data dependencies. If a deterministic order cannot be computed, the model produces an error.

To test the validity of your function-call connections, use the Model Advisor diagnostic, Check usage of function-call connections.Thisdiagnostic determines if:

• Configurations > Diagnostics > Connectivity > Invalid function-call

connection is set to

• Configuration Parameters > Diagnostics > Connectivity >

Context-dependent inputs is set to

error

Enable All

Simulink®Release Notes

Trigger Port Enhancements

You can use trigger ports, which you define with a Trigger block, in new ways:

• Place edge-based (rising, falling, or either), as well as function-call, trigger

ports at the root level of a model. Before R2010a, to place a trigger port in a root-level model, you had to set the trigger type to

• Place triggered ports in models referenced by a Model block. See “D efining

Triggered Models”.

• Lock down the data type, port dimension, and trigger signal sample time.

To specify these values, use the new Signal Attributes pane of the Block Parameters dialog box of the Trigger block. S p eci fying these attributes is useful for unit testing and running standalone simulation of a subsystem or referenced model that has an edge-based trigger port. See “Simulating a Triggered Model”.

Compatibility Considerations. When you add a trigger port to a root-lev el model, if you use the File > Save As option to specify a release before R2010a, Simulink replaces the trigger port with an empty subsystem.

function-call.

Model Reference Support for Custom Code

Select the new ModelRefHonorSimTargetCustomCode model parameter to have SIM target Accelerator code genera t io n include Stateflow Embedded MATLAB for this parameter is

custom code for a referenced model. The default setting

off.

and

Embedded MATLAB Function Blocks

New Ability to Use Global Data

Embedded MATLAB Function blocks are now able to use global data within a Simulink model and across multiple models.

This feature provides these benefits:

• Allows you to share data between Embedded MATLAB Function blocks

and other Simulink blocks without introducing additional input and output

Version 7.5 (R2010a) Simulink®Software

wires in your model. This reduces unnecessary clutter and improves the readability of your model.

• Provides a means of scoping the visibility of data within your model.

For m ore information, see “Using Global Data with the Embedded MATLAB Function Block” in the Simulink documentation.

Support for Logical Indexing

Embedded MATLAB Function blocks now support logical indexing when variable sizing is enabled. Embedded MATLAB supports variable-size data by default for MEX and C/C++ code generation.

For more information about logical indexing, see “Using Logicals in Array Indexing” in the MATLAB documentation.

Support for Variable-Size Matrices in Buses

Embedded MATLAB Function blocks now support Simulink buses containing variable-size matrices as inputs and outputs.

Support for Tunable Structure Para meters

Embedded MATLAB Function blocks now support tunable structure parameters. See “Working with Structure Parameters in Embedded MATLAB Function Blocks”.

Check Box for ’Treat as atomic unit’ Now Always Selected

In existing models, simulation and code generation for Embedded MATLAB Function blocks always behave as if the Treat as atomic unit check box in the Subsystem Parameters dialog box is selected. Starting in R2010a, this check b ox is always selected for consistency with existing behavior.

Simulink®Release Notes

Simulink Data Ma

nagement

New Function Finds Variables Used by Models and Blocks

The new Simulin variables and sometimes i n c

• Identify all w

• Identify any

• Search a mod

• Subdivide a

See

Simuli

page for mo

their usage. For example, you can use

onjunction with other Simulink functions, to:

workspace variables unused by a model or block

model, including only necessary variables with each model

nk.findVars

re information.

k.findVars

orkspace variables used by a model or block

el for all places where a specified variable is referenced

function re turns information about workspace

Simulink.findVars,

and the other Simulink functions referenced on that

MATLAB Structures as Tunable Structure Parameters

You can cr into a hie in Simul workspa grouped struct value g limite block p

eate a MATLAB structure that groups base workspace variab l es

rarchy, and dereference the structure fields to provide values

ink block parameter expression s. This technique reduces base

ce clutter and allow s related w orkspace variables to be conveniently

. However, in previous releases you could not use a MATLAB

ure as a masked subsystem or a model reference argument, a nd no

iven by a MATLAB structure field could be tuned. These restrictions

d the usefulness of MATLAB structures for grouping variables used in

arameter expressions.

In R20 that c subs ther can a that str Par

10a, these restrictions no longer apply to MATLAB structures

ontain only numeric data. You can use a numeric structure, or any

tructure within it, as a masked subsystem or a model reference argument,

eby passing all values in the structure with a single argument. You

lso control MATLAB structure tunability using the sam e techniques

control MATLAB variable tunability. In R2010a, all values in a given

ucture must be either tunable or nontunable. See “Using Structure

ameters” for m ore information.

Version 7.5 (R2010a) Simulink®Software

Simulink.saveVars Documentation Added

The Simulink.saveVars function was added in R2009b but was incompletely documented. See “New Function Exports Workspace Variables and Values” on page 44 for more information.

Custom Floating-Point Types No Longer Supported

Custom floating-point types, float(TotalBits, ExpBits), are no longer supported.

Compatibility Considera tions. Ifyouhavecodethatusescustom floating-point types, modify this code using one of these methods:

• Replace calls to

fixdt('double') or fixdt('single') as appropriate.

float(TotalBits, ExpBits) with calls to

• Create your own custom float replacement function.

Write a MATLAB function the file on your MA TLAB path. This function must take

ExpBits as input arguments and return a supported numerictype object,

such as

fixdt('double') or fixdt('single').

custom_float_user_replacement and place

TotalBits and

For example,

function DataType = custom_float_user_replacement( TotalBits, ExpBits

if (TotalBits <= 32) && (ExpBits <= 8)

DataType = numerictype('single');

else

DataType = numerictype('double');

end

In R2010a and future releases, if the file

custom_float_user_replacement.m is on your MATLAB

path, calls to

custom_float_user_replacement(TotalBits, ExpBits).

float(TotalBits, ExpBits) automatically call

Data Store Logging

You can log the values of a local or global data store data variable for all the steps in a simulation. Data store logging is useful for:

Simulink®Release Notes

• Model debugging – view the order of all data store writes

• Confirming a model modification – use the logged data to establish a

baseline for comparing results to identify the impact of a model modification

To log a local data store that you create with a Data Store Memory block:

• Use the new Logging pane of the Block Parameters dialog box for the

Data Store Memory block.

• Enable data store logging with the new Configuration

Parameters > Data Import/Export > Data stores parameter.

To log a data store defined by a command line, set

DataLogging (which is a property of the LoggingInfo

Simulink.Signal object, from the MATLAB

property of Simulink.Signal)to1.

For details, see “Logging Data Stores”. To see an example of logging a global data store, run the

sldemo_mdlref_dsm demo.

Models with No States Now Return Empty Variables

Simulink creates empty variables for state logging (xout) or final state logging (

xfinal), if both of these conditions apply:

• A model has no states.

• In the Configuration Parameters > Data Import/Export pane, you

enable the States, Final States, or both parameters (the default is

Compatibility Considerations. If you configure your model to return empty variables when it has no states, then a possible result is that Simulink creates more variables than it did in previous releases.

Using model variants, running different models in batch mode, tuning models, or reconfiguring models can produce unexpected results based on the state values. For example, if you simulate a model that produces a state value, and then run a model variant that produces no state, Simulink overwrites the state value with an empty variable. If your model depends on the first state value not being overwritten if no state is returned in a subsequent simulation (which was the case in previous releases), then you get unexpected results.

off).

Version 7.5 (R2010a) Simulink®Software

To File Block Enhancements

TheToFileblocknowsupports:

• Saving very large data sets that may be too large to fit in RAM

• Saving logged data up until the point of a premature ending of simulation

processing. Previously, if the simulation processing did not complete, then To File did not store any logged data for that simulation.

• AnewSave format parameter to control whether the block uses

Timeseries or array format for data.

- Use Timeseries format for w riting multidimensional, real, or complex

inputs, with different data types, (for example, built-in data types, including word length of up to 32 bits.

Boolean;enumerated(enum) data and fixed-point data w ith a

- Use Array format only for one-dimensional, double, noncomplex i nputs.

Time values are saved in the first row. Additional rows correspond to input elements.

Compatibility Considerations. For data saved using MAT file versions prior to 7.3, the From File block can only load two-dimensional arrays consisting of one-dimensional, double, noncomplex samples. To load data of any other type, complexity, or dimension, use a save the file using MAT file version 7.3 or later. For example, use

file_name -v7.3 timeseries_object'

save file_name -v7.3 timeseries_object

Timeseries object and

'save

From File Block Enhancements

The From File block now supports:

• Incrementalloadingofverylargedatasetsthatmaybetoolargetofit

in RAM

• Built-in data types, including

• Fixed-point data with a word length of up to 32 bits

• Complex data

• Multidimen si on al data

Boolean

Simulink®Release Notes

Root Inport Support for Fixed-Point Data Contained in a Structure

You can now use a root (top-level) Inport block to supply fixed-point data that is contained in a structure.

In releases before R2010a, you had to use a Simulink.Timeseries object instead of a structure.

Simulink Signal Management

Enhanced Support for Proper Use of Bus Signals

To improve model reliability and robustness, avoid mixing Mux blocks and bus signals. To help you use Mux blocks and bus signals properly, R2010a adds these enhancements:

• When Simulink detects Mux block and bus signal mixtures, the “Mux

blocks used to create bus signals” diagnostic now generates:

- A warning when all the following conditions apply:

• You load a model created in a releas e before R2010a.

• The diagnostic is set to 'None'.

• Simulink detects improper Mux block usage.

- An error for new models

• Two new diagnostics in the Configuration

Parameters > Diagnostics > Connectivity pane:

- The “Non-bus signals treated as bus signals” diagnostic detects when

Simulink implicitly converts a non-bus signal to a bus signal to support connecting the signal to a Bus Assignment or Bus Selector block.

- The “Repair bus selections” diagnostic repairs broken selections in the

Bus Selector and Bus Assignment block parameters dialog boxes that are due to upstream bus hierarchy changes.

Version 7.5 (R2010a) Simulink®Software

Compatibility Considerations. In R2010a, if you load a model created in a prior release, you might get warning messages that you did not get before. To avoid getting Mux block-related w arnings for existing models that you want to lo ad in R2010a, use the

slreplace_mux function to substitute Bus C reator

blocks for any Mux blocks used to create buses signals.

Bus Initialization

In releases before R2010a:

• For virtual buses, you could sp ecif y a non-zero scalar or vector initial

condition (IC ) value that applies to all elements of the bus. You could use a vectorvalueonlyifallbuselementsusethesamedatatype.

• For nonvirtual buses, the only value you could specify was zero.

In R2010a, you can create a MATLAB structure for an IC. You can:

• Specify ICs for all or a subset of the bus elements.

• Use the new

Simulink.Bus.createMATLABStruct helper method to create

a full IC structure.

• Use the new Model Advisor Simulink check, Check for partial structure

parameter usage with bus signals, to detect when structure parameters

are n ot consistent in shape with the associated bus signal.

Using IC structures helps you to:

• Specify nonzero initial co nditions

• Specify initial conditions for mixed-dimension signals

• Apply a different IC for each signal in the bus

• Specify ICs for a subset of signals in a bus without s pecifying ICs for all

the signals

• Use the same ICs for multiple blocks, signals, or models

For information about creating and using initial condition structures, see “Specifying Initial Conditions for Bus Signals”.

Simulink®Release Notes

S-Functions for Working with Buses

The following S-functions provide a programmatic interface for working with buses:

S-function Description

ssGetBusElementComplexSignal

ssGetBusElementDataType

ssGetBusElementDimensions

ssGetBusElementName

ssGetBusElementNumDimensions

ssGetBusElementOffset

ssGetNumBusElements

ssGetSFcnParamName

sslsDataTypeABus

ssRegisterTypeFromParameter

ssSetBusInputAsStruct

ssSetBusOutputAsStruct

ssSetBusOutputObjectName

Get the signal complexity for a bus element.

Get the data type identifier for a bus element.

Get the dimensions of a bus element.

Get the name of a bus element.

Get the number of dimensions for a bus element.

Get the offset from the start of the busdatatypetoabuselement.

Get the number of elements in a bus signal.

Get the value of a block parameter for an S-function block.

Determine whether a data type identifier repres ents a bus signal.

Specify whether to convert the input bus signal for an S-function from virtual to nonvirtual.

Specify whether the output bus signal from an S-function must be virtual or nonvirtual.

Specify the name of the bus object that defines the structure and type of the output bus signal.

Version 7.5 (R2010a) Simulink®Software

Command Line API for Accessing Information About Bus Signals

You can use two new signal property parameters to get information about the type and hierarchy of a signal programmatically:

•

CompiledBusType

- Returns information about whether the signal connected to a port is a

bus, and if so, whether it is a v irtual or nonvirtual bus

•

SignalHierarchy

- Returns the signal name of the signal. If the signal is a bus, the

parameter also returns the hierarchy and names of the bus signal.

See “Mo de l Parameters” and “Getting Information about Buses”.

Signal Name Propagation for Bus Selector Block

The new SignalNameFromLabel port parameter supports signal name propagation for Bus Creator block input signals whenever you change the name of an input signal programmatically. You can set this parameter with the

set_param command, specifying either a port or line handle and the

signal name to propagate.

See “Model Parameters”.

Block Enhancements

New Square Root Block

You can use the new Sqrt block to perform square-root calculations. This block includes the following functions:

Simulink®Release Notes

Function

sqrt

signedSqrt

rSqrt

Icon

Compatibility Considerations. The sqrt and 1/sqrt functions no longer

appear in the Math Function block. For backward compatibility, models with a Math Function block that uses one of these two functions continue to work. However, consider running the

slupdate re place s any Math Function block that uses sqrt or 1/sqrt with an

slupdate function on your model.

equivalent Sqrt block that ensures the same behavior.

New Second-Order Integrator Block

You can use the new Second-Order Integrator block to model second-order systems that have bounds on their states. This block is useful for modeling physical systems, for example, systems that use Newton’s Second Law and have constraints on their motion.

Benefits of using this block include:

• Highly accurate results

• Efficient detection of zero crossings

• Prevention of direct feedthrough and algebraic loops

New Find Nonzero Elements Block

You can use the new Find block to locate all nonz ero elements of an input signal. This block outputs the indices of nonzero elements in linear indexing or subscript form and provides these benefits:

Version 7.5 (R2010a) Simulink®Software

When you use the block to...

Convert logical indexing to linear indexing

You ca n. . .

Use the linear indices you get from processing a logical indexing signal as the input to a Selector or Assignment block

Extract subscripts of nonzero values Use the subscript of matrices for 2-D

or higher-dimensional signal arrays to aid with image processing

Represent sparse signals Use indices and values as a compact

representation of sparse signals

PauseFcn and ContinueFcn Callback Support for Blocks and Block Diagrams

The new PauseFcn and ContinueFcn callbacks detect clicking of the Pause and Continue buttons during simulation. You can set these callbacks using the

set_param command or the Callbacks tab of the Model Properties dialog

box. Both the

PauseFcn and ContinueFcn callbacks support Normal and

Accelerator simulation modes.

Gain Block Can Inherit Parameter Data Type from Gain Value

The Gain block now supports the Parameter data type setting of Inherit:

Inherit from 'Gain'

the parameter data type directly from the Gain parameter. For example:

. This enhancement provides the benefit of inheriting

If you s et Gain to ...

The parameter data type inherits...

2 double

single(2) single

int8(2) int8

Direct Lookup Table (n-D) Block Enhancements

The Direct Lookup Table (n-D) block now supports:

• Multidim en si onal signals for the table in p ut port

Simulink®Release Notes

• Fixed-point data types for the table input port

• Explicit specification of the table data type in the block dialog box

Multiport Switch Block Allows Explicit Specification of Data Port Indices

The icon for the Multiport Switch block now shows the values of indices on data port labels. This enhancement helps you identify the data inputs without having to open the block dialog box:

Block Parameter Settings Block Icon

When you load existing m odels that contain the Multiport Switch block, the following parameter mapping occurs:

Version 7.5 (R2010a) Simulink®Software

Block Parameter Settings of a Model from R2009b or Earlier

The following command-line parameter mapping applies:

Old Prompt on Block Dialog Box

New Prompt on Block Dialog Box

Number of inputs Number of data

ports

Use zero-based

Data port order

indexing

Block Parameter Settings When You Load the Model in R2010a

Old Command-Line Parameter

New Command-Line Parameter

Inputs

zeroidx DataPortOrder

Same

The parameter mapping in R2010a ensures that you get the same block behavior as in previous releases.

Compatibility Considerations. In R2010a, a warning appears at compile time when your model contains a Multiport Switch block with the following configuration:

• The control port uses an enumerated data type.

• The data port order is contiguous.

Simulink®Release Notes

During edit time, the block icon cannot show the mapping of each data port to an enumerated value. This configuration can also lead to unused ports during simulation and unused code during Real-Time W orkshop

code generation.

Run the

slupdate function on your model to replace each Multiport Sw itch

block of this configuration with a block that explicitly specifies data port indices. Otherwise, your model might not work in a future release.

In R2010a, the following Multiport Switch block configuration also produces a warning at compile time:

• The control po rt uses a fixed-point or built-in data type.

• The data port order is contiguous.

• At least one of the contiguous data port indices is not representable with

the data type of the control port.

The warning alerts you to unused ports during simulation and unused code during Real-Time Workshop code generation.

Trigonometric Function Block Supports CORDIC Algorithm and Fixed-Point Data Types

When you select sin, cos,orsincos for the Trigonome tric Function block, additional param eters are available.

New Block Parameter

Purpose

Benefit

Approximation method

Number of iterations

Specify the type of approximation the block uses to compute output:

For the

None or CORDIC.

CORDIC

algorithm, specify how m any iterations to use for computing block output.

Enables you to use afastermethodof computing block output for fixed-point and HDL applications.

Enables you to adjust the precision of your block output.

Version 7.5 (R2010a) Simulink®Software

This block now supports fixed-point data types when you select sin, cos,or

sincos and set Approximation method to CORDIC.

Enhanced Block Support for Enumerated Data Types

The following Simulink blocks now support enumerated data types:

• Data Type Conversion Inherited

• Data Type Duplicate

• Interval Test

• Interval Test Dynamic

• Probe (input only)

• Relay (output only)

• Unit Delay Enabled

• Unit Delay Enabled Resettable

• Unit Delay Resettable

• Unit Delay With Preview Enabled

• Unit Delay With Preview Enabled Resettable

• Unit Delay W ith Preview Enabled Resettable External R V

• Unit Delay With Preview Resettable

• Unit Delay With Preview Resettable External RV

For more information, see “Using Enumerated D ata” in the Simulink User’s Guide.

Lookup Table Dynamic Block Supports Direct Selection of Built-In Data Types for Outputs

In R2010a, you can select the following data types directly for the Output data type parameter of the Lookup Table Dynamic block:

•

double

• single

Simulink®Release Notes

• int8

• uint8

• int16

• uint16

• int32

• uint32

• boolean

Previously, you had to enter an expression for Output data type to specify abuilt-indatatype.

Compare To Zero and Wrap To Zero Blocks Now Support Parameter Overflow Diagnostic

If the input data type to a Compare To Zero or Wrap To Zero block cannot represent zero, detection of this parameter overflow occurs. In the Diagnostics > Data Validity pane of the Configuration Parameters dialog box, set Parameters > Detect overflow to

warning or error.

Data Type Duplicate Block Enhancement

The Data Type Duplicate block is now a built-in block. Previously, this block was a masked S-Function. The read-only BlockType parameter has changed from

S-Function to DataTypeDuplicate.

Compatibility Considerations. In R2010a, signal propagation might behave differently from previous releases. As a result, your model might not compile under these conditions:

• Your model contains a Data Type Duplicate block in a source loop.

• Your model has underspecified signal data types.

If your model does not com pile, set data types for signals that are not fully specified.

Version 7.5 (R2010a) Simulink®Software

Lookup Table and Lookup Table (2-D) Blocks To Be Deprecated in a Future Release

In a future release, the Lookup Table and Lookup Table (2-D) blocks will no longer appear in the Simulink Library Browser. Consider replacing instances of those two blocks by using 1-D and 2-D versions of the Lookup Table (n-D) block. Among other enhancements, the Lookup Table (n-D) block supports the following features that the other two blocks do not:

• Specification of parameter data types different from input or output signal

types

• Reduced memory use and faster code execution for evenly spaced

breakpoints that are nontunable

• Fixed-point data types with word lengths up to 128 bits

• Specification of index search method

• Specification of action for out-of-range inputs

Simulink®Release Notes

To upgrade your model:

Step

Description

Run the Simulink Model Advisor check for “Check model, local libraries, and referenced models

Reason

Identify blocks that do not have compatible settings with the Lookup Table (n-D) block.

for known upgrade issues”.

For each block that does not have compatible settings with the Lookup Table (n-D) block:

Modify each Lookup Table or Lookup Table (2-D) block to make them compatible.

• Decide how to address each

warning.

• Adjust block parameters as

needed.

Repeat steps 1 and 2 until you are satisfied with the results of

Ensure that block replacement works f or the e ntire model.

the Model Advisor check.

Run the

slupdate function on

your model.

Perform block replacement with the Lookup Table (n-D) block.

Compatibility Considerations. The Model Advisor check groups all Lookup Table and Lookup Table (2-D) blocks into three categories:

• Blocks that have compatible settings with the Lookup Table (n-D) block

• Blocks that have incompatible settings with the Lookup Table (n-D) block

• Blocks that have repeated breakpoints

Blocks with Compatible Settings

When a block has compatible parameter settings with the Lookup Table (n-D) block, automatic block replacement can occur without backward incompatibilities.

Version 7.5 (R2010a) Simulink®Software

Lookup Method in the Lookup Table or Lookup Table (2-D) Block

Interpolation-Extrapolation Linear Linear

Interpolation-Use End Values

Use Input Below None-Flat

Parameter Settings in the Lookup Table (n-D)

Block After Block Replacement

Interpolation Extrapolation

Linear None-Clip

Not applicable

Depending on breakpoint characteristics, the Lookup Table (n-D) block uses one of two index search methods.

Breakpoint Characteristics in the Lookup Table or Lookup Table (2-D) Block

Not evenly spaced

Evenly spaced and tunable

Evenly spaced and nontunable

Index Search Method in the Lookup Table (n-D) Block After Block Replacement

Binary search

A prom pt appears, asking you to select

or Evenly spaced points.

TheLookupTable(n-D)blockalsoadopts other parameter settings from the Lookup Table or Lookup Table (2-D) block. For parameters that exist only in the Lookup Table (n-D) block, the following default settings apply after block replacement:

Binary

Lookup Table (n-D) Block Parameter

Breakpoint data type

Action for out-of-range input

Blocks with Incompatible Settings

When a block has incompatible parameter settings with the Lookup Table (n-D) block, the Model Advisor shows a warning and a recommended action, if applicable.

• If you perform the recommended action, you can avoid incompatibility

during block replacement.

Default Setting After Block Replacem ent

Inherit: Same as corresponding input

None

Simulink®Release Notes

• If you use automatic block replacement without performing the

recommended action, you might see numerical differences in your results.

Incompatibility Warning Recommended Actio n

The Lookup Method is Use

Input Nearest

. The Lookup Table

Above

or Use Input

(n-D) block does not support these lookup methods.

Change the lookup method to one of the following:

•

Interpolation Extrapolation

• Interpolation - Use End

Values

• Use Input Below

The Lookup Method is

Interpolation -

Extrapolation

,butthe

Change the extra p ola tio n method or the port data types

of the block. input and output are not thesamefloating-point type. The Lookup Table (n-D) block supports line ar extrapolation only when all inputs and outputs are the same floating-point type.

The block uses small

None fixed-point word lengths, so that interpolation uses only one rounding operation. The Lookup Table (n-D) block uses two rounding operations for interpolation.

What Happens for Automatic Block Replacement

The Lookup Method changes to

Interpolation - Use End

Values

In the Lookup Table (n-D) block, this setting corresponds to:

• Interpolation set to

Linear

• Extrapolation set to

None-Clip

You also see a message that explains possible numerical differences.

You see a message that explains possible numerical differences.

Blocks with Repeated Breakpoints

When a block has repeated breakpoints, the Model Advisor recommends that you change the breakpoint data and rerun the check. You cannot perform automatic block replacement for blocks with repeated breakpoints.

Version 7.5 (R2010a) Simulink®Software

Elementary Math Block Now Obsolete

The Elementary Math block is now obsolete. You can replace any instance of this obsolete block in your model by using one of these blocks in the Math Operations library:

• Math Function

• Rounding Function

• Trigonometric Function

Compatibility Considerations. If you open a model that contains an

Elementary Math block, a warning message appears. This message suggests running

slupdate on your model to replace each instance of the obsolete

block with an appropriate substitute.

If you try to start simulation or generate code for a model that contains this obsolete block, an error message appears.

DocBlock Block RTF File Compression

In R2010a, when you add or modify a DocBlock block that uses Microsoft RTF format and you save the model, Simulink compresses the RTF file. The savedRTFfileswithimagesaremuchsmallerthaninpreviousreleases.

Compatibility Cons id er ati ons . In R2010a, if you use

slupdate or save a

model that includes a DocBlock block that uses RTF format, you cannot run the model in an earlier version of Simulink.

To run a model that has a compressed RTF file in an earlier version of Simulink, use Save As to save the model in the format of the earlier release.

Simulink Extras PID Controller Blocks Deprecated

In R2010a, the PID Controller (with Approximate Derivative) and PID Controller blocks of the Simulink Extras library no longer appear in the Simulink Library Browser. For models created using R2009b or earlier, consider using the PID Controller block of the Simulink/Continuous or Simulink/Discrete library. Among other enhancements, the new PID Controller block supports:

slupdate function to replace these blocks with the new

Simulink®Release Notes

• Continuous-time and discrete-time modeling

• Ideal and Parallel controller forms

• Automatic PID tuning (requires a Simulink

For more information, see the PID Controller and PID Controller (2 DOF) block reference pages.

Compatibility Consideration s. For backward compatibility, simulation and code generation of models that contain the deprecated PID Controlle r (with Approximate Derivative) or PID Controller block continue to work.

Control Design™ license)

User Interface Enhancements

Model Explorer Column Views

The Model Explorer now supports column views, which specify sets of property columns to display in the Contents pane. The Model Explorer displays only the properties that are defined for the current column view. The Model Explorer does not add new properties dynamically as you add objects to the Contents pane. Using a defined subset of properties to display streamlines the task of exploring and editing model object p roperties and increases the density of the data displayed.

Model Explorer provides several standard column views with common property sets. You can:

• Select the column view based on the task you are performing

• Customize the standard column views

• Create your own column views

• Export and import column views saved in MAT-files, which you can share

with other users

See “Controlling the Set of Displayed Properties”.

Compatibility Considerations. Column views replace the Customize Contents option provided in previous releases.

Version 7.5 (R2010a) Simulink®Software

In R2010a, the Model Explorer provides a different interface for performing some of the tasks that you p rev iously performed using View menu items. The following table summarizes differences between R2009b and R2010a.

R2009b View Menu Item R2010a Model Explorer

Interface Change

Dialog View

Customize Contents Replaced by Column View > Show

Show Properties Eliminated; select Column

Mark Nonexistent Properties

Library Browser

List View Options

Replaced by Show Dialog Pane

Details

View > Show Details to specify

properties to display

Replaced by Show Nonexistent

Properties as

Eliminated (you can access the Library Browser from the Simulink Editor View menu)

Replaced by Row Filter

Model Explorer Display of Masked Subsystems and Linked Library Subsystems

The Model Explorer now contains global options for specifying whether the Model Explorer displays the contents of library links and masked subsystems. These options also control whether the Model Hierarchy pane displays linked or masked subsystems. See “Displaying Masked Subsystems”and “Displaying Linked Library Subsystems”.

Compatibility Considerations. In R2010a, when you select a masked subsystem node in the Model Hierarchy pane, the Contents pane displays the o bjects of the subsystem, reflecting the global setting to display masked subsystems. In prior releases, if you selected a masked subsystem node, you needed to right-click the node and select Look Under Mask to view the subsystem objects in the Contents pane.

In R2010a, the search results reflect the Show Library Links and Show

Masked Subsystems settings. In previous releases, you specified the Look

Simulink®Release Notes

Inside Masked Subsys tem s and Look Inside Linked Subsystems options as part of the search options. R2010a does not include those search options.

Model Explorer Object Count

The top-right section of the Contents pane displays a count of objects found for the currently selected nodes in the Model Hierarchy pane. The count indicates the number of objects displayed in the Contents pane, compare d to the total number of objects in the currently selected nodes. The number of displayed objects is less than the total number of objects in scope when you filter some objects by using View > Row Filter options. See .

Model Explorer Search Option for Variable Usage

You can use the new for Variable Usage search type to search for blocks that use a variable that is defined in the base or model workspaces. See “Search Bar Controls”.

Model Explorer Display of Signal Logging and Storage Class Properties

The Model Explorer Contents pane displays the following additional properties for s ig nal lines:

• Signal logging-related properties (such as

• Storage class properties, including properties as sociated with custom

storage classes for signals

Displaying these p roperties in the Contents pane enables batch editing. Prior to R2010a, you could edit these properties only in the Signal Properties dialog box.

DataLogging)

Model Explorer Column Inser tion Options

In R2010a, right-clicking on a column heading in the Contents pane provides two new column insertion options:

• Insert Path –addsthe

column.

Path property column to the right of the selected

Version 7.5 (R2010a) Simulink®Software

• Insert Recently Hidden Columns – selects a property from a list of

columns you recently hid, to add that property column to the right of the selected column

See “Adding Property Columns”.

Diagnostics for Data Store Memory Blocks

The Model Advisor ’By Task’ folder now contains a Data Store Memory Blocks subfolder. This subfolder contains checks relating to Data Store Memory blocks that exam ine your model for:

• Multitasking , strong typing, and shadowin g issues

• An enabled status of the read/write diagnostics

• Read/write issues

New Command-Line Option for RSim Targets

Anew h command-line option allows you to print a summary of the available options for RSim executable targets.

Simulink.SimulationOutput.get Method for Obtaining Simulation Results

The Simulink.SimulationOutput class now has a get method. After simulating your model, you can use this method to access simulation results from the Simulink.SimulationOutput object.

Simulink.SimState.ModelSimState Class has New snapshotTime Property

The Simulink.SimState.ModelSimState class has a new snapshotTime property. You can use this property to access the exact time at which Simulink took a “snapshot” of the simulation state (SimState) of your model.

Simulink.ConfigSet.saveAs to Save Configuration Sets

The saveAs method is added to the Simulink.ConfigSet class to allow you to easily save the settings of configuration sets as M ATLA B functions or scripts. Using the MATLAB function or script, you can share and archive

Simulink®Release Notes

model configuration sets. You can also compare the settings in different configuration sets by comparing the MATLAB functions or scripts of the configuration sets.

For details, see “Saving Configuration Sets” in the Simulink User’s Guide.

S-Functions

Building C MEX-Files from Ada and an Example Ada Wrapper

In an R2008b release note, the MathWorks announced that support for Ada S-functions in Simulink would be removed in a future release and a migration strategy would be forthcoming. In this release, the addition of a technical note facilitates your incorporating Ada code into Simulink without using Ada S-functions support.

This technical note demonstrates:

• how to build a C MEX S-function from Ada code without using the

command

ada

• an example Ada wrapper around a C MEX S-Function API

mex

New S-Function API Ch ecks for Branched Fun ction-Calls

A new S-function API, ssGetCallSystemNumFcnCallDestinations,allows you to determine the number of function-call blocks that your S-function calls. Based on this returned number, you can then deduce whether or not your S-function calls a branched function-call.

You can call this SimStruct function from your S-function.

mdlSetWorkWidths or later in

New C MEX S-Function API and M-File S-Function Flag for Compliance with For Each Subsystem

To allow a C MEX S-function to reside inside of a For Each Subsystem block, you must call the new flag to true in the

ssSupportsMultipleExecInstances API and set the

mdlSetWorkWidths method.

Version 7.5 (R2010a) Simulink®Software

As for M-file S-functions, you must set the new flag

block.SupportsMultipleExecInstances to true in the Setup section.

Legacy Code Tool Enhanced to Support Enumerated Data Types and Structured Tunable Parameters

The Legacy Code Tool has been enhanced to support

• Enumerated data types for input, output, parameters, and work vectors

• Structured tunable parameters

For more information about data types that the Legacy Code Tool supports, see “Supported Data Types”. For more information about the Legacy Code Tool, see

• “Integrating Existing C Functions into Simulink Models with the Legacy

Code Tool” in the Writing S-Functions documentation

•

legacy_code function reference page

Compatibility Considerati ons . For enumerated data type support:

• If you upg rade from R2008b or later re lease, you can continue to compile

the S-function source code and continue to use the compiled output from an earlier release without recompiling the code.

• If you upgrade from R2008a or earlier release, you cannot use enumerated

types; the Simulink engine will display an error during simulation.

You cannot use tunable structured parameters with Legacy Code Tool in a release prior to R2010a.

Documentation Improvements

Modeling Guidelines for High-Integrity Systems

The MathWorks intends the “Modeling Guidelines for High-Integrity Systems” document for engineers developing models and generating code for high-integrity system s using Mo del-Based Design with MathWorks products. This document describes creating S im u l in k model s that are complete,

Simulink®Release Notes

unambiguous, statistically deterministic, robust, and verifiable. The document focus is on model settings , block usage, and block parameters that impact simulation behavior or code generated by the Real-Time Workshop

Embedded Coder™ product.

These guidelines do not assume that you use a particular safety or certification standard. The guidelines reference some safety standards where applicable, including DO-178B, IEC 61508, and MISRA C

You can use the Model Advisor to support adhering to these guidelines. Each guideline lists the checks that are applicable to that guideline.

For more information, see “Modeling Guidelines for High-Integrity Systems” in the Simulink documentation.

MathWorks Automotive Advisory Board Control Algorithm Modeling Guidelines Using MATLAB, Simulink, and Stateflow Included in Help

The MathWorks Automotive Advisory Board (MAAB) involves major automotive original equipment manufacturers (OEMs) and suppliers in the process of evolving MathWorks controls, simulation, and code generation products, including the Simulink, Stateflow, and Real-Time Worksh o p products. An important result of the MAAB has been the “MathWorks Automotive Advisory Board Control Algorithm Modeling Guidelines Using MATLAB, Simulink, and Stateflow.” Help for the Simulink product now includes these guidelines. The MAAB guidelines link to relevant Model Advisor MAAB check help and MAAB check help links to relevant MAAB guidelines.

For more information, see “MathWorks Automotive Advisory Board Control Algorithm Modeling Guidelines Using MATLAB, Simulink, and Stateflow” in the Simulink documentation.

Version 7.4 (R2009b) Simulink Software

This table summarizes what’s new in V7.4 (R2009b):

Version 7.4 (R2009b) Simulink®Software

New Features and Changes

Yes Details below

Version Compatibility Considerations

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New features and changes introduced in this version are organized by these topics:

• “Simulation Performance” on page 37

• “Component-Based Modeling” on page 39

• “Variable-Size Signals” on page 42

• “Embedded MATLAB Function Blocks” on page 43

• “Simulink Data Managem ent” on page 44

• “Removing Support for Custom Floating- P oi nt Types in Future Release”

on page 46

• “Simulink File Management” on page 47

Fixed Bugs an d Known Problems

Bug Reports Includes fixes

Related Documentation at Web Site

• “Block Enhancements” on page 47

• “User Interface Enhancements” on page 57

Simulation Performance

Single-Output sim Syntax

An enhanced sim command provides for greater ease of use and for greater compatibility with simulation results to a single object, the management of output variables is straightforward for all cases, including parallel computing.

parfor loops. Since the command now saves all

Simulink®Release Notes

Expanded Support by Rapid Accelerator

Simulink Rapid Accelerator mode now supports root inputs of enum erated data ty pe and fixed-point parameters of any word length.

SimState Support in Accelerator Mode

Simulink Accelerator mode now supports the SimState feature. You can therefore save the simulation state and later resume the simulation from the exact save time.

Integer Arithmetic Applied to Sample Hit Computations

For fixed-step simulations, Simulink now computes sample time hits using integer arithmetic. This modification improves the timing resolution of sample hits of multirate models.

Compatibility Considera tions. Previously, if an S-function had two rates, and if (ssIsSampleHit(S, idx1) == true && ssIsSampleHit(S,idx2) == true, then Simulink would adjust the task times to be evaluated as ssGetTaskTime(S, idx1) == ssGetTask Time(S, idx2). Simulink no longer forces this equality; instead, Simulink now leaves the individual task times to be integer multiples of their corresponding periods. Consequently, existing code with logic that relies upon the equality of the task times needs to be updated.

In addition, the behavior of the command get_param(model, ’SimulationTime’) is now different. Instead of returning the time of the next known sample hit at the bottom of the current step, this com mand now returns the current time.

Improved Accuracy of Variable-Step Discrete Solver

For variable-step discrete simulation of purely discrete models, where the fundamental step size is the same as the fastest discrete rate, Simulink now uses the specified start and stop times.

Version 7.4 (R2009b) Simulink®Software

Compatibility Considerations. Previously, if the fundamental step size was equal to the fastest discrete rate, the Simulink simulation did not uniformly honor the user-specified start and stop times. Specifically, if the start and stop times were not exact multiples of the fundamental step size, then the start time was adjusted to the time of the first sample time hit and the simulation stopped at t he sample time hit just before the specified stop time. However, if the simulation was required to hit certain time points (either by specifying the

OutputTimes parameter), then the start and stop times were not adjusted

Now Simulink variable-step simulation of purely discrete models consistently honors the user-specified start and stop times, irrespective of whether the fastest discrete sa mple time is the GCD of all of the other samp l e times

TSPAN in the sim command such as ’sim(’Model_A’,[0 10])’, or via

Component-Based Modeling

Enhanced Library Link Management

In R2009b, improved library link management facilitates visualizing and restoring edited library links. See “Working with Library Links” for more information.

Enhanced Mask Editor Provides Tabs and Signal Attributes

You can use the R2009b Mask Editor to create a mask that has tabbed panes, and define the same signal attribute specifications in a mask that built-in Simulink blocks provide. See “Working with Block Masks” , “Simulink Mask Editor”and “Mask Icon Drawing Commands”for more information.

Model Reference Variants

Model reference variants allow you to configure any Model block to select its referenced model from a set of candidate models. The selection occurs when you compile the model that contains the Model block, and depends on the values of one or more MATLAB variables or Simulink parameters in the base workspace. To configure a Model block to select the model that it references, you:

• Provide a set of Boolean expressions that reference base workspace values.

Simulink®Release Notes

• Associate each expression with one of the models that the block could

reference.

When you compile the m odel, Simulink evaluates all the expressions. Each Model block that uses model refere nce variants then selects the candidate model whose associated expression is

true, and ignores all the other models.

Compilation then proceeds exactly as if you had entered the name of the selected model literally in the Model block’s Model name field.

You can nest Model blocks that use variants to any level, allowing you to define any number of arbitrarily complex customized models within a single framework. No matter how many simulation environments you define, selecting one requires only setting variable or parameter values appropriately in the base workspace. See “Using Model Reference Variants” for more information.

Protected Referenced Models

A protected model is a referenced model from which all block and line information has been eliminated. Protecting a model does not use encryption technology. A protected model can be distributed without revealing the intellectual pro perty that it embodies. The model is said to run in Protected mode, and gives the same results that its source model does when run in Accelerator mode.

You can use a protected model much as you could any referenced model that executes in Accelerator mode. Simulink tools work with protected models to the extent possible given that the model’s contents are obscured. For example, the Model Explorer and the Model Dependency Viewer show the hierarchy under an ordinary referenced model, but not under a protected model. Signals in a protected model cannot be logged, because the log could reveal information about the protected model’s contents.

When a referenced model requires object definitions or tunable parameters that are defined in the MATLAB base workspace, the protected version of the model may need some or all of those same definitions when it executes as part of a third-party model. Simulink provides techniques for identifying and obtaining the needed data. You can use the Simulink Manifest Tools or other techniques to package the model and any data for delivery.

Version 7.4 (R2009b) Simulink®Software

Protecting a model requires a Real-Time Workshop license, which makes code generation capabilities available for use internally when creating the protected version of the mode l. The receiver of a prote cted model d oes not nee d a Real-Time Workshop license to use the model, and cannot use Real-Time Workshop to generate code for the model or any model that references it.

To accommodate protected models, the Model block now accepts a suffix in the Model name field. This suffix can be

.mdl for an unprotected model or .mdlp

for a protected model. If the suffix is omitted, Model block first searches the MATLAB path for a block with the specified name and the suffix search fails, the block searches the path for a model with the suffix

.mdl.Ifthat

.mdlp.

The Model block now has a field named

ProtectedModel, a boolean

that indicates whether the referenced model is protected, and three fields for representing the name of the referenced model in different formats:

ModelNameDialog, ModelName,andModelFile. See the Model

block parameters in “Ports & Subsystems Library Block Parameters” for information about these parameters. For more information about pro tecting models, see “Protecting Referenced Models”.

Simulink Manifest Tools

Enhanced Simulink Manifest Tools now discover and analyze model variants, protected models, and Simscape™ files.

New manifest analysis options for controlling whether to report file dependency locations for user files, all files, or no files. For example, you may not want to view the file locations of all the dependencies on MathWorks products. This is typical if your main use of Simulink Manifest Tools is to discover and package all the required files for your model. By not analyzing file locations, you speed up report creation, and the report is smaller and easier to navigate. If you need to trace all dependencies to understand why a particular file or toolbox is required by a model, you can always regenerate the full report of all files.

The manifest report is enhanced with sortable columns, and now MATLAB Programs as well as P-files are reported in the manifest if both exist.

For more information, see “Model Dependencies” in the Simulink User’s Guide.

Simulink®Release Notes

S-Function Builder

The S-Function Builder has been enhanced to support bus signals for managing complex signal interfaces. See Developing S-Functions for more information.

Variable-Size Signals

New capability that allows signal sizes to change during execution facilitates modeling of systems with varying environments, resources, and constraints. For Simulink models that demonstrate using variable-size signals, see “Working with Variable-Size Signals”

Simulink Support

• Referenced Model

• Simulink Accelerator and Rapid Accelerator

• Bus Signals

• C-mex S-function

• Level-2 M-file S-function

• Simulink Debugger

• Signal Logging and Loading

• Block Run-Time Object

Simulink Block Support

Support for variable-size signal inputs and outputs in over 40 Simulink blocks including many blocks from the Math Operations library. For a list of Simulink blocks, see “Simulink Block Support for Variable-Siz e Signals”

Version 7.4 (R2009b) Simulink®Software

Embedded MATLAB

Function Blocks

Support for Variable-Size Arrays and Matrices

Embedded MATLA matrices w ith outputs, and l

B Function blocks now support variable-size arrays and

known upper bounds. With this feature, you can define inputs,

ocal variables to represent data that varies in size at runtime.

Change in Text and Visibility of Parameter Prompt for Easier Use with Fixed-Point Advisor and Fixed-Point Tool

The Lock output scaling against changes by the autoscaling tool check box is now Lock data type setting against changes by the fixed-point tools. Previously, this check box was visible only if you entered an expression or a fixed-point data type, such as visible for any data type specification. This enhancement enables you to lock the current data type settings on the dialog box against changes that the Fixed-Point Advisor or Fixed-Point Tool chooses.

fixdt(1,16,0). This check box is now

New Compilation Report for Embedded MATLAB Function Blocks

The new compilation report provides compile-time type information for the variables and expressions in your Embedded MATLAB functions. This information helps you find the sources of error messages and understand type propagation issues, particularly for fixed-point data types. For more information, see “Working with Compilation Repo rts” in the Simulink User’s Guide.

Compatibility Considera tions. The new compilation report is not supported by the MATLAB internal browser on Sun™ Solaris™ 64-bit platforms. To view the compilation report on Sun Solaris 64-bit platforms, you must configure your MATLAB Web preferences to use an external browser, for example, Mozilla Firefox. To learn how to configure your MATLAB Web preferences, see Web Preferences in the MATLAB documentation.

New

Options for Controlling Run-time Checks for Faster

Performance

simulation, the code generated for Embedded MATLAB Function blocks

cludes various run-time checks. To reduce the size of the generated code,

Simulink®Release Notes

and potentially improve simulation times, you can use new Simulation Target configuration parameters to control whether or not your generated

code performs:

• Integrity checks to detect violations of memory integrity in the generated

code. For more information, see “Ensure memory integrity” in the Simulink Graphical User Interface.

• Responsiveness checks to periodically check for Ctrl+C breaks and refresh

graphics. For more information, see “Ensure responsiveness” in the Simulink Graphical User Interface.

Embedded MATLAB Function Blocks Improve Size Propagation Behavior

Heuristics for size propagation have improved for underspecified models. During size propagation, Embedded MATLAB Function blocks no longer provide default sizes. Instead, for underspecified models, Simulink gets defaults from other blocks that have more size information.

Compatibility Considerations. Certain underspecified models that previously ran without error may now generate size mismatch errors. Examples of underspecified models include:

• Models that contain a cycle in which no block specifies output size

• Models that do not specify the size of input ports

To eliminate size mismatch errors:

• Specify sizes for the input ports of your subsystem or model.

• Specify sizes of all ports on at least one block in any loop in your model.

Simulink Data Management

New Function Exports Workspace Variables and Values

The new Simulink.saveVars function can save workspace variables and their values into a MATLAB file. Th e file containing the data is hu man-readable and can be manually edited. If Simulink cannot generate MATLAB code for a workspace variable,

Simulink.saveVars saves that variable into a companion

Version 7.4 (R2009b) Simulink®Software

MAT-file rather than a MATLAB file. Executing the MATLAB file (which also loads any companion MAT file) restores the saved variables and their values to the workspace. See

Simulink.saveVars for more information.

New Enumerated Constant Block Outputs Enumerated Data

Although the Constant block can output enume rated values, it provides many block parameters that do not apply to enumerated types, such as Output minimum and Output maximum. In R2009b, the Sources library includes the Enumerated Constant block. When you need a block that outputs constant enumerated values, use Enumerated Constant rather than Constant to avoid seeing irrelevant block parameters.

Enhanced Switch Case Block Supports Enumerated Data

The Switch Case block now supports enumerated data types for the input signal and case conditions. For more inform ation, see “Using Enumerated Data” and the Switch Case block documentation.

Code for Multiport Switch Block Shows Enumerated Values

In previous releases, generated code for a Multiport Switch block that uses enumerated data contains the underlying integer for each enumerated value rather than its name. In R2009b, the code contains the name of each enumerated value rather than its underlying integer. This change adds readability and facilitates comparing the code with the model, but has no effect on the behavior of the code. For more information, see “Using Enumerated Data” and Multiport Switch.

Data Class Infrastructure Partially Deprecated

Some classes and properties in the Simulink data class infrastructure have been deprecated in R2009b. See “Working with Data” for information about Simulink data classes.

Simulink®Release Notes

Compatibility Considerations. If you use any of the deprecated constructs, Simulink posts a warning that identifies the construct and describes one or more techniques for eliminating it. The techniques differ depending on the construct. You can ignore these warnings in R2009b, but The MathWorks recommends making the described changes now because the deprecated constructs may be removed from future releases, upgrading the warnings to errors.

Saving Simulation Results to a Single Object

Enhanced sim command that saves all simulation results to a single object for easier management of simulation results.

Simulation Restart in R2009b

In order to restart an R2009a simulation in R2009b, you should first regenerate the initial SimState in R2009b.

Compatibility Consid erations. TheSimStatethatSimulinksavesfroma R2009a simulation might be incompatible with the internal representation of the same model in R2009b. Simulink detects this incompatibility when the R2009a SimState is used to restart a R2009b simulation. If the mismatch resides in the model interface only, then Simulink issues a warning. (You can use the Simulink diagnostic ‘SimState interface checksum mismatch’ to turn o ff such warnings or to direct Simulink to report an error.) However, if the mismatch resides in the structural representation of the model, then Simulink reports an error. To avoid these errors and warnings, you need to regenerate the initial SimState in R2009b.

Removing Support for Custom Floating-Point Types in Future Release

Support for custom floating-point types, float(TotalBits, ExpBits),will be removed in a future release.

In R2009b, Sim ul in k continues to process these types.

For more information, see

float.

Version 7.4 (R2009b) Simulink®Software

Simulink File Ma

nagement

Removal of Functions

The following f

• adams.m

• euler.m

• gear.m

• linsim.m

• rk23.m

• rk45.m

unctionsarenolongeravailable:

Deprecation of SaveAs to R12 and R13

In R2009b, model to r and R13 us will also

youwillnolongerbeabletousethe

eleases R12 or R13. You will, however, be able to save models to R12

ing the command-line. In R2010a, the command-line capability

be removed.

Improved Behavior of Save_System

When yo you wil

sful.

succes

uusethe

l no longer receive a dialog box that indicates that the save was

save_system function to sav e a model to an earlier release,

SaveAs featuretosavea

Block

Enhancements

New Turnkey PID Controller Blocks for Convenient Controller Simulation and Tuning

You can implement a continuous- or discrete-time PID controller with just one block by using one of the new PID Controller and PID Controller (2DOF) blocks. With the new blocks, you can:

• Configure your controller in any common controller configuration, including

PID, PI, PD, P, and I.

Simulink®Release Notes

• Tune PID controller gains either manu ally in the block or automatically

in the new PID Tuner. (PID Tuner requires a Simulink Control Design license.)

• Generate code to implement your controller using any Simulink data type,

including fixed-point data types (requires a Rea l- T ime Workshop license).

You can set many options in the PID Controller and PID Controller (2DOF) blocks, including:

• Ideal or parallel controller configurations

• Optional output saturation limit with anti-windup circuitry

• Optional signal-tracking mode for bumpless control transfer and multiloop

controllers

• Setpoint weighting in the PID Controller (2DOF) block

The blocks are available in the Continuous and Discrete libraries. For more information on using the blocks, see the PID Controller and PID Controller (2DOF) reference pages. For more info rmationontuningthePIDblocks,see Automatic PID Tuning in the Simulink Control Design reference pages.

New Enumerated Constant Block Outputs Enumerated Data

Enhanced Switch Case Block Supports Enumerated Data

The Switch Case block now supports enumerated data types for the input signal and case conditions. For more inform ation, see “Using Enumerated Data” and the Switch Case block documentation.

Code for Multiport Switch Block Shows Enumerated Values

In previous releases, generated code for a Multiport Switch block that uses enumerated data contains the underlying integer for each enumerated

Version 7.4 (R2009b) Simulink®Software

value rather than its name. In R2009b, the code contains the name of each enumerated value rather than its underlying integer. This change adds readability and facilitates comparing the code with the model, but has no effect on the behavior of the code. For more information, see “Using Enumerated Data” and Multiport Switch.

Discrete Transfer Fcn Block Has Performance, Data Type, Dimension, and Complexity Enhancements

The following enhancements apply to the Discrete Transfer Fcn block:

• Improved numerics and run-time performance of outputs and states by

reducing the number of divide operations in the filter to one

• Support for signed fixed-point and signed integer data types

• Support for vector and matrix inputs

• Support for input and coefficients with mixed complexity

• AnewInitial states param eter for entering nonzero initial states

• AnewOptimize by skipping divide by leading denominator

coefficient (a0) parameter that provides more efficient implementation by eliminating all divides when the leading d enominator coefficient is one. This enhancement provides optimized block performance.

Compatibility Considerations. Due to these enhancements, you might encounter the following compatibility issues:

• Realization parameter removed

The Real-Time Workshop software removed from this block. You can no longer use the

get_param functions on this block parameter. The generated code for this

block has been improved to be similar to the former

realization parameter has been

set_param and

'sparse' realization

when the Optimize by skipping divide by leading denom inator coefficient (a0) parameter is selected, while maintaining tunability as in

the former

'general' realization when the parameter is not selected.

• State changes

Simulink®Release Notes

Due to the reduction in the number of divide operations that the block performs, you might notice that your logged states have changed when the leading denominator coefficient is not o n e.

Lookup Table (n-D) Block Supports Parameter Data Types Different from Signal Data Types

The Lookup Table (n-D) block supports breakpoint data types that differ from input data types. This enhancement provides these benefits:

• Lower memory requirement for storing breakpoint data that uses a smaller

type than the input signal

• Sharing of prescaled breakpoint data between two Lookup Table (n-D)

blocks with different input data types

• Sharing of custom storage breakp oint data in Real-Time Work sh op

generated code for blocks with different i nput data types

The Lookup Table (n-D) block supports table data types that differ from output data types. This enhancement provides these benefits:

• Lower memory requirement for storing table data that uses a smaller type

than the output signal

• Sharing of prescaled table data between two Lookup Table (n-D) blocks

with different output data types

• Sharing of custom storage table data in Real-Time Workshop generated

code for blocks with different output data types

The Lookup Table (n-D) block also supports separate data type specification for intermediate results. This enhancement enables use of a higher precision for internal computations than for table data or output data.

For consistency with other lookup table blocks, the Process out-of-range input parameter prompt is now Action for out-of-range input. Similarly, the command-line parameter is now

ActionForOutOfRangeInput.

For backward compatibility, the old comm an d-line parameter

ProcessOutOfRangeInput continues to work. The parameter settings also

remain the same:

None, Warning,orError.

Version 7.4 (R2009b) Simulink®Software

Reduced Memory Use and More Efficient Code for Evenly Spaced Breakpoints in Prelookup and Lookup Table (n-D) Blocks

For the Prelookup and Lookup Table (n-D) blocks, Real-Time Workshop generated code now stores only the first breakpoint, spacing, and number of breakpoints when:

• The breakpoint data is nontu n ab le.

• The index search method is

This enhancement reduces memory use and provides faster code execution. Previously, the code stored all breakpoint values in a set, regardless of the tunability or spacing of the breakpoints.

The following enhancements also provide more efficient code for the two blocks:

Block

Lookup Table (n-D) Removal of unnecessary bit shifts for

Prelookup and Lookup Table (n-D) Use of simple division instead of

Evenly spaced points.

Enhancement for Code Efficiency

calculating the fraction

computationally expensive function calls for calculating the index and fraction

Math Function Block Computes Reciprocal of Square Root

The Math Functio n block now supports a new function for computing the reciprocal of a square root: separate blocks for this computation, resulting in smaller block diagrams.

1/sqrt. You can use one block instead of two

You can select one of two methods for computing the reciprocal of a square root:

Exact or Newton-Raphson. B oth methods support real input and output

signals. When you use the number of iterations to perform the algorithm.

Newton-Raphson method, you can also specify the

Simulink®Release Notes

Math Function Block Enhancements for Real-Time Workshop Code Generation

The Math Function b lock now supports Real-Time Workshop code generation in these cases:

• Complex input and output signals for the

floating-point data types

• Fixed-point data types with fractional slope and nonzero bias for the

magnitude^2, square,andreciprocal functions

pow function, for use with

Relational Operator Block Detects Signals That Are Infinite, NaN, or Finite

The Relational Operator block now includes isInf, isNaN,andisFinite functions to detect signals that are infinite, NaN, or finite. These new functions support real and complex input signals. I f you select one of these functions, the block changes automatically to one-input mode.

Changes in Text and Visibility of Dialog Box Prompts for Easier Use with Fixed-Point Advisor and Fixed-Point Tool

The Lock output scaling against changes by the autoscaling tool check box is now Lock output data type setting against changes by the fixed-point tools. Previously, this check box was visible only if you entered an expression or a fixed-point data type for the output, such as

fixdt(1,16,0). This check box is now visible for any output data type

specification. This enhancement helps you lock the current data type settings on a dialog box against changes that the Fixed-Point Advisor or Fixed-Point Tool chooses.

This enhancement applies to the following blocks:

• Abs

• Constant

• Data Store Memory

• Data Type Conversion

• Difference

• Discrete Derivative

• Discrete-Time Integrator

• Divide

• Dot Product

• Fixed-Point State-Space

• Gain

• Inport

• Lookup Table

• Lookup Table (2-D)

• Lookup Table Dynamic

• Math Function

• MinMax

• Multiport Switch

Version 7.4 (R2009b) Simulink®Software

• Outport

• Prelookup

• Product

• Product of Elements

• Relay

• Repeating Sequence Interpolated

• Repeating Sequence Stair

• Saturation

• Saturation Dynamic

• Signal Specification

• Switch

The Lock scaling against changes by the autoscaling tool check box is now Lock data type settings against changes by the fixed-point tools. Previously, this check box was visible only if you entered an expression or a

Simulink®Release Notes

fixed-point data type, such as fixdt(1,16,0). This check box is now visible for any data type specification. This enhancement helps you lock the current data type settings on a dialog box against changes that the Fixed-Point Advisor or Fixed-Point Tool chooses.

This enhancement applies to the following blocks:

• Discrete FIR Filter

• Interpolation Using Prelookup

• Lookup Table (n-D)

• Sum

• Sum of Elements

Direct Lookup Table (n-D) Block Enhancements

The Direct Lookup Table (n-D) block now supports:

• Direct entry of Number of table dimensions

Prompt on Block Dialog Box

Number of table dimensions

Inputs select this object from table

Make table an input

• Entry of Table data using the Lookup Table Editor

Previously, entering an integer greater than 4 for the Number of table dimensions required editing Explicit num ber of table dimensions.This extra parameter no longer appears on the block dialog box. For backward compatibility, scripts that contain

explicitNumDims continue to work.

The other parameters for the block have changed as follows. For backward compatibility, the old command-line parameters continue to work.

Old Command-Line

New Command-Line Parameter

Parameter

maskTabDims NumberOfTableDimensions

outDims InputsSelectThisObjectFromTable

tabIsInput TableIsInput

Version 7.4 (R2009b) Simulink®Software

Prompt on Block Dialog Box

Table data

Action for out-of-range input

Sample time

The read-only BlockType parameter has also changed from S-Function to

LookupNDDirect.

Compatibility Considerations. In R2009b, signal dimension propagation can behave differently from previous releases. Your model might not compile under these conditions:

• A Direct Lookup Table (n-D) block is in a source loop.

• Underspecified signal dimensions exist.

If your model does not compile, set dimensions explicitly for underspecified signals.

Unary Minus Block Enhancements

Conversion of the Unary Minus block from a masked S-Function to a core block enables more efficient simulation of the block.

Old Command-Line

New Command-Line Parameter

Parameter

mxTable Table

clipFlag ActionForOutOfRangeInput

samptime SampleTime

You can now specify sample time for the block. The Saturate to max or min when overflows occur check box is now Saturate on integer overflow,

and the command-line parameter is now backward compatibility, the old command-line parameter

SaturateOnIntegerOverflow.For

DoSatur continues

to work.

The read-only BlockType parameter has also changed from

UnaryMinus.

S-Function to

Simulink®Release Notes

Weighted Sample Time Block Enhancements

Conversions of the Weighted Sample Time and Weighted Sample Time Math blocks from masked S-Functions to core blocks enable more efficient simulation of the blocks.

The following parameter changes apply to both blocks. For backward compatibility, the old command-line parameters continue to work.

Old Prompt on Block Dialog Box

Output data type mode

Saturate to m ax or min when overflows occur

New Prompt on Block Dialog Box

Output data type

Saturate

Old Command-Line

New Command-Line Parameter

Parameter

OutputDataType ScalingMode

DoSatur SaturateOnIntegerOverflow

OutDataTypeStr

on integer overflow

The read-only BlockType parameter has also changed from S-Function to

SampleTimeMath.

Switch Case Block Parameter Change

For the Switch Case block, the command-line parameter for the Show default case check box is now

command-line parameter

ShowDefaultCase. For backward compatibility, the old

CaseShowDefault continues to work.

Signal Conversion Block Parameter Change

For the Signal Conversion block, the parameter prompt for the Override optimizations and always copy signal check box is now Exclude this block from ’Block reduction’ optimization.

Version 7.4 (R2009b) Simulink®Software

Compare To Constant and Compare To Zero Blocks Use New Default Setting for Zero-Crossing Detection

The En able zero-crossing detection parameter is now on by default for the Compare To Constant and Compare To Zero blocks. This change provides consistency with other blocks that support zero-crossing detection.

Signal Builder Block Change

You can no longer see the system under the Signal Builder block mask. In previous releases, you could right-click this block an d select Look Under Mask.

In the Model Explorer, the Signal Builder block no longer appears in the Model Hierarchy view. In previous releases, this view was visible.

User Interface Enhancements

Context-Sensitive Help for Simulink Blocks in the Continuous Library

R2009b introduces context-sensitive help for parameters that appear in Simulink blocks of the Continuous library. This feature provides quick access to a detailed description of the block parameters.

To use the context-sensitive help:

1 Place your pointer over the label of a parameter and right-click.

2 A What’s This? contex t menu appears.

For example, the following figure shows the What’s This? context menu that appears after right-clicking the Enable zero-crossing detection parameter for the PID Controller block.

Simulink®Release Notes

3 Click What’s This? A window appears showing a description of the

parameter.

Adding Blocks from a Most Frequently Used Blocks List

If you are using the same block repeatedly in a model, then you can save time by using the:

• Most Frequently Used Blocks tab in the L ibrary Browser

• Most Frequently Used Blocks contextmenuoptionintheModelEditor

These features provide quick access to blocks you have added to models frequently. For details, see “Adding Frequently Used Blocks”.

Highlighting for Duplicate Inport Blocks

The Highlight to Destination option for a signal provides more information now for duplicate inport blocks. Applying this option to a signal of an inport block that has duplicate blocks highlights:

• The signal and destination block for that signal

• The signals and destination blocks of the duplicate blocks at the currently

opened level in the model

Using the Model Explorer to Add a Simulink.NumericType Object

You can add a Simulink.N umericType object to the model workspace using the M odel Explorer, provided you do not enable the Is alias option.

An example of when you might use this feature is when you:

• Want to define user-defined data types together in the model

• Do not need to preserve the data type name in the model or in the

generated code

Version 7.4 (R2009b) Simulink®Software

Block Output Display Dialog Has OK and Cancel Buttons

The Block Output Display dialog now includes OK and Cancel buttons to specify whether or not to apply your option settings.

Improved Definition of Hybrid Sample Time

Historically, you could not use the hybrid sample time to effectively identify a multirate subsystem or block. A subsystem was marked as “hybrid” and colored in yellow whether it contained two discrete sample times or one discrete sample time and one or more blocks with constant sample time [inf, 0]. Now, in R2009b, the check for the hybrid attribute no longer includes constant sample times, thereby improving the usefulness of the hybrid sample time color in identifying subsystems (and blocks) that are truly multirate.

Find Option in the Model Advisor

In R2009b, the Model Advisor includes a Find option to he lp you find checks. The find option, accessible through the Edit menu, allows you to find checks and folders more easily by searching names and analysis descriptions.

For more information, see “Overview of the Model Advisor Window”.

Simulink®Release Notes

Version 7.3 (R2009a) Simulink Software

This table summarizes what’s new in V7.3 (R2009a):

New Features and Changes

Yes Details below

Version Compatibility Considerations

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New features and changes introduced in this version are organized by these topics:

• “Simulation Performance” on page 60

• “Component-Based Modeling” on page 61

• “Embedded MATLAB Function Blocks” on page 63

• “Data Management” on page 63

• “Simulink File Management” on page 65

• “Block Enhancements” on page 65

• “User Interface Enhancements” on page 75

• “S-Functions” on page 76

Fixed Bugs an d Known Problems

Bug Reports Includes fixes

Related Documentation at Web Site

• “Removal of Lookup Table Designer from the Lookup Table Editor” on

page 77

Simulation Performance

Saving and Restoring the Complete SimState

Use the new SimState feature to save the complete simulation state. Unlike the final states stored in earlier versions of Simulink, the SimState contains the complete simulation state of the model (including block states that are

Version 7.3 (R2009a) Simulink®Software

logged). You can then restore the state at a later time and continue simulation from the exact instant at which you stopped the simulation.

Save Simulink Profiler Results

Save the results of the Simulink Profile r and later regenerate reports for review or for c ompariso n.

Component-Based Modeling

Port Value Displays in R eferenced Models

In R2009a, port value displays can appear for blocks in a Normal mode referenced model. To control port value displays, choose View > Port Values in the model w in d ow. For complete information about port value displays, see “Displaying Block Outputs”.

Parallel Builds Enable Faster Diagram Updates for Large Model Reference Hierarchies In Accelerator Mode

R2009a provides potentially faster diagram updates for models containing large model reference hierarchies by building referenced models that are configured in Accelerato r mode in parallel whenever possible. For example, updating of each model block can be distributed across the cores of a m ulticore host computer.

To take advantage of this feature, Parallel Computing Toolbox™ software must be licensed and installed in your development environment. If Parallel Computing Toolbox softwa re is available, updating a model diagram rebuilds referenced models configured in Accelerator mode in parallel whenever possible.

For example, to use parallel building for updat ing a large model reference hierarchy on a desktop machine with four cores, you could perform the following steps:

1 Issue the MATLAB command ’matlabpool 4’ to set up a pool of four

MATLAB workers, one for each core, in the Parallel Computing Toolbox environment.

Simulink®Release Notes

2 Open your model and make sure that the referenced models are configured

in Accelerator mode.

3 Optionally, inspect the model reference hierarchy. For example, you can

use the Model Dependency Viewer from the Tools menu of Model Explorer to determine, based on model dependencies, which models will be built in parallel.

4 Update your model. Messages in the MATLAB command window record

when each parallel or se rial build starts and finishes.

The performance gain realized by using parallel builds for updating referenced models depends on several factors, including how many models can be built in parallel for a given model referencing hierarchy, the size of the r eferenced models, and host machine attributes such as amount of RAM and number of cores.

The following notes apply to using parallel builds for updating model reference hierarchies:

• Parallel builds of referenced models support only local MATLAB workers.

They do not support remote workers in MATLAB

Distributed Computing

Server™ configurations.

• The host machine should have an appropriate amount of RAM available for

supporting the number of local workers (MATLAB sessions) that you plan to use. For example, setting

matlabpool to 4 results in five MATLAB sessions

on your machine, each using approximately 120 MB of memory at startup.

• The same MATLAB environment must be set up in each MATLAB worker

session as in the MATLAB client session — for example, the same base workspace variables, MATLAB path settings, and so forth. You can do this using the

PreLoadFcn callback of the top model. Since the top model is

loaded with each MATLAB worker session, its preload function can be used for any MATLAB worker session setup.

Version 7.3 (R2009a) Simulink®Software

Embedded MATLAB

Function Blocks

Support for Enumerated Types

Embedded MATLA types and gene in Embedded MA

B Function blocks now support Simulink enumerated

rate C code for enumerated data. See “Using Enumerated Data

TLAB Function Blocks” in the Simulink documentation.

Use of Basic Linear Algebra Subprograms (BLAS) Libraries for Speed

Embedded MATLAB Function blocks now use BLAS libraries to speed up low-level matrix operations during simulation. See “Speeding Up Simulation with the Basic Linear Algebra Subprograms (BLAS) Library” in the Simulink documentation.

Data Management

Signal Can Resolve to at Most One Signal Object

You can resolve a named signal to a signal object. The object can then specify or validate properties of the signal. For more information, see

Simulink.Signal, “Using Signal Objects to Initialize Signals and Discrete

States”, “Using Signal Objects to Tune Initial Values”, and “Applying CSCs to Parameters and Signals”.

In previous releases, y ou could associate a signal with multiple signal objects, provided that the multiple objects specified com patible signal attributes. In R2009a, a signal can be associated with at most one signal object. The signal can re ference the object more than once, but every reference must resolve to exactly the same object. A different signal object that has exactly the same properties will not meet the requirement. See “Multiple Signal Objects” for more information.

Simulink®Release Notes

Compatibility Considerations. A compile-time error occurs in R2009a if a model associates more than one signal object with any signal. To prevent the error, decide which object the signal will use, and delete or reconfigure all references to any other signal objects so that all remaining references resolve to the chosen signal object. See “Displaying Signal Sources and Destinations” for a description of techniques that youcanusetotracethefullextentof asignal.

“Signed” Renamed to “Signedness” in the Simulink.NumericType class

In previous releases, the Property dialog of a Simulink.NumericType object whose Data type mode was any named Signed, which was a checkbox. Selecting the checkbox specified a signed type; clearing it specified an unsigned type. The API equivalent of Signed was

Signed, a Boolean whose values could be 1 (signed) or 0

(unsigned).

In R2009a, a property named Signedness replaces Signed in the Property dialog of a

Simulink.NumericType object. You can set Signedness to Signed

(the default), Unsigned,orAuto, which specifies that the object inherits its Signedness.TheAPIequivalentofSignedness is be 1 (signed), 0 (unsigned), or

Fixed-point mode showed a property

Signedness, which can

Auto.

For compatibility with existing models, the property in R2009a. Setting

Signed in R2009a returns the value of Signedness if that value is 0 or 1, or

generates an error if the value of legal value for

Do not use the

Signedness instead. See Simulink.NumericType for more information.

Signed in R2009a sets Signedness accordingly. Accessing

Signedness is Auto, because that is not a

Signed.

Signed with Simulink.NumericType in new models; use

Signed remains available

“Sign” Renamed to “Signedness” in the Data Type Assistant

For blocks and classes that support fixed-point data types, the property Sign previously appeared in the Data Type Assistant when the Mode was

Fixed point. In R2009a, this property appears in the Data Type Assistant

as Sign edn ess. Only the GUI label of the property differs; its behavior and API are unchanged in all contexts.

Version 7.3 (R2009a) Simulink®Software

Tab Completion for Enumerated Data Types

Tab comple tion now works for enumerated data types in the same way that it does for other MATLAB classes. See “Tab Completion” in “Instantiating an Enumerated Type in MATLAB” for details.

Simulink File Management

Model Dependencies Tools

Enhanced file dependency analysis has the following new features:

• Files in the Simulink manifest are now recorded relative to a project

root folder making manifests easier to share, compare and read. See “Generating Manifests” and “Editing Manifests”.

• Command-line dependency analysis can now report toolbox dependencies,

and when discovering file dependencies you can optionally generate a manifest file. See “Command-Line D ependency Analysis”

Block Enhancements

Prelookup and Interpolation Using Prelookup Blocks Support Parameter Data Types Different from Signal Data Types

The Prelookup block supports breakpoint data types that differ from input data types. This enhancement provides these benefits:

• Enables lower memory requirement for storing breakpoint data that uses a

smaller type than the input signal

• Enables sharing of prescaled breakpoint data between two Prelookup

blocks with different input data types

• Enables sharing of custom storage breakpoint data in Real-Time Workshop

generated code for blocks with different i nput data types

The Interpolation Using Prelo okup block su pports t a ble data types that differ from output data types. This enhancement provides these benefits:

• Enables lower memory requirement for storing table data that uses a

smaller type than the output signal

Simulink®Release Notes

• Enables sharing of prescaled table data between two Interpolation Using

Prelookup blocks with different output data types

• Enables sharing of custom storage table data in Real-Time Workshop

generated code for blocks with different output data types

The Interpolation Using Prelookup block also supports separate data type specification for intermediate resu lts. This enhancement enables use of a greater precision for internal computations than for table data or output data.

Lookup Table (n-D) and Interpolation Using Prelookup Blocks Perform Efficient Fixed-Point Interpolations

Whenever possible, Lookup Table (n-D) and Interpolation Using Prelookup blocks use a faster overflow-free subtraction algorithm for fixed-point interpolation. To achieve this efficiency, the blocks use a data type of larger containersizetoperformtheoverflow-free subtraction, instead of using control-flow branches as in previous releases. Also, Real-Time Workshop generated code for fixed-point interpolation is now smaller.

Compatibility Considerations. Duetothechangeintheoverflow-free subtraction algorithm, fixed-point interpolation in Lookup Table (n-D) and Interpolation Using Prelookup blocks might, in a few cases, introduce different ro unding results from previous releases. Both simulation and code generation use the new overflow-free algorithm, so they have the same rounding behavior and provide bit-true consistency.

Expanded Support for Simplest Rounding Mode to Maximize Block Efficiency

In R2009a, support for the Simplest rounding mode has been expanded to enable more blocks to handle mixed floatin g- point and fixed-point data types:

• Abs

• Data Type Conversion Inherited

• Difference

• Discrete Derivative

• Discrete FIR Filter

• Discrete-Time Integrator

• Dot Product

• Fixed-Point State-Space

• Gain

• Index Vector

• Lookup Table (n-D)

Version 7.3 (R2009a) Simulink®Software

• Math Function (for the

magnitude^2, reciprocal, square,andsqrt

functions)

• MinMax

• Multiport Switch

• Saturation

• Saturation Dynamic

• Sum

• Switch

• Transfer Fcn Direct Form II

• Transfer Fcn Direct Form II Time Varying

• Transfer Fcn First Order

• Transfer Fcn Lead or Lag

• Transfer Fcn Real Zero

• Weighted Sample Time

• Weighted Sample Time Math

For more information, see “Rounding Mode: Simplest” in the Simulink Point™ User’s Guide.

Fixed

New Rounding Modes Added to Multiple Blocks

For the follow ing Simulink blocks, the dialog box now displ ays Convergent and Round as poss ible rounding modes. These modes enable numerical agreement with embedded hardware and MATLAB results.

Simulink®Release Notes

• Abs

• Data Type Conversion

• Data Type Conversion Inherited

• Difference

• Discrete Derivative

• Discrete FIR Filter

• Discrete-Time Integrator

• Divide

• Dot Product

• Fixed-Point State-Space

• Gain

• Index Vector

• Interpolation Using Prelookup

• Lookup Table

• Lookup Table (2-D)

• Lookup Table (n-D)

• Lookup Table Dynamic

• Math Function (for the

functions)

• MinMax

• Multiport Switch

• Prelookup

• Product

• Product of Elements

• Saturation

• Saturation Dynamic

• Sum

magnitude^2, reciprocal, square,andsqrt

Version 7.3 (R2009a) Simulink®Software

• Switch

• Transfer Fcn Direct Form II

• Transfer Fcn Direct Form II Time Varying

• Transfer Fcn First Order

• Transfer Fcn Lead or Lag

• Transfer Fcn Real Zero

• Weighted Sample Time

• Weighted Sample Time Math

In the dialog box for these blocks, the field Round integer calculations toward has been renamed Integer rounding mode. The command-line

parameter remains the same.

For more information, see “Rounding Mode: Convergent” and “Rounding Mode: Round” in the Simulink Fixed Point User’s Guide.

Compatibility Considerations. If you use an earlier version of Simulink software to open a model that uses the themodechangesautomatically to

Convergent or Round rounding mode,

Nearest.

Lookup Table (n-D) Block Performs F aster Calculation of Index and Fraction for Power of 2 Evenly-Spaced Breakpoint Data

For power of 2 evenly-spaced breakpoint data, the Lookup Table (n-D) block uses bit shifts to calculate the index and fraction, i ns te ad of division. This enhancement provides these benefits:

• Faster calculation of index and fraction for power of 2 evenly-spaced

breakpoint data

• Smaller size of Real-Time Workshop generated code for the Lookup Table

(n-D) block

Discrete FIR Filter B lock Supports More Filter Structures

The following filter structures have been added to the Discrete FIR Filter block:

Simulink®Release Notes

• Direct form symmetric

• Direct form antisymmetric

• Direct form transposed

• Lattice MA

Running a model with these filter structures requires a Signal Processing Blockset™ license.

Discrete Filter Block Performance, Data Type, Dimension, and Complexity Enhancements

The following enhancements have been made to the Discrete Filter block:

• Improved numerics and run-time performance of outputs and states by

reducing the number of divide operations in the filter to at most one

• Support for signed fixed-point and integer data types

• Support for vector and matrix inputs

• Support for complex inputs and filter coefficients, where inputs and

coefficients can each be real or complex, independently of the other

• AnewInitial states parameter allow s you to enter non-zero initial states

• AnewLeading denominator coefficient equals 1 parameter provides a

more efficient implementat io n by eliminating all divides when the leading denominator coefficient is one

Compatibility Considerations. Due to these enhancements, you might encounter the co mpatibility issues in the following sections.

Realization parameter removed. The Real-Time Workshop software

realization parameter has been removed from this block. You can no

longer use the

set_param and get_param functions on this block parameter.

The generated code for this block has been improved to be similar to the former

'general' realization.

'sparse' realization, while maintaining tunability as in the former

Version 7.3 (R2009a) Simulink®Software

State changes. Due to the reduction in the number of divide operations performed by the block, you might notice that your logged states have changed when the leading denominator coefficient is not one.

MinMax Block Performs More Efficient and Accurate Comparison Operations

For multiple inputs with mixed floating-point and fixed-point data types, the MinMax block selects an appropriate data type for performing comparison operations, instead of using the output data type for all comparisons, as in previous releases. This enhancement provides these benefits:

• Faster comparison operations, with fewer fixed-point overflows

• Smaller size of Real-Time Workshop generatedcodefortheMinMaxblock

Logical Operator Block Supports NXOR Boolean Operator

In R2009a, the Logical Operator block has been enhanced with a new NXOR Boolean operator. When you select this operator, the block returns TRUE when an even num ber of inputs are TRUE. Similarly, the block returns FALSE when an even number of inputs are FALSE.

Use

NXOR to replace serial XOR and NOT operations in a model.

Discrete-Time Integrator Block Uses Efficient Integration-Limiting Algorithm for Forward Euler Method

When you select the Limit output check box for the Forward Euler method, the Discrete-Time Integrator block uses only one saturation when a second saturation is unnecessary. This change in the integration-limiting algorithm provides these benefits:

• Faster integration

• Smaller size of Real-Time Workshop generated code for the Discrete-Time

Integrator block

Simulink®Release Notes

Dot Product Block Converted from S-Function to Core Block

Conversion of the Dot Product block from a masked S-Function to a core block enables more efficient simulation and better handling of the block in Simulink models.

Due to this conversion, you can specify sample time and values for the output minimum and maximum for the Dot Product block. The read-only BlockType parameter has also changed from

Compatibility Considerations. In R2009a, signal dimension propagation might behave differently from previous releases. As a result, your model might not compile under these conditions:

• Your model contains a Dot Product block in a source loop.

• Your model has underspecified signal dimensions.

If your model does not compile, set dimensions for signals that are not fully specified.

S-Function to DotProduct.

For example, your model mig ht not compile in this case :

• Your model contains a Transfer Fcn Direct Form II Time Varying block,

which i s a masked S-Function with a Dot Product block in a source loop.

• The second and third input ports of the Transfer Fcn Direct Form II Time

Varying block are unconnected, which results in underspecified signal dimensions.

To ensure that your model compiles in this case, connect C onstant blocks to the second and third input ports of the Transfer Fcn Direct Form II Time Varying block and specify the signal dimensions for both ports explicitly.

Pulse Generator Block Uses New Default Values for Period and Pulse Width

For the Pulse G enerator block, the default Period value has changed f rom 2 to 10, and the default Pulse Width value has changed from 50 to 5. These changes enable easier transitions between time-based and sample-based mode for the pulse type.

Version 7.3 (R2009a) Simulink®Software

Random Number and Unit Delay Blocks Use New Default Values for Sample Time

The default Sample time values for the Random Number and Unit Delay blocks have changed:

• The default Sample time value for the Random Number block has changed

from 0 to 0.1.

• The default Sample time value for the Unit Delay block has changed

from 1 to -1.

Trigonometric Function Block Provides Better Support of Accelerator Mode

The Trigonometric Function block now supports Accelerator mode for all cases with real inputs and Normal mode support. For more information about simulation modes, see “Accelerating Models” in the Simulink User’s Guide.

Reshape Block Enhanced with New Input Port

The Reshape block Output dimensionality parameter has a new option,

Derive from reference input port. This option creates a second input

port,Ref,ontheblockandderivesthedimensions of the output signal from the dimensions of the signal input to the Ref input port. Similarly, the Reshape block command-line parameter, new option,

Derive from reference input port.

OutputDimensionality,hasthe

Multidimensional Signals in Simulink Blocks

The following blocks were updated to support multidimensional signals. For more information, see “Signal Dimensions” in the Simulink User’s Guide.

• Assertion

• Extract Bits

• Check Discrete Gradient

• Check Dynamic Gap

• Check Dynamic Lower Bound

• Check Dynamic Range

Simulink®Release Notes

• Check Dynamic Upper Bound

• Check Input Resolution

• Check Static Gap

• Check Static Lower Bound

• Check Static Range

• Check Static Upper Bound

• Data Type Scaling Strip

• Wrap to Zero

Subsystem Blocks Enhanced with Read-Only Property That Indicates Virtual Status

The following subsystem blocks now have the property, IsSubsystemVirtual. This read-only property returns a Boolean value, subsystem is virtual.

on or off,toindicateifa

• Atomic Subsystem

• Code Reuse Subsystem

• Configurable Subsystem

• Enabled and Triggered Subsystem

• Enabled Subsystem

• For Iterator Subsystem

• Function-Call Subsystem

• If Action Subsystem

• Subsystem

• Switch Case Action Subsystem

• Triggered Subsystem

• While Iterator Subsystem

Version 7.3 (R2009a) Simulink®Software

User Interface Enhancements

Port Value Displays in R eferenced Models

Print Sample Time Legend

Print the Sample Time Legend either as an option of the block diagram print dialog box or directly from the legend. In either case, the legend will print on a separate sheet of paper. For more information, see “Print Sample Time Legend”.

M-API for Access to Compiled Sample Time Information

New M A TLAB API provides access to thecompiledsampletimedata,color, and annotations for a specific block or the entire block diagram directly from M code.

Model Advisor Report Enhancements

In R2009a, the Model Advisor report is enhanced with:

• The ability to save the report to a location that you specify.

• Improved readability, including the ability to:

- Filter the report to view results according to the result status. For

example, you can now filter the report to show errors and warnings only.

- Collapse and expand the folder view in the report.

- View a summary of results for each folder in the report.

See “Consulting the Model Advisor” in the Simulink User’s Guide.

Counterclockwise Block Rotation

This release lets you rotate blocks counterclockwise as well as clockwise (see “How to Rotate a Block” for more information).

Simulink®Release Notes

Physical Port Rotation for Masked Blocks

This release lets you specify that the ports of a masked block not be repositioned after a clockwise rotation to maintain a left-to-right and top-to-bottom numbering of the ports. This enhancement facilitates use of masked blocks in mechanical systems, hydraulic systems, and other modeling applications where block diagrams do not have a preferred orientation (see “Port Rotation Type” for more information.)

Smart Guides

In R2009a, when you drag a block, Simulink draws lines, called smart guides, that indicate when the block’s ports, center, and edges align with the ports, centers, and edges of other blocks in the same diagram. This helps you create well-laid-out diagrams (see “Smart Guides” for more information).

Customizing the Library Browser’s User Interface

Release 2009a lets you customize the Library Browser’s user interface. You can change the order in which libraries appear in the Library Browser, disable or hide libraries, sublibraries, and blocks, and add, disable, or hide items on the Library Browser’s menus. See “Customizing the Library Browser” for more information.

Subsystem Creation Command

This release adds a command, Simulink.BlockDiagram.createSubSystem, that creates a subsystem from a specified group of blocks.

S-Functions

Level-1 Fortran S-Functions

In this release, if you attempt to compile or simulate a model with a Level-1 Fortran S-function, you will receive an error due to the use of the newly deprecated function ’MXCREATEFULL’ within the Fortran S-function wrapper ’simulink.F’. If your S-function does not explicitly use ’MXCREATEFULL’, simply recompile the S-function. If your S-function uses ’MXCREATEFULL’, replace each instance with ’MXCREATEDOUBLEMATRIX’ and recompile the S-function.

Version 7.3 (R2009a) Simulink®Software

Removal of Lookup Table Designer from the Lookup Table Editor

In R2009a, the Lookup Table Designer is no longer available in the Lookup Table Editor.

Compatibility Considerations

Previously, you could select Edit > Design Table in the Lookup Table Editor to laun ch the Lookup Table Designer. In R2009a, this menu item is no longer available.

Simulink®Release Notes

Version 7.2 (R2008b) Simulink Software

This table summarizes what’s new in V7.2 (R2008b):

New Features and Changes

Yes Details below

Version Compatibility Considerations

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New features and changes introduced in this version are organized by these topics:

• “Simulation Performance” on page 78

• “Component-Based Modeling” on page 80

• “Embedded MATLAB Function Blocks” on page 84

• “Data Management” on page 86

• “Simulink File Management” on page 87

• “Block Enhancements” on page 87

• “User Interface Enhancements” on page 89

• “S-Functions” on page 121

Fixed Bugs an d Known Problems

Bug Reports Includes fixes

Related Documentation at Web Site

• “MATLAB Changes Affecting Simulink” on page 122

Simulation Performance

Parallel Simulations in Rapid Accelerator Mode

Simulink now has the capability to run parallel simulations in Rapid Accelerator mode using

parfor on prebuilt Simulink models.

Version 7.2 (R2008b) Simulink®Software

You can now run parallel simulations in Rapid Accelerator mode with different external inputs and tunable parameters. The called from a

For more information, see “Running a Simulation Programmatically”.

parfor loop if the model does not require a rebuild.

sim command can be

Improved Rebuild Mechanism in Rapid Accelerator Mode

Simulink now has enhanced tuning of the solver and logging parameters in Rapid Accelerator mode without requiring a rebuild.

An improved rebuild mechanism ensures that the model does not rebuild when you change block diagram parameters (e.g., stop time, solver tolerances, etc.). This enhancement significantly decreases the time for simulation in Rapid Accelerator mode.

Data Type Size Limit on Accelerated Simulation Removed

In previous releases, accelerated simulation was not supported for models that use i nte ger or fixed-point data types greater than 32 bits in le n gth. In this release , the acceleration limit on integer and fixed-point data type size has increased to 128 bits, the same as the limit for normal-mode, i.e., unaccelerated simulation.

New Initialization Behavior in Conditional, Action, and Iterator Subsystems

For releases prior to 2008b, at the simulation start time, Simulink initializes all blocks unconditionally and subsystems cannot reset the states. Release 2008b introduces behavior that mirrors the behavior of Real-Time Workshop. For normal simulation mode, the Simulink block initialization method (mdlInitializeConditions) can be called more than once at the start time if:

• The block is contained within a Conditional, Action, or Iterator subsystem.

• The subsystem is configured to reset states when enabled (or triggered);

and the subsystem is enabled (or triggered) at the start time.

This new initialization behavior has the following effect on S-functions:

Simulink®Release Notes

• If you need to ensure that the initialization code in the

mdlInitializeConditions function runs only once, then move this initialization code into the mdlStart method. The MathWorks recommends this code change as a best practice.

• The change to the block initialization method, as described above, exposed

a b ug in the S-function macro ssIsFirstInitCond for applications involving an S-function within a Conditional, Action or Iterator subsystem. This bug has been fixed in R2008b.

To determine if you consequently need to update your Simulink S-functions for compatibility, compare the simulation results from R2007b or an earlier release with those of R2008b. If they differ at the start time, ssIsFirstInitCond is running more than once and you must regenerate and recompile the appropriate Simulink S-functions.

For Real-Time Workshop, you must regenerate and recompile all S-function targets and any Real-Time Workshop targetforwhichtheabsolutetimeis turned on. (If a third-party vendor developed your S-functions, have the vendor regenerate and recompile them for you. The vendor can use the SLDiagnostics feature to identify all S-functions in a model.)

Component-Based Modeling

Processor-in-the-Loop Mode in Model Block

In R2008b, Simulink has a new Model block simulation mode for processor-in-the-loop (PIL) verification of generated code. This feature requires Real-Time Workshop Embedded Coder software. The feature lets you test the automatically generated and cross-compiled object code on your embedded processor by easily switching between Normal, Accelerator, and PIL simulation modes in your original model. You can reuse test suites, resulting in faster iteration between model development and generated code verification. For more information, see “Referenced Model Simulation Modes”.

Conditionally Executed Subsystem Initial Conditions

R2008b of Simulink includes enhanced handling of initial conditions for conditionally executed subsystems, Merge blocks, and Discrete-Time Integrator blocks, improving consistency of simulation results.

Version 7.2 (R2008b) Simulink®Software

This feature allows you to select simplified initialization mode for conditionally executed subsystems, Merge blocks, subsystem elapsed time, and Discrete-Time Integrator blocks. The simplified initialization improves the consistency of simulation results, especially for models that do not specify initial conditions for conditional subsystem output ports, and for models that have conditionally executed subsystem output ports connected to S-functions.

Note To use the new simplified initialization mode, you must activate this feature.

Activating This Feature for New M odels. For new models, you can activate this feature as follows:

1 In the model window, select Simulation > Configuration Parameters.

The Configuration Parameters dialog box opens.

2 Select Diagnostics > Data Validity.

The Data Validity Diagnostics pane opens.

3 In the Model Initialization section, set Underspecified initialization

detection to

4 Select Diagnostics > Connectivity.

Simplified.

The Connectivity Diagnostics pane opens.

5 Set Mux blocks used to create bus signals to error.

6 Set Bus signal treated as vector to error.

7 Click OK.

For more information, see “Underspecified initialization detection”.

MigratingExistingModels. For existing models, The MathWorks recommends using the Model Advisor to migrate your model to the new simplified initialization mode settings.

Simulink®Release Notes

To migrate an existing model:

1 In the model window, select Simulation > Configuration Parameters.

The Configuration Parameters dialog box opens.

2 Select Diagnostics > Data Validity.

The Data Validity Diagnostics pane opens.

3 In the Merge Block section, set Detect multiple driving blocks

executing at the same time step to

4 Click OK.

5 Simulate the model and ensure that it runs without errors.

6 Select Tools > Model Advisor.

error.

The Model Advisor opens.

7 In the Model Advisor Task Manager, select By Product > Simulink.

8 Run Check for proper bus usage in the Model Advisor.

9 Run Check consistency of initialization parameters for Outport and

Merge blocks in the Model Advisor.

10 After you have resolved any errors identified by this check, click Proceed

to migrate your model to simplified initialization mode.

For information on using the Model Advisor, see “Consulting the Model Advisor” in the Simulink User’s Guide.

For information on the Model Advisor checks, see “Check consistency of initialization parameters for Outport and M erge blocks” in the Simulink Reference.

Version 7.2 (R2008b) Simulink®Software

Compatibility Con siderations. Activating this feature can cause differences in simulation results, when compared to previous versions. Since you must opt-in to this feature before any changes are made, there are no issues for existing models. However, The MathWorks recommends that you backup e xisting models before you migrate them, in case you want to return to the original behavior.

Model Block Input Enhancement

Model block inputs can now be local and reusable. This capability reduces global data usage and data copying when interfacing with code from a referenced model, which can reduce memory usage during simulation and increase the efficiency of generated code. This enhancement is always relevant,sonoconfiguratio n parameter is necessary or provided to control it.

One Parameter Controls Accelerator Mode Build Verbosity

In previous releases, the ModelReferenceSimTargetVerbose parameter controlled verbosity when a referenced model was built for execution in Accelerator mode, as specified by the Model block’s Simulation mode parameter. The See “Referenced Model Simulation Modes” and the Model block documentation for more information.

ModelReferenceSimTargetVerbose had no GUI equivalent.

A different parameter,

AccelVerboseBuild, controls the verbosity when a

model is built in Simulink AcceleratormodeorRapidAcceleratormode, as specified in the Simulation menu. See “Accelerating Models” for more information. The GUI equivalent of the

AccelVerboseBuild parameter

is Configuration Parameters > Optimization > Verbose accelerator builds. See “Verbose accelerator builds” for more information.

All types of accelerated s imulation entail code generation (though the code is not visible to the user) and the two verbosity parameters control whether a detailed account of the code generation process appears in the MATLAB Command Window. How ever, providing separate verbosity parameters for the two cases was unnecessary.

In R2008b, the and has no effect. The

ModelReferenceSimTargetVerbose parameter is deprecated

AccelVerboseBuild parameter (Configuration

Parameters > Optimization > Verbose accelerator bu ilds) now controls

Simulink®Release Notes

the verbosity for Simulink A ccelerato r mode, referenced model Accelerator mode, and Rapid Accelerator mode.

Another parameter,

RTWVerbose (Configuration Parameters > Real-Time

Workshop > Debug > Verbose build) controls the verbosity of Real-Time

Workshop code generation. This parameter is unaffected by the changes to

ModelReferenceSimTargetVerbose and AccelVerboseBuild.

Compatibility Consid er a tions. In R2008b, trying to set

ModelReferenceSimTargetVerbose generates a warning message and has no

effect on verbosity. The warning says to use default for

AccelVerboseBuild is 'off'.

AccelVerboseBuild instead. The

A model saved in R2008b will not include the

ModelReferenceSimTargetVerbose parameter. An R2008b model saved to an

earlier Simulink version that supports

ModelReferenceSimTargetVerbose

will include that parameter, giving it the same value that AccelVerboseBuild has in the R2008b version.

The effect of loading a model from an earlier Simulink version into R2008b depends on the source version:

• Prior to R14: Neither parameter exists, so no compatibility consideration

arises.

• R14 – R2006b: Only

value to

AccelVerboseBuild.

ModelReferenceSimTargetVerbose exists. Copy its

• R2007a: Both parameters exist but neither has a GUI equivalent. Ignore

the value of

ModelReferenceSimTargetVerbose and post no warning.

• R2007b – R2008a: Both parameters exist and

has a GUI equivalent. If a warning to use

AccelVerboseBuild instead.

ModelReferenceSimTargetVerbose is 'on',post

AccelVerboseBuild and

Embedded MATLAB Function Blocks

Support for Fixed-Point Word Lengths Up to 128 Bits

Embedded MATLAB Function blocks now support up to 128 bits of fixed-point precision. T his increase in maximum precision from 32 to 128 bits supports

Version 7.2 (R2008b) Simulink®Software

generating efficie nt code for targets with non-standard word sizes and a llow s Embedded MATLAB Function blocks to work with large fixed-point signals.

Enhanced Simulation and Code Generation Options for Embedded MATLAB Function Blocks

You can now specify embeddable code ge ne ration options from the Embedded MATLAB Editor using a new menu item: Tools > Open RTW Target. Simulation options continue to be available from Tools > Open Simulation Target.

In addition, simulation and embeddable code generation options now appear in a single dialog box. For details, see “Unified Simulation and Embeddable Code Generation Options” on page 95.

Data Type Override Now Works Consistently on Outputs

When y ou enable data type override for Embedded MATLAB Function blocks, outputs with explicit and inherited types are converted to the override type. For example, if you set data type override to MATLAB Function block converts all outputs to the override type to downstream blocks.

true singles, the Embedded

single type and propagates

In previous releases, E mbedde d MATLAB Function blocks did not apply data type override to outputs with inherited types. Instead, the inherited type was preserved even if it did not match the override type, sometimes causing errors during simulation.

Compatibility Considera tion. Applying data type override rules to outputs with inherited types may introduce th e following compatibility issues:

• Downstream Embedded MATLAB Function blocks must be able to accept

the propagated override type. Therefore, you must allow data type override for downstream blocks for which you set output type explicitly. Otherwise, youmaynotbeabletosimulateyourmodel.

• You might get unexpected simulation results if the propagated type uses

less precision than th e original type.

Simulink®Release Notes

Improperly-Scaled Fixed-Point Relational Operators Now Match MATLAB Results

When evaluating relational operators, Embedded MATLAB Function blocks compute a common type that encompasses both input operands. In previous releases, if the common type required more than 32 bits, Embedded MATLAB Function blocks may have given different answers from MATLAB. Now, EmbeddedMATLABFunctionblocksgivethesameanswersasMATLAB.

Compatibility Considera tion. Some relational operators generate multi-word code even if one of the fixed-point operands is not a multi-word value. To w ork around this issue, cast both operands to the same fixed-point type (using the same scaling method and properties).

Data Management

Support for Enumerated Data Types

Simulink models now support enumerated data types. For details, see:

• “Using Enumerated Data” in the Simulink User’s Guide

• “Using Enumerated Data in Stateflow Charts” in the Stateflow User’s

Guide

• “Enumerated Data Type Considerations” in the Real-Time Workshop

User’s Guide

Simulink Bus Editor Enhancements

The Simulink Bus Editor can now filter displayed bu s objects by either name or relationship. See “Filtering Displayed Bus Objects” for details.

You can now fully customize th e export and import capabilities of the Simulin k Bus Editor. See “Customizing Bus Object Import and Export” for details.

New Model Advisor Check for Proper Data Store Memory Usage

A new Model Advisor check posts advice and warnings about the proper use of Data Store Memory, Data Store Read, and Data Store Write blocks.

Version 7.2 (R2008b) Simulink®Software

See “Check Data Store Memory blocks for multitasking, strong typing, and shadowing issues” for details.

Simulink File Management

Model Dependencies Tools

Enhanced file dependency analysis can now:

• Find system target files

• Analyze

• Analyze all configuration sets, not just the active set.

See “Scope of Dependency Analysis” in the Simulink User’s Guide.

STF_make_rtw_hook functions

Block Enhancements

Trigonometric Function Block

R2008b provides an enhanced Trigonometric Function block to:

• Support sincos

• Provide greater floating-point consistency

Math Function Block

In Simulink 2008b, an enhanced Math Function block provides greater floating-point consistency.

Merge Block

R2008b provides enhanced handling of initial conditions for the Mer ge block and thus improves the consistency of simulation results.

For more information, see “Conditionally Executed Subsystem Initial Conditions” on page 80.

Simulink®Release Notes

Discrete-Time Integrator Block

R2008b provides an enhanced handling of initial conditions for the Discrete-Time Integrator block and thereby improves the consistency of simulation results.

For more information, see “Conditionally Executed Subsystem Initial Conditions” on page 80.

Modifying a Link to a Library Block in a Callback Function Can Cause Illegal Modification Errors

In this release, Simulink software can signal an error if a block callback function, e.g., error occurs if you attempt to copy a library link to a self-modifying masked subsystem whose This change means that you cannot use block callback functions to create self-modifying library blocks. Mask initialization code for a library block is the only code allowed to modify the block.

CopyFcn, modifies a link to a library block. For example, an

CopyFcn deletes a block contained by the subsystem.

Compatibility Consideration. Previous releases allowed use of block callback functions to create self-modifying library blocks. Opening, editing, or running models that contain links to such blocks can cause illegal modification errors in the current release. As a temporary work around, you can break any links in your m odel to a library block that uses callback functions to modify itself. The best long-term solution is to move the self-modification code to the block’s mask initialization section.

Random Number Block

In the dialog box for the Random Number block, the field Initial Seed has been renamed Seed. The command-line parameter remains the same.

Signal Generator Block

The Signal Generator block now supports multidimensional signals. For a list of blocks that support multidimensional signals, see “Signal Dimensions” in the Simulink User’s Guide.

Version 7.2 (R2008b) Simulink®Software

Sum Block

The accumulator of the Sum block now applies for all input signa ls of any data type (for example, double, single, integer, and fixed-point). In previous releases, the accumula tor of this block was limited to inputs and outputs of onlyintegerorfixed-pointdatatypes.

Switch Block

The Switch block now supports the immediate back propagation of a known output data type to the first and third input ports. This occurs when you set the Output data type parameter to

and select the Require all data port inputs to have the same data

rule

type check box. In previous releases, this back propagation did not occur immediately.

Inherit: Inherit via internal

Uniform Random Number Block

In the dia log box for the Uniform Random Number block, the field Initial Seed has been renamed Seed. The command-line parameter remains the

same.

User Interface Enhancements

Sample Time

The display of sample time information has been expanded to include:

• Signal lines labeling with new color-independent Annotations

• AnewSample Time Legend mapsthesampletimeColors and

Annotations to sample times.

• A distinct color for indicating that a block and signal are asynchronous.

The section “Modeling and Simulation of Discrete Systems” has been renamed “Working with Sample Times” and has been significantly expanded to provide a comprehensive review of sample times and a discussion on the new Sample Time Legend and Sample Time D isplay features. For more information, see “Working with Sample Times”.

Simulink®Release Notes

Model Advisor

In R2008b, the Model Advisor is enhanced with:

• A model and data restore point that provides you with the ability to revert

changesmadeinresponsetoadvicefromtheModelAdvisor

• Context-sensitive help available for Model Advisor checks

• Tristate check boxes that visually indicate selected and cleared checks

in folders

• A system selector for choosing the system level that the Model Advisor

checks

See “Consulting the Model Advisor” in the Simulink User’s Guide.

“What’s This?” Context-Sensitive Help for Commonly Used Blocks

R2008b introduces context-sensitive help for parameters that appear in the following commonly used blocks in Simulink:

Bus Creator Bus Selector Constant Data Type Conversion Demux Discrete-Time Integrator Gain Inport Integrator Logical Operator Mux Outport Product Relational Operator Saturation Subsystem Sum Switch

Version 7.2 (R2008b) Simulink®Software

Terminator Unit Delay

This feature provides quick access to a detailed description of the parameters, saving you the time it would take to find the information in the Help browser.

To use the "What’s This?" help, do the following:

1 Placeyourcursoroverthelabelofaparameter.

2 Right-click. A What’s This? context menu appears.

For example, the following figure shows the What’s This? context menu appearing after right-clicking the Multiplication parameter for the Gain block.

3 Click Wh

descrip

at’s This? A context-sensitive help window appears showing a

tion of the parameter.

Compact Icon Option Displays More Blocks in Library Browser

This re blocks scrol

lease introduces a compact icon option that maximizes the number of

and libraries visible in the Library Browser’s Library pane without

ling (see “Library Pane”).

Signal Logging and Test Points Are Controlled Independently

evious releases, a signal could be logged only if it was also a test point.

In pr

efore, selecting Log signal data in the Signal Properties dialog box

Ther

matically selected Test point, and disabled it so that it could not be

auto

ared. However, a signal can be a test point without being logged, so

cle

aring Log signal data did not automatically clear Test point.The

cle

e asymmetric behavior occurred programmatically with the underlying

sam

aLogging

Dat

and TestPoint parameters.

Simulink®Release Notes

In R2008b, no connection ex ists between enab li n g logging for a signal and making the signal a test point. Either, both, or neither capability can be enabled for any signal. Selecting and clearing Log signal data therefore has no effect on the setting of Test point, and similarly for the underlying parameters. See “Logging Signals” and “Working with Test Points” for more information.

To reflect the independence of logging and test points, the command Test Point Indicators in the Simulink Format > Port/Signal Displays menu has been renamed Testpoint/Logging Indicators. The effect of the command, the graphical indicators displayed, and the meaning of the underlying parameter

ShowTestPointIcons, are all unchanged.

Compatibility Considerations. Scripts and practices that relied on Log signal data to automatically set a test point must be changed to set the test

point explicitly. The relevant

set_param(PortHandle(n),'DataLogging','on') set_param(PortHandle(n),'TestPoint','on')

set_param commands are:

To disable either capability, set the relevant parameter to 'off'.See “Enabling Signal Logging Programmatically” for an example.

Signal Logging Consistently Retains Duplicate Signal Regions

A virtual signal is a signal that graphically represents other signals or parts of other signals. Virtual signals are purely graphical entities; they have no functional or mathematical significance. The nonvirtual components of a virtual signal are called regions. For example, if Mux block (which is a virtual block) inputs two nonvirtual signals, the block outputs a virtual signal that has two regions. See “Virtual Signals” and “Mux Signals” for more information.

In previous releases, when a virtual signal contains duplicate regions, signal logging excluded all but one of the duplicates in some contexts, but included all of the duplicates in other contexts, giving inconsistent results. For example, if the same nonvirtual signal is connected to two input ports of a Mux block, that one signal is the source of two regions in the Mux block output. Previously, if that output was being logged in Normal mode simulation, the log object would contain data for only one of the regions, because the other was eliminated as a duplicate.

Version 7.2 (R2008b) Simulink®Software

In R2008a, Simulink no longer eliminates duplicate regions when logging the output of virtual blocks like Mux or Selector blocks. Simulink now logs all regions, which appear in a

Simulink.TsArray object. The duplicate regions

have unique names as follow s:

<signal_name>_reg<#counter>

This change affects signal logs and all capabilities that depend on signal logging, such as scopes and signal viewers.

Compatibility C onsiderations. In cases where signal logging previously omitted duplicate regions, signal logs will now be larger, and scopes and signal viewers will now show more data. This change could give the impression that the results of simulation have changed, but actually only the logging of those results has changed. No action is needed unless:

• A dependency exists on the exact size of a log or the details of its contents.

• Thesizeanddetailshavechangedduetotheinclusionofpreviously

omitted signals.

In such a case, make changes as needed to accept the changed logging behavior. See “Logging Signals” for more information.

Simulink Configuration Parameters

In R2008b, the following Simulink configuration parameters are updated:

Note The command-line parameter name is not changing for these parameters.

Location Previous Parameter

Solver States shape preservation /

ShapePreserveControl

Solver Consecutive min

step size violations /

MaxConsecutiveMinStep

New Parameter

Shape preservation /

ShapePreserveControl

Number of consecutive min steps /

MaxConsecutiveMinStep

Simulink®Release Notes

Location Previous Parameter

Solver Consecutive zero crossings

relative tolerance /

ConsecutiveZCsStepRelTol

Solver

Zero crossing

location algorithm /

ZeroCrosAlgorithm

Solver

Zero crossing location

threshold / ZCThreshold

Solver Number of consecutive

zero crossings allowed /

MaxConsecutiveZCs

Optimization Eliminate superfluous

temporary variables

(Expression folding) /

ExpressionFolding

Optimization

Remove internal state

zero initialization /

ZeroInternalMemoryAtStartup

In R2008b, the following Simulink configuration parameters have moved:

New Parameter

Time tolerance /

ConsecutiveZCsStepRelTol

Algorithm /

ZeroCrosAlgorithm

Signal threshold/

ZCThreshold

Number of consecutive zero crossings /

MaxConsecutiveZCs

Eliminate superfluous local variables (Expression folding) /

ExpressionFolding

Remove internal data zero initi alization /

ZeroInternalMemoryAtStartup

Parameter

Check undefined subsystem initial output

Check preactivation output of execution context

Check runtime output of execution context

Note The command-line parameter name is not changing for these parameters.

Old Location

Diagnostics > Compatibility

New Location

Diagnostics > Data Validity

Version 7.2 (R2008b) Simulink®Software

In R2008b, the Optimization > Minimize array reads using temporary variables parameter has been obsoleted.

Model Help Menu Update

The Simulink mod el Help menu now includes links to block support tables for the following products, if they are installed.

• Simulink product

• Communications Blockset™

• Signal Processing Blockset

• VideoandImageProcessingBlockset™

To obtain the block support tables for all of these products that are installed, select Help > Block Support Table > All Tables.

In previous releases, Help > Block Support Table provided such tables only for the main Simulink library.

Unified Simulation and Embeddable Code Generation Options

You can now specify both simulation and embeddable code generation options in the Configuration Parameters dialog box. The simulation options apply only to Embedded MATLAB Function blocks, Stateflow charts, and Truth Table blocks.

The following table summarizes changes that apply for Embedded MATLAB Function blocks:

Simulink®Release Notes

Type o f Model

Nonlibrary

Library

Simulation Options Embeddable Code Generation

Options

Migrated from the Simulation Target dialog box to the Configuration Parameters dialog box.

See:

New menu item in the Embedded MATLAB Editor for specifying code generation options for nonlibrary models: Tools > Open RTW Target

New opt ion s in the Real-Time

• “Nonlibrary Models: Changes for

the General Pane of the Simulation Target D ialo g Box” on page 97

Workshop pane of the Configuration Parameters dialog box.

See:

• “Nonlibrary Models: Changes for the

Custom Code Pane of the Simulation Target D ialo g Box” on page 99

• “Nonlibrary Models: Changes for the

Description Pane of the Simulation Target Dialog Box” on page 100

• “Nonlibrary Models: Enhancement

for the Real-Time Workshop: Symbols Pane of the Config uration Parameters Dialog Box” on page 109

• “Nonlibrary Models: Enhancement

for the Real-Time Workshop: Custom Code Pane of the Configuration Parameters Dialog Box” on page 110

Migrated from the Simulation Target dialog box to the Configuration Parameters dialog box.

See:

New menu item in Embedded MATLAB Editor for specify ing custom cod e generation options for library models:

Tools > Open RTW Target

For a description of these options, see

• “Library Models: Changes for the

General Pane of the Simulation Target Dialog Box” on page 104

• “Library Models: Changes for the

“Library Models: Support for Specifying Custom Code Options in the Real-Time Workshop Pane of the Configuration Parameters Dialog Box” on page 110.

Custom Code Pane of the Simulation Target Dialog Box” on page 105

• “Library Models: Changes for the

Description Pane of the Simulation Target Dialog Box” on page 106

Version 7.2 (R2008b) Simulink®Software

For details about the new options, see “Configuration Parameters Dialog Box” in the Simulink Graphical User Interface documentation. For compatibility information, see “Comp a t ibility Considerations” on page 116.

For changes specif ic to Stateflow, see “Unified Simulation and Embeddable Code Generation Options for Stateflow Charts and Truth Table Blocks” in the Stateflow and Stateflow

Coder™ release notes.

Nonlibrary Models: Changes for the General Pane of the Simulation Target Dialog Box. The following sections describe changes in the panes of

the Simulation Tar get dialog box for nonlibrary models.

Release

Appearance

General pa ne of the Simulation Target dialog box

Simulink®Release Notes

Release

New

Appearance

Simulation Target pane of the Configuration Parameters dialog box

For details, see “Nonlibrary Models: Mapping of GUI Options from the Simulation Target Dialog Box to the Co nf iguration Parameters Dialog Box” on page 101.

Mathworks SIMULINK RELEASE NOTES

Specifications and Main Features

Frequently Asked Questions

User Manual