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Lindenmayer systems

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plot::Lsys(alpha, start, trans, …, <a = amin .. amax>, options)


plot::Lsys creates Lindenmayer systems, i.e., string rewriting systems controlling turtle graphics.

Lindenmayer systems, or L-systems for short, are based on the concept of iteratively transforming a string of symbols into another string. After a finite number of iterations, the resulting string is translated into a sequence of movement commands to a "turtle" (see plot::Turtle), which can be drawn on the screen.

In plot::Lsys, the string of symbols is represented by a string of characters, i.e., a DOM_STRING. Transformation rules are given as equations mapping strings of length 1 to strings of arbitrary length. Turtle rules are given as equations mapping strings of length 1 to simple movement commands: Line, Move, Left, Right, Push, Pop, Noop, or a color specification.

The commands are mostly self-explanatory. Left and Right turn by the amount set in the slot "RotationAngle"; the initial direction is "up". Line and Move move by the amount set in "StepLength", where Move does not draw a line. Push stores the current state (position, direction, color) on a stack from where it can later be reactivated using Pop. Noop means "ignore this, no operation". A color specification changes the line color.

The following turtle rules are used by default (but can be disabled by giving other rules for the left-hand sides):

"F" = Line, "f" = Move, "[" = Push, "]" = Pop, "+" = Left, "-" = Right.


AttributePurposeDefault Value
AffectViewingBoxinfluence of objects on the ViewingBox of a sceneTRUE
AntiAliasedantialiased lines and points?FALSE
Colorthe main colorRGB::Blue
Framesthe number of frames in an animation50
Generationsnumber of iterations of L-system rules5
IterationRulesiteration rules of an L-system 
Legendmakes a legend entry 
LegendTextshort explanatory text for legend 
LegendEntryadd this object to the legend?FALSE
LineColorcolor of linesRGB::Blue
LineWidthwidth of lines0.35
LineStylesolid, dashed or dotted lines?Solid
LinesVisiblevisibility of linesTRUE
Namethe name of a plot object (for browser and legend) 
ParameterEndend value of the animation parameter 
ParameterNamename of the animation parameter 
ParameterBegininitial value of the animation parameter 
ParameterRangerange of the animation parameter 
RotationAngleangle of rotation commands in L-systems 
StartRulestart rule of an L-system 
StepLengthlength of movement commands in L-systems1.0
TimeEndend time of the animation10.0
TimeBeginstart time of the animation0.0
TimeRangethe real time span of an animation0.0 .. 10.0
Titleobject title 
TitleFontfont of object titles[" sans-serif ", 11]
TitlePositionposition of object titles 
TitleAlignmenthorizontal alignment of titles w.r.t. their coordinatesCenter
TitlePositionXposition of object titles, x component 
TitlePositionYposition of object titles, y component 
TurtleRulesrules translating L-system symbols to turtle movements 
VisibleAfterobject visible after this time value 
VisibleBeforeobject visible until this time value 
VisibleFromToobject visible during this time range 
VisibleAfterEndobject visible after its animation time ended?TRUE
VisibleBeforeBeginobject visible before its animation time starts?TRUE


Example 1

As a very simple system, we consider the following iteration rule: "replace each line forward by the sequence "line forward, move forward without painting, line forward."":

l := plot::Lsys(0, "F", "F" = "FfF"):

Note that we do not provide an iteration rule for "f". This means "leave f alone, do not change it."

The start state is displayed by plotting the system after zero generations:

l::Generations := 0:

Increasing the number of generations, we see the effect of our transformation rule:

l::Generations := 1:

l::Generations := 2:

l::Generations := 3:

The following variant of this simple example produces approximations to the Cantor set:

l := plot::Lsys(0, "F", "F" = "FfF", "f" = "fff"):

Example 2

To get more interesting examples, we include rotations into our rules:

l := plot::Lsys(PI/2, "F-F-F-F", "F" = "F-F+F+FF-F-F+F",
                Generations = 3)

As you can see, plot::Lsys has detected that our rule is an iteration rule. We could have used this syntax directly when creating the object. We have not given turtle rules, so the defaults are used:


Example 3

The Peano curve is a famous example of a space filling curve. In the limit process, increasing the number of iterations while decreasing the length of the forward steps, it actually fills the plane. There are different constructions known, the one shown here fills a square tilted by :

peano := plot::Lsys(PI/2, "F", "F" = "F+F-F-F-F+F+F+F-F"):

The transformation rule says to replace each straight line with the following construction:

peano::Generations := 1:

After a few iterations, the lines already get very close to one another:

peano::Generations := 5:

Example 4

Many L-systems contain different types of lines: While they are drawn exactly the same, their transformation rules are different from one another. The following example shows an image similar to the Sierpinski triangle:

l := plot::Lsys(PI/3, "R", "L" = "R+L+R", "R" = "L-R-L",
                         "L" = Line, "R" = Line,
                Generations = 7):

Example 5

The Push and Pop operations can be used to draw "arms" in an L-system:

plot(plot::Lsys(23*PI/180, "F", "F" = "FF-[-F+F+F]+[+F-F-F]",
                Generations = 4))

Example 6

L-systems have been used to simulate plant growth. We show an example here that uses the symbols B, H, and G to change the color of lines:

l := plot::Lsys(PI/9, "BL", "L" = "BR[+HL]BR[-GL]+HL", 
                "R" = "RR", "L" = Line, "R" = Line, 
                "B" = RGB::Brown, "H" = RGB::ForestGreen, 
                "G" = RGB::SpringGreen, Generations = 6):

The attribute Generations can be animated. This way, we can actually make the "plant" "grow:"

plot(plot::Lsys(a*PI/45, "BL", "L" = "BR[+HL]BR[-GL]+HL", "R" = "RR",
                "L" = Line, "R" = Line, "B" = RGB::Brown, 
                "H" = RGB::ForestGreen, "G" = RGB::SpringGreen,
                 Generations = a, a = 1 .. 6)):

Example 7

L-systems can display a couple of popular fractals. One example is the Koch snowflake, generated by replacing each straight line with a straight line, followed by a left turn of , another straight line, a right turn of , another straight line, another left turn of and a final straight line:

koch := plot::Lsys(PI/3, "F--F--F", "F" = "F+F--F+F"):

The starting rule has been chosen to be an equilateral triangle:

koch::Generations := 0:

The first generation looks like this:

koch::Generations := 1:

The limit is pretty well approximated after five generations:

koch::Generations := 5:

Finally, we use plot::modify and the "StepLength" slot to show the first couple of iterations superimposed on one another:

colors := [RGB::Red, RGB::Green, RGB::Blue, RGB::Yellow, RGB::DimGrey]:
plot(plot::modify(koch, Generations = i, 
                  StepLength = 3^(-i), 
                  LineColor = colors[i+1]) $ i = 0..4)

Example 8

Another well-known example of a fractal generated by an L-system is Heighway's Dragon curve. Informally, it is generated by "drawing a right angle and then replacing each right angle by a smaller right angle" (Gardner). It has been used in the book "Jurassic Park" by Michael Crichton and thereby got another nickname, the "Jurassic Park fractal:"

plot(plot::Lsys(PI/2, "L", "L" = "L+R+", "R" = "-L-R", 
                "L" = Line, "R" = Line, Generations = 9))

It is interesting to note that the iteration rules of this curve are equivalent to appending a mirrored copy of the curve to its end:

plot(plot::Lsys(PI/2, "L", "L" = "L+R+", "R" = "-L-R",
                "L" = Line, "R" = Line, Generations = a, 
                a = 1..9))

Example 9

While the L-system of the previous example corresponds to the definition found in the literature, the images in at least one popular source show another system (while the definition given is the one from above), namely:

plot(plot::Lsys(PI/4, "X-F-Y", "X" = "X+F+Y", "Y" = "X-F-Y",
                "X" = Line, "Y" = Line, Generations = 9)):

Example 10

An L-system may contain letters that are not meant to show in the final graphic, so they form some sort of "markers" for subsequent iteations. For this purpose, you may use the turtle rule Noop:

                "X" = "[F+F+F+F[---X-Y]+++++F++++++++F-F-F-F]",
                "Y" = "[F+F+F+F[---Y]+++++F++++++++F-F-F-F]",
                "X" = Noop, "Y" = Noop,
                Generations = 3))

plot(plot::Lsys(PI/2, "FB", 
                "A" = "FBFA+HFA+FB-FA", "B" = "FB+FA-FB-JFBFA",
                "F" = "", "H" = "-", "J" = "+",
                "A" = Noop, "B" = Noop, "H" = Noop, "J" = Noop))

Example 11

Using this rule, we can use the following formulation of the popular Hilbert curve due to Ken Philip:

plot(plot::Lsys(PI/2, "x", "x" = "-yF+xFx+Fy-", "y" = "+xF-yFy-Fx+",
                "x" = Noop, "y" = Noop))

To animate the creation process of the Hilbert curve, we adjust the length of the lines to the current number of iteration steps:

plot(plot::Lsys(PI/2, "x", "x" = "-yF+xFx+Fy-", "y" = "+xF-yFy-Fx+",
                "x" = Noop, "y" = Noop,
                Generations = i, StepLength = 1/(2^i-1),
                i = 1..6, Frames = 6))

Example 12

In some cases, systems will need small angles and long strings in order to specify the desired directions. Take for example the following system:

plot(plot::Lsys(7*PI/15, "F", "F"="F+F--F+F",

The rotations to the right use an angle of , while that to the left (the sharp spike) is a turn of . It would look more natural, however, to have the turtle start to the right, i.e., at an angle of . Since no multiple of is equal to modulo 2 π, this requires that we use a smaller angle, adjusting our iteration rule:

                "F"="F++F----F++F", Generations=4))



Angle (in radians) for turning commands. Animatable.

alpha is equivalent to the attribute RotationAngle.


String used as the starting rule.

start is equivalent to the attribute StartRule.

trans, …

Iteration and Turtle command rules (see below).

trans, … is equivalent to the attributes IterationRules, TurtleRules.


Animation parameter, specified as a = amin..amax, where amin is the initial parameter value, and amax is the final parameter value.


Lindenmayer systems are "string rewriting systems." MuPAD® implements only context-free L-systems, which are analyzed in a similar context as context-free grammars.

Many examples of L-systems can be found, among other places, in "The Fractal Geometry of Nature" by Benoît Mandelbrot.

See Also

MuPAD Functions

MuPAD Graphical Primitives

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