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Contents

Preface .............................................................................................................................................xv
Acknowledgment ........................................................................................................................ xix
Authors ......................................................................................................................................... xxi

1. Introduction to MATLAB, Simulink, and Simscape ......................................................1

1.1 MATLAB Command Window and Command Prompt .......................................... 1
1.2 Vectors and Matrices .................................................................................................... 2
1.2.1 Linspace.............................................................................................................3
1.2.2 Matrices .............................................................................................................4
1.2.3 Determinant, Transpose, and Inverse ...........................................................5
1.2.4 Slash Operators ................................................................................................5
1.2.5 Element-by-Element Operations .................................................................... 6
1.3 Symbolic Math Toolbox ................................................................................................ 7
1.3.1 Anonymous Functions ....................................................................................7
1.3.2 MATLAB Function ..........................................................................................8
1.3.3 Differentiation ..................................................................................................8
1.3.4 Integration .........................................................................................................9
1.3.5 Differential Equations ................................................................................... 10
1.4 Plotting ......................................................................................................................... 11
1.4.1 Subplot ............................................................................................................. 11
1.4.2 Plotting Analytical Expressions .................................................................. 12
1.4.3 Multiple Plots.................................................................................................. 12
1.5 User-Defined Functions and Script Files ................................................................. 13
1.5.1 Creating a Script File ..................................................................................... 14
1.6 Simulink ....................................................................................................................... 14
1.6.1 Block Library .................................................................................................. 15
1.6.2 Building a New Model .................................................................................. 16
1.6.3 Simulation ....................................................................................................... 19
1.7 Simscape ....................................................................................................................... 20
1.7.1 Block Library .................................................................................................. 21
1.7.2 Building a New Model ..................................................................................22
1.7.3 Simulation ....................................................................................................... 24
Review Problems ................................................................................................................... 26

2. Complex Analysis, Differential Equations, and Laplace Transformation ............... 31

2.1 Complex Analysis ....................................................................................................... 31
2.1.1 Complex Numbers in Rectangular Form ................................................... 31
2.1.1.1 Magnitude ....................................................................................... 32
2.1.1.2 Complex Conjugate ........................................................................ 33

vii
viii Contents

2.1.2
Complex Numbers in Polar Form................................................................34
2.1.2.1 Complex Algebra Using the Polar Form ..................................... 36
2.1.2.2 Integer Powers of Complex Numbers ......................................... 38
2.1.2.3 Roots of Complex Numbers .......................................................... 38
2.1.3 Complex Variables and Complex Functions .............................................. 39
2.2 Differential Equations ................................................................................................ 40
2.2.1 Linear, First-Order Differential Equations ................................................. 40
2.2.2 Second-Order Differential Equations with Constant Coefficients ......... 41
2.2.2.1 Homogeneous Solution .................................................................42
2.2.2.2 Particular Solution .........................................................................42
2.3 Laplace Transformation ............................................................................................. 45
2.3.1 Linearity of Laplace and Inverse Laplace Transforms ............................. 48
2.3.2 Differentiation and Integration of Laplace Transforms ........................... 48
2.3.2.1 Differentiation of Laplace Transforms ........................................ 48
2.3.2.2 Integration of Laplace Transforms ............................................... 49
2.3.3 Special Functions ........................................................................................... 50
2.3.3.1 Unit-Step Function ......................................................................... 50
2.3.3.2 Unit-Ramp Function ...................................................................... 52
2.3.3.3 Unit-Pulse Function ....................................................................... 53
2.3.3.4 Unit-Impulse (Dirac Delta) Function ........................................... 53
2.3.3.5 The Relation between Unit-Impulse and Unit-Step
Functions ..................................................................................... 54
2.3.3.6 Periodic Functions..........................................................................54
2.3.4 Laplace Transforms of Derivatives and Integrals ..................................... 55
2.3.4.1 Laplace Transforms of Derivatives .............................................. 56
2.3.4.2 Laplace Transforms of Integrals ................................................... 56
2.3.5 Inverse Laplace Transformation .................................................................. 57
2.3.5.1 Partial-Fraction Expansion Method............................................. 57
2.3.5.2 Performing Partial-Fraction Expansion in MATLAB ............... 60
2.3.5.3 Convolution Method ...................................................................... 61
2.3.6 Final-Value Theorem and Initial-Value Theorem ......................................64
2.3.6.1 Final-Value Theorem ......................................................................64
2.3.6.2 Initial-Value Theorem ....................................................................65
2.4 Summary ...................................................................................................................... 70
Review Problems ................................................................................................................... 71

3. Matrix Analysis..................................................................................................................... 75
3.1 Vectors and Matrices .................................................................................................. 75
3.1.1 Special Matrices .............................................................................................77
3.1.2 Elementary Row Operations ........................................................................77
3.1.3 Rank of a Matrix ............................................................................................ 78
3.1.4 Determinant of a Matrix ............................................................................... 79
3.1.4.1 Properties of Determinant ............................................................80
3.1.4.2 Rank in Terms of Determinant ....................................................80
3.1.4.3 Block Diagonal and Block Triangular Matrices ......................... 81
3.1.5 Inverse of a Matrix ......................................................................................... 82
3.1.5.1 Adjoint Matrix ................................................................................ 82
Contents ix

3.2 Solution of Linear Systems of Equations ................................................................. 86

3.2.1 Gauss Elimination Method .......................................................................... 87
3.2.2 Using the Inverse of the Coefficient Matrix ............................................... 87
3.2.2.1 MATLAB Built-in Function "\" ..................................................... 87
3.2.3 Cramer’s Rule ................................................................................................. 88
3.2.4 Homogeneous Systems ................................................................................. 89
3.3 Matrix Eigenvalue Problem ....................................................................................... 92
3.3.1 Solving the Eigenvalue Problem .................................................................. 92
3.3.1.1 Eigenvalue Properties of Matrices ............................................... 92
3.3.2 Algebraic Multiplicity and Geometric Multiplicity .................................. 94
3.3.2.1 Generalized Eigenvectors ............................................................. 96
3.3.2.2 Generalized Eigenvectors in MATLAB ....................................... 96
3.3.2.3 Similarity Transformations ........................................................... 97
3.3.2.4 Matrix Diagonalization ................................................................. 97
3.3.2.5 Defective Matrices .......................................................................... 98
3.4 Summary .................................................................................................................... 100
Review Problems ................................................................................................................. 101

4. System Model Representation ......................................................................................... 105

4.1 Configuration Form .................................................................................................. 105
4.1.1 Second-Order Matrix Form ........................................................................ 106
4.2 State-Space Form ....................................................................................................... 108
4.2.1 State Variables, State-Variable Equations, and State Equation .............. 108
4.2.1.1 State-Variable Equations .............................................................. 109
4.2.1.2 State Equation ............................................................................... 110
4.2.2 Output Equation and State-Space Form ................................................... 111
4.2.2.1 Output Equation ........................................................................... 112
4.2.2.2 State-Space Form .......................................................................... 113
4.2.2.3 State-Space Form in MATLAB® ........................................... 114
4.2.3 Decoupling the State Equation................................................................... 115
4.3 Input–Output Equation and Transfer Function ................................................... 119
4.3.1 Input–Output Equations from the System Model .................................. 119
4.3.2 Transfer Functions from the System Model ............................................. 120
4.4 Relations between State-Space Form, Input–Output Equation, and
Transfer Matrix .......................................................................................................... 125
4.4.1 Input–Output Equation to State-Space Form........................................... 125
4.4.1.1 Controller Canonical Form .................................................. 127
4.4.2 State-Space Form to Transfer Matrix......................................................... 129
4.4.2.1 MATLAB Command "ss2tf" ............................................ 130
4.5 Block Diagram Representation ............................................................................... 134
4.5.1 Block Diagram Operations ......................................................................... 134
4.5.1.1 Summing Junction ....................................................................... 134
4.5.1.2 Series Combinations of Blocks ................................................... 135
4.5.1.3 Parallel Combinations of Blocks ................................................ 136
4.5.1.4 Integrator ....................................................................................... 137
4.5.1.5 Closed-Loop Systems................................................................... 138
x Contents

4.5.2
Block-Diagram Reduction Techniques...................................................... 139
4.5.2.1 Moving a Branch Point ................................................................ 139
4.5.2.2 Moving a Summing Junction ..................................................... 139
4.5.2.3 Mason’s Rule ................................................................................. 142
4.5.3 Block Diagram Construction from System Model .................................. 144
4.5.3.1 State-Space Block in Simulink ........................................ 146
4.6 Linearization .............................................................................................................. 151
4.6.1 Linearization of a Nonlinear Element ...................................................... 151
4.6.1.1 Functions of Two Variables ......................................................... 153
4.6.2 Linearization of a Nonlinear Model ......................................................... 153
4.6.2.1 Operating Point ............................................................................ 153
4.6.2.2 Linearization Procedure.............................................................. 154
4.6.2.3 Small-Angle Linearization .......................................................... 157
4.6.3 Linearization in Simulink .................................................................... 158
4.7 Summary .................................................................................................................... 162
Review Problems ................................................................................................................. 164

5. Mechanical Systems ........................................................................................................... 169

5.1 Mechanical Elements ................................................................................................ 169
5.1.1 Mass Elements .............................................................................................. 169
5.1.2 Spring Elements ........................................................................................... 171
5.1.3 Damper Elements......................................................................................... 173
5.1.4 Equivalence ................................................................................................... 174
5.2 Translational Systems ............................................................................................... 182
5.2.1 Degrees of Freedom..................................................................................... 182
5.2.2 Newton’s Second Law ................................................................................. 183
5.2.3 Free-Body Diagrams.................................................................................... 183
5.2.4 Static Equilibrium Position and Coordinate Reference .......................... 188
5.2.5 Massless Junctions ....................................................................................... 192
5.2.6 D’Alembert’s Principle ................................................................................ 193
5.3 Rotational Systems .................................................................................................... 200
5.3.1 General Moment Equation ......................................................................... 200
5.3.2 Modeling of Rigid Bodies in Plane Motion.............................................. 201
5.3.3 Mass Moment of Inertia .............................................................................. 204
5.3.4 Pure Rolling Motion .................................................................................... 208
5.4 Mixed Systems: Translational and Rotational ...................................................... 216
5.4.1 Force and Moment Equations .................................................................... 216
5.4.2 Energy Method.............................................................................................223
5.5 Gear–Train Systems .................................................................................................. 236
5.6 System Modeling with Simulink and Simscape................................................... 241
5.6.1 Translational Systems .................................................................................. 241
5.6.2 Rotational Systems....................................................................................... 248
5.7 Summary .................................................................................................................... 253
Review Problems ................................................................................................................. 255
Contents xi

6. Electrical, Electronic, and Electromechanical Systems............................................... 263

6.1 Electrical Elements .................................................................................................... 263
6.1.1 Resistors ........................................................................................................ 265
6.1.2 Inductors ....................................................................................................... 267
6.1.3 Capacitors...................................................................................................... 267
6.2 Electric Circuits ......................................................................................................... 272
6.2.1 Kirchhoff’s Voltage Law .............................................................................. 272
6.2.2 Kirchhoff’s Current Law ............................................................................. 274
6.2.3 Node Method................................................................................................ 277
6.2.4 Loop Method ................................................................................................ 280
6.2.5 State Variables of Circuits ........................................................................... 282
6.3 Operational Amplifiers ............................................................................................ 288
6.4 Electromechanical Systems ..................................................................................... 294
6.4.1 Elemental Relations of Electromechanical Systems................................ 294
6.4.2 Armature-Controlled Motors .................................................................... 295
6.4.3 Field-Controlled Motors.............................................................................. 299
6.5 Impedance Methods ................................................................................................. 303
6.5.1 Impedances of Electric Elements ...............................................................304
6.5.2 Series and Parallel Impedances .................................................................304
6.5.3 Mechanical Impedances .............................................................................308
6.6 System Modeling with Simulink and Simscape...................................................309
6.6.1 Electric Circuits ............................................................................................ 310
6.6.2 Operational Amplifiers ............................................................................... 315
6.6.3 Direct Current Motors ................................................................................. 316
6.7 Summary .................................................................................................................... 323
Review Problems ................................................................................................................. 325

7. Fluid and Thermal Systems.............................................................................................. 329

7.1 Pneumatic Systems ................................................................................................... 329
7.1.1 Ideal Gases .................................................................................................... 329
7.1.2 Pneumatic Capacitance ............................................................................... 331
7.1.3 Modeling of Pneumatic Systems ............................................................... 332
7.2 Liquid-Level Systems................................................................................................ 335
7.2.1 Hydraulic Capacitance ................................................................................ 335
7.2.2 Hydraulic Resistance ................................................................................... 337
7.2.3 Modeling of Liquid-Level Systems............................................................ 339
7.3 Thermal Systems .......................................................................................................348
7.3.1 First Law of Thermodynamics ...................................................................348
7.3.2 Thermal Capacitance ................................................................................... 349
7.3.3 Thermal Resistance...................................................................................... 350
7.3.4 Modeling of Heat Transfer Systems ..........................................................354
7.4 System Modeling with Simulink and Simscape................................................... 362
7.5 Summary .................................................................................................................... 367
Review Problems ................................................................................................................. 369
xii Contents

8. System Response ................................................................................................................ 373

8.1 Types of Response ..................................................................................................... 373
8.1.1 Transient Response and Steady-State Response...................................... 373
8.2 Transient Response of First-Order Systems .......................................................... 374
8.2.1 Free Response of First-Order Systems ...................................................... 375
8.2.2 Impulse Response of First-Order Systems ............................................... 375
8.2.3 Step Response of First-Order Systems ...................................................... 376
8.2.4 Ramp Response of First-Order Systems ................................................... 378
8.2.4.1 Steady-State Error ......................................................................... 378
8.3 Transient Response of Second-Order Systems ..................................................... 380
8.3.1 Free Response of Second-Order Systems ................................................. 382
8.3.1.1 Free Response in MATLAB.................................................. 383
8.3.2 Impulse Response of Second-Order Systems ..........................................384
8.3.2.1 Impulse Response in MATLAB ........................................... 385
8.3.3 Step Response of Second-Order Systems ................................................. 387
8.3.3.1 Step Response in MATLAB.................................................. 387
8.3.4 Response Analysis Using Simulink ................................................... 390
8.3.4.1 The lsim Command .................................................................... 390
8.4 Frequency Response ................................................................................................. 399
8.4.1 Frequency Response of Stable, Linear Systems ....................................... 399
8.4.1.1 Frequency Response of First-Order Systems ...........................400
8.4.1.2 Frequency Response of Second-Order Systems....................... 401
8.4.2 Bode Plot .......................................................................................................404
8.4.2.1 Bode Plot in MATLAB ..........................................................404
8.4.2.2 Bode Plot of First-Order Systems ............................................... 405
8.4.2.3 Bode Plot of Second-Order Systems .......................................... 406
8.5 Analytical Solution of the State Equation .............................................................. 413
8.5.1 Formal Solution of the State Equation ...................................................... 414
8.5.1.1 Matrix Exponential ...................................................................... 414
8.5.1.2 Properties of the Matrix Exponential ........................................ 414
8.5.1.3 Formal Solution in MATLAB ............................................... 416
8.5.2 Solution of the State Equation via Laplace Transformation .................. 417
8.5.3 Solution of the State Equation via State-Transition Matrix .................... 418
8.6 Response of Nonlinear Systems ....................................................................... 420
8.6.1 Numerical Solution of the State-Variable Equations............................... 420
8.6.1.1 Fourth-Order Runge-Kutta Method .......................................... 421
8.6.2 Response Using Simulink Models ............................................................ 424
8.7 Summary .................................................................................................................... 429
Review Problems .................................................................................................................430

9. Introduction to Vibrations ................................................................................................ 433

9.1 Free Vibration ............................................................................................................433
9.1.1 Logarithmic Decrement ..............................................................................434
9.1.2 Coulomb Damping ...................................................................................... 437
Contents xiii

9.2 Forced Vibration ...................................................................................................... 441

9.2.1 Half-Power Bandwidth ...........................................................................442
9.2.2 Rotating Unbalance .................................................................................445
9.2.3 Harmonic Base Excitation....................................................................... 447
9.3 Vibration Suppressions .......................................................................................... 451
9.3.1 Vibration Isolators .................................................................................... 451
9.3.2 Vibration Absorbers.................................................................................454
9.4 Modal Analysis ....................................................................................................... 460
9.4.1 Eigenvalue Problem ................................................................................. 460
9.4.2 Orthogonality of Modes ......................................................................... 465
9.4.3 Response to Initial Excitations ............................................................... 467
9.4.4 Response to Harmonic Excitations........................................................ 470
9.5 Vibration Measurement and Analysis ................................................................. 474
9.5.1 Vibration Measurement .......................................................................... 474
9.5.2 Identification of System Parameters ...................................................... 476
9.6 Summary ..................................................................................................................480
Review Problems ................................................................................................................. 483

10. Introduction to Feedback Control Systems ................................................................... 489

10.1 Basic Concepts and Terminologies ....................................................................... 489
10.2 Stability and Performance ..................................................................................... 493
10.2.1 Stability of Linear Time-Invariant Systems.......................................... 493
10.2.2 Time-Domain Performance Specifications ........................................... 496
10.2.3 Frequency-Domain Performance Specifications ................................. 501
10.2.4 Identification of Transfer Functions ...................................................... 502
10.3 Benefits of Feedback Control .................................................................................505
10.3.1 Stabilization ..............................................................................................505
10.3.2 Disturbance Rejection ..............................................................................508
10.3.3 Reference Tracking ................................................................................... 511
10.3.4 Sensitivity to Parameter Variations ....................................................... 513
10.4 Proportional–Integral–Derivative Control .......................................................... 516
10.4.1 Proportional Control ............................................................................... 517
10.4.2 Proportional–Integral Control ............................................................... 519
10.4.3 Proportional–Integral–Derivative Control ........................................... 520
10.4.4 Ziegler–Nichols Tuning of PID Controllers ......................................... 523
10.5 Root Locus................................................................................................................ 528
10.5.1 Root Locus of a Basic Feedback System ................................................ 529
10.5.2 Analysis Using Root Locus.....................................................................534
10.5.3 Control Design Using Root Locus ......................................................... 537
10.6 Bode Plot...................................................................................................................542
10.6.1 Bode Plot of a Basic Feedback System ...................................................543
10.6.2 Analysis Using Bode Plot........................................................................ 551
10.6.3 Control Design Using Bode Plot ............................................................ 553
xiv Contents

10.7 Full-State Feedback ................................................................................................. 557

10.7.1 Analysis of State-Space Equations ......................................................... 558
10.7.2 Control Design for Full-State Feedback ................................................ 561
10.8 Integration of Simulink and Simscape into Control Design ............................ 566
10.8.1 Control System Simulation Using Simulink ........................................ 567
10.8.2 Integration of Simscape into Control System Simulation .................. 569
10.9 Summary .................................................................................................................. 572
Review Problems ................................................................................................................. 574

Bibliography................................................................................................................................ 577
Appendix A ................................................................................................................................. 579
Appendix B: Useful Formulas ................................................................................................. 581
Index ............................................................................................................................................. 583
Preface

As with the earlier editions of this book, the primary goal of this new edition is to provide
the reader with a thorough knowledge of mathematical modeling and analysis of dynamic
systems. MATLAB, Simulink, and Simscape are introduced at the outset and are utilized
throughout the book to perform symbolic, graphical, numerical, and simulation tasks. The
textbook, written at the junior level, meticulously covers techniques for modeling dynamic
systems, methods of response analysis, and an introduction to vibration and control
systems.
This book consists of 10 chapters and 2 appendices. Chapter 1 provides an introduction of
MATLAB, Simulink, and Simscape to the reader. The essential mathematical background
is covered in Chapters 2 and 3. Different forms of system model representation (state-space
form, transfer function, input–output equation, block diagram, etc.) and linearization are
discussed in Chapter 4. Each topic is also handled using MATLAB, and block diagrams are
constructed and analyzed using Simulink.
Chapter 5 discusses translational, rotational, and mixed mechanical systems. Free-body
diagram approach is emphasized in the derivation of the systems’ equations of motion.
Electrical and electromechanical systems are covered in Chapter 6 and operational
amplifiers and impedance methods are also included in Chapter 6. Chapter 7 presents
pneumatic, liquid-level, and thermal systems. Modeling and analysis of dynamic systems
ranging from mechanical to thermal using Simulink and Simscape are fully integrated in
Chapters 5 through 7.
Time-domain and frequency-domain analyses of dynamic systems are introduced in
Chapter 8. Time-domain analysis entails transient response of first-, second-, and higher-
order systems. The sinusoidal transfer function (frequency response function) is intro-
duced and utilized in obtaining the system’s frequency response as well as Bode diagram.
Analytical solution of the state equation is also included in this chapter. MATLAB and
Simulink play significant roles in determining and simulating system response and are
used throughout the chapter.
Chapter 9 presents an introduction to vibrations and includes free and forced vibrations
of single and multiple degrees-of-freedom systems, vibration suppression including vibra-
tion isolators and absorbers, modal analysis, and vibration testing. Some applications of
vibrations are also included: logarithmic decrement for experimental determination of the
damping ratio, rotating unbalance, and harmonic base excitation.
Chapter 10 gives an introduction to control systems analysis and design in the time
and frequency domains. Basic concepts and terminology are presented first, followed by
stability analysis, system identification, types of control, root-locus analysis, Bode plot,
and full-state feedback. These techniques are subsequently implemented using MATLAB,
Simulink, and Simscape.

xv
xvi Preface

Appendices
Appendix A includes a summary of systems of units and conversion tables. Appendix B
contains useful formulas such as trigonometric identities and integrals.

Examples and Exercises

Each covered topic is followed by at least one example for a better understanding of the
subject matter. More complex topics are accompanied by multiple, thoroughly worked-out
examples. Each section of each chapter is followed by several exercises so that the reader
can immediately apply the ideas that are just learned. The end-of-chapter review exercises
help to learn how a combination of different ideas can be used to analyze a problem.

Chapter Summaries
Chapter summaries provide concise reviews of the key aspects of each chapter.

Instructor’s Solutions Manual

A solutions manual, featuring complete solution details of all exercises, is prepared by the
authors and will be available to instructors adopting the book.

New to This Edition

The main new features of this edition are as follows:

1. System identification is introduced and utilized to construct models of dynamic

systems from observed input–output data.
2. The end-of-chapter exercises (Chapters 4 through 10) now include case studies
that involve the application of most of the concepts and methods covered in the
chapter to real-world problems.
Preface xvii

3. At least 50% of the examples and exercises throughout the book are either new or
have been dramatically revised. The problem sets also include more challenging
exercises.

Ramin S. Esfandiari
Bei Lu

MATLAB® is a registered trademark of The MathWorks, Inc. For product information,

please contact:

The MathWorks, Inc.

3 Apple Hill Drive
Natick, MA 01760-2098 USA
Tel: 508 647 7000
Fax: 508-647-7001
E-mail: info@mathworks.com
Web: www.mathworks.com
Acknowledgment

The authors express their deep gratitude to Jonathan Plant (Senior Editor, Mechanical,
Aerospace, Nuclear & Energy Engineering) at Taylor & Francis/CRC Press for his assis-
tance in various stages of the development of this book.

xix
Authors

Dr. Ramin S. Esfandiari is a professor of Mechanical and Aerospace Engineering at

California State University, Long Beach (CSULB), Long Beach, California, where he has
served as a faculty member since 1989. He received his BS in Mechanical Engineering, and
MA and PhD in Applied Mathematics (Optimal Control) from the University of California,
Santa Barbara, Santa Barbara, California. He has authored several refereed research papers
in high-quality engineering and scientific journals, such as Journal of Optimization Theory
and Applications, Journal of Sound and Vibration, Optimal Control Applications and Methods, and
ASME Journal of Applied Mechanics. He is the author of Numerical Methods for Engineers and
Scientists Using MATLAB, 2nd edition (CRC Press, 2017); Applied Mathematics for Engineers,
5th edition (Atlantis, 2013); Matrix Analysis and Numerical Methods for Engineers (Atlantis,
2007); and MATLAB Manual for Advanced Engineering Mathematics (Atlantis, 2007). He
is one of the selected few contributing authors for the Mechanical Engineering Handbook
(Springer-Verlag, 2009) and coauthor (with Dr. H.V. Vu) of Dynamic Systems: Modeling
and Analysis (McGraw-Hill, 1997). He is the recipient of numerous teaching and research
awards including two Meritorious Performance and Professional Promise Awards, TRW
Excellence in Teaching and Scholarship Award, and the Distinguished Faculty Teaching
Award.

Dr. Bei Lu is a professor in the School of Aeronautics and Astronautics at Shanghai

Jiao Tong University (SJTU), China. Before joining SJTU in 2017, she was a professor of
Mechanical and Aerospace Engineering at California State University, Long Beach
(CSULB), Long Beach, California, where she has served as a faculty member since 2005.
She received her BS and MS degrees in Power and Mechanical Engineering from SJTU,
China, in 1996 and 1999, respectively, and the PhD degree in Mechanical Engineering
from North Carolina State University, Raleigh, North Carolina, in 2004. Her main research
interests include robust control, linear parameter-varying control of nonlinear systems,
and application of advanced control and optimization techniques to aerospace, mechani-
cal, and electromechanical engineering problems. She has published nearly 40 research
papers in high-quality and recognized journals such as AIAA Journal of Guidance, Control,
and Dynamics and IEEE Transactions on Control Systems Technology, Automatica, Systems and
Control Letters, and international conference proceedings. She is the recipient of Northrop
Grumman Excellence in Teaching Award in 2011.

xxi
1
Introduction to MATLAB, Simulink, and Simscape

This chapter introduces the fundamental features of MATLAB®, Simulink®, and Simscape™
that are pertinent to modeling and analysis of dynamic systems. These include the
descriptions and applications of several commonly used built-in functions (commands)
in MATLAB and the basics of building block diagrams for the purpose of simulation of
dynamic systems by using Simulink and Simscape. MATLAB, Simulink, and Simscape
are fully integrated throughout the book, and the fundamental features and capabilities
presented in this chapter will play an important role in better understanding the more
advanced applications in the subsequent chapters.

1.1 MATLAB Command Window and Command Prompt

Once a MATLAB session is opened, commands can be entered at the MATLAB command
prompt ">>"; see Figure 1.1. For example, cos( 61 π) may be calculated as

>> sqrt(cos(pi/6))
ans =
0.9306

The outcome of a calculation can be stored under a variable name and suppressed by using
a semicolon at the end of the statement:

>> sc = sqrt(cos(pi/6));

Commands such as sqrt (square root) and cos (cosine of an angle in radians) are MATLAB
built-in functions. Each of these functions is accompanied by a brief but sufficient descrip-
tion through the help command. For example,

>> help sqrt

sqrt Square root.
sqrt(X) is the square root of the elements of X. Complex
results are produced if X is not positive.
See also sqrtm, realsqrt, hypot.
Overloaded methods:
sym/sqrt
Reference page in Help browser
doc sqrt

For a variable "x," other elementary functions include abs(x) for x , sin(x) for sin x,
log(x) for ln x, log10(x) for log x, exp(x) for e x , and many more. Descriptions of these
functions are available through the help command.
1
2 Modeling and Analysis of Dynamic Systems

FIGURE 1.1
Screen capture of a MATLAB session.

1.2 Vectors and Matrices

Vectors can be created and handled in various ways in MATLAB. A row vector is created
as

>> v = [-2 3 0 4 8];

Commas may be used instead of spaces between elements. Column vectors are created
when semicolons separate the vector components.

>> w = [-2;3;0;4;8];

The length of a (row or column) vector is determined by using the length command:

>> length(v)
ans =
5
Discovering Diverse Content Through
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 Mr. Taylor. That is true. But that is not the present Mrs. De
Mohrenschildt.
Mr. Jenner. No. I appreciate that. Where does she live now?
Mr. Taylor. Mrs. Brandel, as last I knew, was living at Stellara B.
Mr. Jenner. Will you spell that?
Mr. Taylor. [Spelling] S-t-e-l-l-a-r-a B.
Mr. Jenner. Just the letter B?
Mr. Taylor. Just the letter B. I believe Stellara means apartment
in Italian. Vagna Clara [spelling] V-a-g-n-a C-l-a-r-a, Rome, Italy.
Mr. Jenner. Has she remarried?
Mr. Taylor. Yes, she has remarried—and her name is Brandel.
Mr. Jenner. How many children were born of that marriage?
Mr. Taylor. One.
Mr. Jenner. Just your wife?
Mr. Taylor. That's right.
Mr. Jenner. And was the present Mrs. Brandel the first wife,
second wife, third wife of Mr. George De Mohrenschildt?
Mr. Taylor. The first wife—to my knowledge.
Mr. Jenner. Are you informed that in addition to the present Mrs.
Brandel and the present Mrs. De Mohrenschildt, De Mohrenschildt
also was married to at least one, if not two other women?
Mr. Taylor. Yes, I am aware of one other one.
Mr. Jenner. Will you tell us about the one that you do have in
mind?
Mr. Taylor. I know very little about her, other than that her name
is Dee—her first name is Dee.
Mr. Jenner. [Spelling] D-e-e?
 Mr. Taylor. Yes.
Mr. Jenner. Dee or DeeDee? Is she sometimes called DeeDee?
Mr. Taylor. She may have been. And that they had two children,
one of which is deceased.
Mr. Jenner. And the one who still survives is male or female?
Mr. Taylor. Female.
Mr. Jenner. Do you know her name and whereabouts?
Mr. Taylor. Her given name is Nodjia—and I do not know the
spelling of it. It is, I believe, a Russian name.
Mr. Jenner. Could you spell it phonetically?
Mr. Taylor. [Spelling] N-o-d-j-i-a (phonetic).
Mr. Jenner. Is she married?
Mr. Taylor. No. She's a minor.
Mr. Jenner. She's still a minor?
Mr. Taylor. Yes.
Mr. Jenner. Where does she live?
Mr. Taylor. I believe in Philadelphia—but I can't be sure of that.
Mr. Jenner. The impression is, at least, that she is living with her
mother in Philadelphia?
Mr. Taylor. Yes.
Mr. Jenner. Rather than with the De Mohrenschildts in Port-au-
Prince, Haiti?
Mr. Taylor. That's correct.
Mr. Jenner. You are aware of the fact that George De
Mohrenschildt and his present wife now, are at least presently, are
residing in Port-au-Prince, Haiti?
Mr. Taylor. Yes.
 (Off the record discussion follows.)
Mr. Jenner. In order that the record be not too confused, I think it
would be well that you finish recounting what led up to your meeting
with Marina and Lee Harvey Oswald, and then I will go back when
we finish that subject, and put the De Mohrenschildts in proper
perspective.
Mr. Taylor. All right.
Mr. Jenner. We have been off the record in the meantime, haven't
we, Mr. Taylor, during which time you recounted to me something
about the De Mohrenschildts and the relation between your present
wife and the De Mohrenschildts, and other matters in that
connection?
Mr. Taylor. Yes.
Mr. Jenner. We will bring that out later.
(At this point, Mr. Jenner asked your reporter to orient the
witness by referring back to the point of interruption, when he
started recounting how his meeting with the Oswalds came about.)
Your Reporter. [Reading] "About a week before I met them, my
wife was told of them by either her father or stepmother—Mr. and
Mrs. George De Mohrenschildt."
Mr. Jenner. Now, that's where I interrupted. Please go on from
there.
Mr. Taylor. They explained to us that——
Mr. Jenner. When you say "they," you mean whom?
Mr. Taylor. One or the other of the De Mohrenschildts.
Mr. Jenner. All right.
Mr. Taylor. Explained to my wife——
Mr. Jenner. In your presence?
Mr. Taylor. No.
 Mr. Jenner. This is something your wife told you?
Mr. Taylor. Yes.
Mr. Jenner. All right.
Mr. Taylor. That a Russian girl, Mrs. Oswald, was living in Fort
Worth with her husband, and that they were going to be—the De
Mohrenschildts were going to be in Fort Worth on Sunday afternoon
attending a concert and that after the concert, they would like for us
to join them, the De Mohrenschildts, and visit the Oswalds.
Mr. Jenner. Now, when was this?
Mr. Taylor. In early September of 1962.
Mr. Jenner. All right. Go on.
Mr. Taylor. We——
Mr. Jenner. Excuse me. Had you ever heard of a Lee Oswald or of
an American being back here with a Russian wife—or was this
entirely new to you?
Mr. Taylor. This was new to me. I was not aware of the presence
of either one of them prior to this.
Mr. Jenner. And, as far as you know, was it new to your wife?
Mr. Taylor. Yes.
Mr. Jenner. And, from a conversation we had while we were off
the record, the wife you now speak of—that is, back in 1962—that is
not your present wife?
Mr. Taylor. That's correct.
Mr. Jenner. But that wife—what was her maiden name?
Mr. Taylor. Alexandra Romyne De Mohrenschildt.
Mr. Jenner. All right.
Mr. Taylor. And we met them, as they had suggested, in Fort
Worth one Sunday afternoon.
 Mr. Jenner. When you say "them," you mean——
Mr. Taylor. The two De Mohrenschildts. And we met the Oswalds
and also——
Mr. Jenner. Excuse me. What did you do? You went to the concert
over there?
Mr. Taylor. We went to the Oswalds' home. We had been given
an address and a time when the De Mohrenschildts would already
have arrived.
Mr. Jenner. And when you arrived at this place, were your father-
in-law and mother-in-law present?
Mr. Taylor. Yes; they were.
Mr. Jenner. And where was this?
Mr. Taylor. This was on Mercedes Street. I do not remember the
number.
Mr. Jenner. In Fort Worth?
Mr. Taylor. Yes, sir; in Fort Worth.
Mr. Jenner. You located the apartment, as you had been advised
of the number?
Mr. Taylor. Yes; it was a house.
Mr. Jenner. It was a house—not an apartment?
Mr. Taylor. It was a house.
Mr. Jenner. Was it a single-family dwelling or a duplex?
Mr. Taylor. I'm not sure. It was either a single-family unit or a
duplex.
Mr. Jenner. You have no present recollection which one it was?
Mr. Taylor. No, sir; I do not.
Mr. Jenner. Describe to us what you saw in the way of the room
or rooms, the surroundings, whether neat and clean and whether
threadbare or new furniture—or what did it look like inside?
Mr. Taylor. It was a comparatively bare room, as I remember,
uncarpeted. The furniture was badly worn. It was, however, clean—
particularly so considering the number of people that were there.
Mr. Jenner. And it was orderly—not messy?
Mr. Taylor. That's right.
Mr. Jenner. Now, when you entered that room, there were
present two persons introduced to you as Mr. and Mrs. Oswald?
Mr. Taylor. That's right.
Mr. Jenner. Was Mrs. Oswald introduced to you as Marina
Oswald?
Mr. Taylor. I believe she was.
Mr. Jenner. And your father-in-law and your mother-in-law, the
De Mohrenschildts, yourself, and your wife—anybody else present?
Mr. Taylor. Yes; several other people were present. Lee Oswald's
mother was there.
Mr. Jenner. Marguerite Oswald?
Mr. Taylor. Yes. George Bouhe was there. A Mr. and Mrs. Hall
was there—John Hall and his estranged wife. I'm not sure of her
name—first name.
Mr. Jenner. Elena [spelling] E-l-e-n-a Hall?
Mr. Taylor. Elena.
Mr. Jenner. Which, of any, of these people had you known prior
to the time that you stepped into this room?
Mr. Taylor. Only the De Mohrenschildts.
Mr. Jenner. So, this was your first acquaintance with the Halls,
your first acquaintance with Marguerite Oswald, and your first
acquaintance with Lee and Marina Oswald?
 Mr. Taylor. That's right.
Mr. Jenner. And what ensued—by way of what anybody did and
what anybody said?
Mr. Taylor. I don't remember but very sketchily what went on
that afternoon. There's a number of questions in my mind about
what preceded—I mean, Mrs. Oswald——
Mr. Jenner. Will you please state them and where you are stating
a question in your mind as distinct from something that was said——
Mr. Taylor. Well, I will come to that. I was only trying to establish
a general vagueness of recollection of the afternoon. Mrs. Oswald
left shortly after I arrived.
Mr. Jenner. Now, you mean Marguerite?
Mr. Taylor. Yes; Lee's mother.
Mr. Jenner. Have you ever seen her other than on this short visit?
Mr. Taylor. Not except in news media. Never in person other
than that one afternoon.
Mr. Jenner. And you've had no contact with her directly since this
particular occasion you are now relating?
Mr. Taylor. That's right.
Mr. Jenner. And the news media to which you refer is news media
activities subsequent to November 22, 1963?
Mr. Taylor. That's correct.
Mr. Jenner. She was just there for about 5 minutes?
Mr. Taylor. Less than 45 minutes, I would say.
Mr. Jenner. Did you have an opportunity to form an impression of
her in those few minutes?
Mr. Taylor. I just have a vague recollection of a somewhat plump
woman who seemed to be—uh—out of place in the present crowd
that was there that afternoon. And she didn't seem to be particularly
interested in anything that went on—and I think that's what
prompted her to leave.
Mr. Jenner. Did you have an opportunity to observe and form an
opinion from those observations as to the attitude between Lee
Oswald and Marguerite?
Mr. Taylor. I would say that it was one of estrangement between
them; that they had very little communication between them; that
they were almost strangers—and possibly even didn't like each other.
Particularly on Lee's part, I should think.
Mr. Jenner. That was your impression?
Mr. Taylor. Yes.
Mr. Jenner. And this was, again, September of 1962—did you
say?
Mr. Taylor. Yes.
Mr. Jenner. All right. September 1962. Okay—I've got myself
oriented. Go ahead.
Mr. Taylor. And that we talked generally about some of the
things that—uh—some of Lee's observations about Russia.
Mr. Jenner. Did he speak in English or Russian?
Mr. Taylor. He spoke in English when talking to my wife of that
time or I; and quite often in Russian—as I believe everyone in the
room spoke Russian except my wife, myself, and John Hall. I'm not
sure if John Hall spoke Russian or not—but certainly both the De
Mohrenschildts, and George Bouhe does.
Mr. Jenner. George Bouhe, both of the De Mohrenschildts—your
mother-in-law and father-in-law and both the Oswalds—Lee and
Marina?
Mr. Taylor. That's right. In addition to that, there was Mrs. Hall.
Mr. Jenner. And Mrs. Hall also spoke Russian?
Mr. Taylor. Yes.
 Mr. Jenner. Neither you nor your then wife spoke Russian?
Mr. Taylor. She had a knowledge of Russian but certainly not
enough to converse with them. She could understand some Russian
when it was spoken to her, but could not speak but just a few words.
Mr. Jenner. Could she follow a normal conversation between two
others who were speaking so each could understand the other, but
not any attempt to slow down and what-not in order to enable her
to try and pick up?
Mr. Taylor. I imagine they would have had to have spoken very
plainly and slowly and using simple words for her to have
understood any of it.
Mr. Jenner. I believe I interrupted you at a point where you
stated that you talked generally about some of Lee's experiences
and observations about Russia. Would you continue from that point,
indicating as best you can now recall, what was said about Lee's
experiences in Russia?
Mr. Taylor. It's difficult to remark specifically about what we
talked of that day. Perhaps it would be better if I—uh—told you all I
can remember that he said about Russia on several occasions now
rather than—because I cannot remember specifically what we
discussed on that day.
Mr. Jenner. All right. So we can get one point in the record—I'll
probably ask more specifically about the different occasions later on.
But give us a running account such as you have indicated you desire
to make.
Mr. Taylor. All right. Lee, on various occasions, and I discussed
the life that he led in Russia, his experiences in Russia, and his
general observations about it. I guess I should best start with his
observations of family life there.
He and Marina lived in an apartment. It was about 10 x 14. And
he remarked that all families in Russia lived in apartments of this
approximate size regardless of the size of the families—that there
were no private residences as we think of them. And that six family
units would be grouped around a community kitchen and lavatory,
and where all the families shared the same facilities. And that he
and Marina did live in this manner. That he worked as a sheet-metal
fabricator in the town of Minsk, and received for his remuneration for
his work 45 rubles a month—which was the minimum, he said, that
everyone in Russia receives whether they work or not.
He went into some detail about what is received directly from
the State without payment. In other words, what services a Russian
citizen receives in what we would call socialized services—such as
medicine. A Russian citizen does not have to pay for medical
services; the house—apartment, a place to live, a Russian citizen
does not have to pay for it. There is no charge for this. And we also
discussed what other people made. I believe he said Marina received
180 rubles a month for her work as a pharmacist. And that she had
received training in that. And we discussed their school system
somewhat—how a student that worked hard is allowed to continue
with his schooling, whereas a student that either doesn't work hard
or isn't capable is taken only to a level of which they are capable and
then put to work.
And we went on and discussed their financial system a little bit
further, and I learned that a person does get raises in a job, that
salaries—once you are given a job, why your salary does increase as
you continue through the years on a skilled job.
Mr. Jenner. As your skills increase?
Mr. Taylor. No; at the same job.
Mr. Davis. As your age increases?
Mr. Taylor. In other words, for length of time at your machine,
for example. When you first come to work, like Lee, and you make
45 rubles a month, as he does it for so many years or for such a
length of time, he gets a raise over and above that.
Mr. Jenner. Then, that increase comes purely as a matter of
passage of time and has no relation to skill?
 Mr. Taylor. That's correct.
Mr. Jenner. Did he say anything about—take the example he gave
—machine operator—if the machine operator next to Oswald, for
example—take a hypothetical person—is much more skillful then
Oswald, is the compensation the same?
Mr. Taylor. Uh—to my knowledge, it would be.
Mr. Jenner. That's the impression you received?
Mr. Taylor. That is the impression I received. I believe he said
that someone doing his job, by the time they reach retirement age—
I don't remember what that was—would be receiving something just
under 200 rubles a month for performing the same task.
Mr. Jenner. Did he indicate a comparative relationship between
the ruble and the dollar—to give you some notion of what 45 rubles
a month, for example, or 200 rubles a month meant in terms of
American money?
Mr. Taylor. I asked Lee that question, as I remember, and he told
me that a comparison was difficult because of the socialized or free
services given to the citizen by the Government; that, for example,
out of his 45 rubles a month that he had to buy little other than food
and clothing; and that the 45 rubles a month would buy food, a bare
minimum, and sufficient clothing to clothe one individual.
Mr. Jenner. Liberally? Or just enough to get along?
Mr. Taylor. Just enough to get going on—in both cases. And that
his impression—the impression he left with me was that a person
needed little else as far as entertainment and so on was concerned,
these things were held by the State so that—uh—to get the families
out of these cramped quarters, that everything—and constant
entertainment in some form—athletics, or occasional motion
pictures, different kinds of stage presentations—were held nightly
away from the home, so that the families could get out of the
cramped quarters and wouldn't feel this.
 Mr. Jenner. It was all designed, in part at least, with that
objective in mind—of getting people out of their cramped quarters or
room apartments, into theatres and concert halls and athletic
events?
Mr. Taylor. That's right. And we discussed travel for the average
Russian citizen—which is nonexistent. A person that——
Mr. Jenner. Now, you are telling us things he said to you?
Mr. Taylor. Yes; to the best of my memory I am telling you.
Mr. Jenner. To the best of your ability? You are not rationalizing or
speculating from things you have read in works published with
respect to life in Russia?
Mr. Taylor. No.
Mr. Jenner. You are trying to do your best to tell us what he said?
Mr. Taylor. That's right.
Mr. Jenner. All right.
Mr. Taylor. He said that for the average worker or citizen in
Russia that travel was nonexistent; that a person that grew up in
Minsk would probably spend his whole life without venturing far from
the city. That living areas like the apartment he lived in were built
around factories so that a person in a job like his, he wouldn't even
probably know what was across on the other side of the city. And
this is just about the end, at least, to my easy recollection of the
things that we discussed.
Mr. Jenner. Was anything said about the context of 180 rubles a
month earned by Marina and 45 rubles a month earned by Oswald?
Mr. Taylor. I don't remember any specific comments that he
made about that. The only thing I remember in this regard was that
he did mention at one time that Marina had a higher education than
he had and that—uh—I don't believe I ever heard him say anything
else about it.
 Mr. Jenner. In any event, you didn't raise the question?
Mr. Taylor. No.
Mr. Jenner. Did he say that Marina, after they married, that
Marina worked as well as he?
Mr. Taylor. I don't remember whether she worked after they
were married or not.
Mr. Jenner. Did he say anything about custom and habit in Russia
that wives worked?
Mr. Taylor. Yes; he mentioned that most wives—most women do
work. He didn't, as I remember, go into any specifics about it. I don't
remember much being said about it other than that most women do
work—or, I should say, they are encouraged to work.
Mr. Jenner. Did he state or did he imply, do you have any
impression on his reaction toward this life in Russia?
Mr. Taylor. He—uh—oh, he indicated throughout our discussions
that he was dissatisfied with the life of the average Russian citizen;
that they didn't have any freedoms, as we think of freedom, in other
words, to go get in our car and go where we want to, do what we
want to, or say what we want to; that, generally speaking, they did
not have this privilege as we enjoy it.
Mr. Jenner. Did he say anything about any privileges or any
activities on his part that were different from—that is, that were
accorded him—that were different from those accorded Russian
people or foreigners, let us say, in Russia, having circumstances or
work comparable to his? This is, was he treated or accorded benefits
different from or in addition to those which would normally have
been accorded him?
Mr. Taylor. I think he felt like that the situation that the Russians
put him into—in other words, the environment they put him into—-
was less than he had anticipated. This is only an impression now.
Mr. Jenner. Yes; I know.
 Mr. Taylor. It was never—we never discussed this. But I always
felt like that he was disappointed that they put him in a factory
forming sheet metal and didn't give him what he felt was something
important to do.
Mr. Jenner. That is, did you have the impression, in your contacts
with him discussing his life in Russia, that he had an opinion of
himself that was such that he felt he was not being accorded that
which at least his ambitions and desires, he thought, warranted?
Mr. Taylor. I think that's true. He didn't—uh—I think he
expected, as a former American, to be treated as something special
—as though he were a rarity, because he had left this country and
gone there, and that they would have treated him with a red carpet,
so to speak. Of course, he was very disappointed what they actually
gave him.
Mr. Jenner. And your statement that he was very disappointed in
what he actually received—did he say that to you? Was it more than
just an impression on your part?
Mr. Taylor. Uh—he never said that. It's only an impression.
Mr. Jenner. Is it a distinct impression or——
Mr. Taylor. Yes. It's a very distinct impression.
Mr. Jenner. All right.
Mr. Taylor. That this is one of the reasons why I would never
have asked him, as you asked me, what he felt about his wife
making more money. He seemed very depressed about how the
Russians had treated him.
Mr. Jenner. Did he appear to you to be sensitive on this score—
that he——
Mr. Taylor. It appeared that he would be sensitive if I had
broached the subject.
Mr. Jenner. All right. Now, have you exhausted your recollection
as to what he told you of his life in Russia?
 Mr. Taylor. Yes.
Mr. Jenner. Did he say anything about any independent activity
on his part—that is, activity of his distinct from Marina—such as, for
example, going hunting?
Mr. Taylor. No.
Mr. Jenner. Was the subject of the use of firearms for hunting
ever discussed by him with you?
Mr. Taylor. No; nor was the subject, which I think you were
leading up to, of the Russians' right or lack of right to own firearms
discussed.
Mr. Jenner. The subject of firearms was never discussed?
Mr. Taylor. No.
Mr. Jenner. Did he discuss at any time with you, or did you hear
him discuss it in your presence, his effort to return to the United
States and any difficulties, if he had any, in that connection?
Mr. Taylor. Yes; I believe he said that—uh—he did have
difficulties and that it took him—uh—about a year to get permission
to come to this—return to this country with his wife.
Mr. Jenner. Did he say anything about whether he undertook that
effort prior to his marriage—had commenced it prior to the time he
had married Marina?
Mr. Taylor. No; he indicated that he commenced it after his
marriage.
Mr. Jenner. Did he discuss with you at any time, or was the
subject discussed in your presence, as to the courtship between
Marina and himself?
Mr. Taylor. No; or, if it was, I have no recollection of it.
Mr. Jenner. Did he discuss with you, or was there a discussion in
your presence, of any illnesses on his part while he was in Russia?
Mr. Taylor. No.
 Mr. Jenner. All right. Have we now exhausted his discussions with
you with respect to the subject of his life in Russia?
Mr. Taylor. Yes.
Mr. Jenner. Did he discuss with you, or was there a discussion in
your presence, the subject of why he sought to return to the United
States?
Mr. Taylor. Oh, only that he was unhappy with both the way of
life in Russia and—uh—the place that he had been given in it.
Mr. Jenner. Did he discuss with you, or was there a discussion in
your presence, the subject of Marina's inclinations in that connection
—any desire on her part to come to the United States?
Mr. Taylor. No; there was never—uh—any discussion as to her
feelings about coming to this country at all. I don't think, in any
case, that they were important to him.
Mr. Jenner. At least, they weren't discussed in your presence and
not with you directly?
Mr. Taylor. That's right.
Mr. Jenner. Was there discussed in your presence, or did he
discuss directly with you, their route back to the United States?
Mr. Taylor. No; I believe the only thing that he ever mentioned
about that was that the American Embassy, I presume in Moscow,
loaned him the money to return.
Mr. Jenner. Did he discuss with you, or was there discussed in
your presence, his reaction to the Russian system, as such,
distinguished now from what was accorded him which you have
related—more in the area of the political area—the Communist
system, as such, the political philosophy, as distinguished from the
U.S.S.R. as a country or government?
Mr. Taylor. Well, everything that we discussed, of course—and
the things I have related—illustrate the distinction between the two
political governments—such as, services that a Russian citizen
obtains free and the housing, various rights or lack of them that the
Russian citizen had. We did not discuss the system otherwise except
perhaps some impressions he had about government officials living
somewhat better than the average citizen lived.
Mr. Jenner. Did he ever discuss with you, or was there discussed
in your presence, the Communist Party as distinct from the Russian
Government?
Mr. Taylor. No.
Mr. Jenner. Did he discuss with you, or was there discussed in
your presence, his political philosophy?
Mr. Taylor. Uh—I would say that at the point in his life which I
knew him, he was somewhat confused about philosophy. He did not
seem particularly happy with the form of government we have in this
country or with government as it exists anywhere. I think he had
been—and perhaps still was—a partisan of a Communist form of
government, but, as it is practiced in Russia, I don't think that he
liked it at all.
Mr. Jenner. All right. What else was discussed on this—was it a
Sunday afternoon?
Mr. Taylor. Yes; there was a discussion about Lee's job—which I
believe he had just left the Friday before. He was—he terminated his
employment. I don't know if he was fired or how he became severed
from it—and he wanted to move to Dallas. And there was some
discussion about the move and it taking place, and so on, and I
cannot be sure now whether it was this Sunday or the following
Sunday that Marina came to stay in my home.
Mr. Jenner. Uh-huh.
Mr. Taylor. I tend to think that it was that Sunday afternoon that
we invited her to come and stay with us, and I believe Lee said——
Mr. Jenner. In the event he went to Dallas?
 Mr. Taylor. No; to actually come and stay with us from that
Sunday evening forward.
Mr. Jenner. Why?
Mr. Taylor. Uh—during their move. Just to give her a place to live
until he was able to find a job here in Dallas.
Mr. Jenner. It was, therefore, your impression, I take it, that your
invitation was not tendered because of any difficulties between
Marina and Lee, but rather to afford her a place to live temporarily
until Lee became established elsewhere?
Mr. Taylor. That's right. In Dallas.
Mr. Jenner. I mean, my statement is a fair statement of the then
atmosphere?
Mr. Taylor. Yes; I, at that time, was not aware that there was
any marital disharmony.
Mr. Jenner. All right. Now, I'm going to ask you that question as
of that afternoon. What was your impression, if you have any, of the
relationship between Marina and Lee as of that time?
Mr. Taylor. As of that time, it appeared to be normal—normal
man and wife relationship. I think it was somewhat strained by a
language barrier. Some of the people present, not speaking Russian,
and she did not speak any English, and this left somewhat of a
burden upon the others present to interpret the conversations from
one side or the other. But I was not able to sense any disharmony at
that point.
Mr. Jenner. Now, by the time you had arrived at their home, had
you had some notion of why you were invited to be present on that
occasion?
Mr. Taylor. Only to meet them and I hoped to learn something
about Russia and how people live there.
Mr. Jenner. All right. How long did this meeting take place?
 Mr. Taylor. Uh—I believe from about 4 until 7.
Mr. Jenner. Did you have anything to eat during that period of
time?
Mr. Taylor. No.
Mr. Jenner. Have you now related all the subjects discussed at
that meeting having a relation to the Oswalds and any part you
would play in their lives?
Mr. Taylor. Uh—well, as I mentioned before, it was difficult to
remember whether it was that Sunday or the following Sunday, but I
tend to think that that Sunday evening, Marina and her daughter,
June, returned to Dallas with my wife and I and that Lee stayed——
Mr. Jenner. That was at the time of that first meeting?
Mr. Taylor. Yes; at the time of the first meeting—at the end of it.
And that Lee stayed in Fort Worth that night and that he and Mrs.
Hall, some time the next day, moved their bigger belongings—more
bulky ones other than clothing—to Mrs. Hall's garage and stored
them there. And then he came to Dallas and—uh—took up residence
at the Y.M.C.A. here.
Mr. Jenner. Uh-huh. Now, do you know, as a matter of fact, that
he did take residence at the Y.M.C.A.?
Mr. Taylor. Yes.
Mr. Jenner. How long did Marina remain with you and your wife in
your home, commencing that Sunday night?
Mr. Taylor. Approximately 2 weeks.
Mr. Jenner. And she brought with her what—in addition to her
child, of course?
Mr. Taylor. Just clothing.
Mr. Jenner. And you were residing then where?
Mr. Taylor. At 3519 Fairmount.
 Mr. Jenner. In what town?
Mr. Taylor. Dallas, Tex. I believe it was apartment 12.
Mr. Jenner. You say you spoke no Russian, you understood no
Russian, your then wife understood a few words of Russian but had
difficulty with the language?
Mr. Taylor. That's right.
Mr. Jenner. How did you get along about your social intercourse
between Marina on the one hand, yourself and your wife on the
other, during this week?
Mr. Taylor. My social intercourse with Marina during this period
was somewhat limited. She and my wife at that time, Alex, were
able to—uh—not to discuss anything, but were able to communicate
sufficiently to get along and perhaps even enjoy each other's
company to some extent. My son and their daughter, June, are
within a month of the same age; so that helped the barrier of
language somewhat in their being able to play with the children and
the children play with each other.
Mr. Jenner. Did she have any visitors during that week—or did
you say 2 weeks?
Mr. Taylor. Two weeks.
Mrs. De Mohrenschildt, on one occasion I remember specifically,
and probably Mr. De Mohrenschildt, and George Bouhe came one
time.
Mr. Jenner. Did you hear anything from Lee Oswald during that 2-
week period?
Mr. Taylor. Yes.
Mr. Jenner. When did you first hear from him?
Mr. Taylor. I think on either the following Monday or Tuesday.
Mr. Jenner. That would be the next day or the day after the
Sunday meeting?
 Mr. Taylor. Yes; I believe I, or someone, talked to Lee on the
telephone and I believe I went down and got him. I went down to
the Y.M.C.A.
Mr. Jenner. Here in Dallas?
Mr. Taylor. Here in Dallas, on two or three occasions, and picked
him up.
Mr. Jenner. Did you go in to pick him up or did you find him in
front of the building?
Mr. Taylor. Uh—I think I did both. I remember specifically once
going into the desk and asking for him and then telephoning him to
come down.
Mr. Jenner. You asked for him, you were given a room number,
you used the house telephone to call him? Is that a fair statement?
Mr. Taylor. Something—I just remember that I went in and asked
for him and he came down. I did not go up to the room, but I do
remember going in and his coming down to meet me.
Mr. Jenner. All right. I think it might be helpful, now, if you would
continue from the point after your 3-hour visit in the Oswald
apartment late Sunday afternoon and early evening. You then took
Marina to your home. Your recollection is that the next contact you
had was that there had been a telephone call by Lee to your home.
As a result of that call, you went to the Y.M.C.A. Is that correct?
Mr. Taylor. I believe so.
Mr. Jenner. Now, why did you go to the Y.M.C.A. as a result of
that call?
Mr. Taylor. To pick him up so that he might visit his wife.
(Recess: 3:35 p.m. Reconvened: 3:50 p.m.)
Mr. Jenner. Now where were we?
Mr. Taylor. Let's see, I believe I was talking, awhile back, about
people that had seen them during this period, and I mentioned that
there was only George Bouhe and Mr. and Mrs. De Mohrenschildt.
And George Bouhe came by just, I think, to be sociable, and to see
if he could give Lee any suggestions on where he might look for a
job. And at some point during this period——
Mr. Jenner. This is the 2-week period?
Mr. Taylor. Yes; the 2-week period—Mrs. De Mohrenschildt came
by and picked Marina up.
Mr. Jenner. At your home?
Mr. Taylor. At my home—and took her, I believe, to a dentist.
Mr. Jenner. Now, how do you know this?
Mr. Taylor. Well, it sticks in my mind because while the two of
them were gone, Marina's little girl, June, cried almost constantly
because, I guess, it was the first time she had ever been away from
her mother—and she cried constantly and wouldn't even eat for the
whole period Marina was gone—which, as I remember it, was the
better part of 1 day. I think she had two teeth pulled, or something.
I'm not sure about what was done other than that she did go to see,
I think a charity—went to a charity dental clinic.
Mr. Jenner. And it is your distinct recollection that she was taken
to the charity dental clinic by your step-mother-in-law?
Mr. Taylor. My mother-in-law. There's no "step" to me. Just
mother-in-law.
Mr. Jenner. I see. All right. By your mother-in-law.
Mr. Taylor. That would be a stepmother to my wife.
Mr. Jenner. All right. Did you ever take Marina to a dental clinic?
Mr. Taylor. No—not to my recollection. I didn't take—uh—Marina
anyplace that I remember.
Mr. Jenner. Are you familiar with the Baylor University College of
Dentistry?
 Mr. Taylor. No; I know that there is one here; that they have one
out at Baylor Hospital—but I'm not familiar with it otherwise.
Mr. Jenner. Would you fix the period when Marina was in your
home—first, the month?
Mr. Taylor. Uh—it was in September of 1962.
Mr. Jenner. And all of the stay was in the month of September,
and none of it in the month of October 1962?
Mr. Taylor. My memory, as I say, is not clear back that far. But—
uh—I personally have no recollection of dates involved. Even when I
was first interviewed, I believed it to be during this period we are
talking about. It was pinpointed for me one time that it would—that
Lee left his job on or about the 6th of September and that, just
going from that date, why it would, presuming, as I remember, that
that was a Friday in 1962, I believe that they came—she came to my
home for a period of 2 weeks after that. I don't believe that it lasted
any longer.
Mr. Jenner. During this period, did you have occasion in calling
from your home or place of business to call Lee Oswald at the
Y.M.C.A.?
Mr. Taylor. I believe I—uh—I may not have personally. I may
have dialed the telephone for Marina and asked for him so that she
could talk to him.
Mr. Jenner. Well, did you ever seek to reach him by telephone
either for yourself or for Marina?
Mr. Taylor. I don't specifically remember an occasion doing that.
Mr. Jenner. Do you recall any occasion when you made a
telephone call to the Y.M.C.A. in an effort to reach Lee Oswald?
Mr. Taylor. No; not specifically. I could only say that it is probable
that I would have.
Mr. Jenner. Do you recall whether Mrs. Taylor ever made an effort
to do so?
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