imcmenum.m

Software for design and tuninig of SISO and MIMO contol systems

		 'String','Help',...
		 'Callback','sayhelp(2300)'); 
 else
    % MIMO forward part controller
       if any(iscellempty(Xmnummt)) | any(iscellempty(Xmdenmt))
          errordlg('The model was not properly assigned');
          return
       end
       if all(~iscellempty(q))
          temp=questdlg('The controller was assigned, would you like to re-invert the model?',...
             'Whoops!!','No');
          switch temp
          case 'Yes'
             [qnummt,qdenmt,qdeadmt,Gnum,dec_M,input_delay,n_dec,TR,TL]=decouple(...
                Xmnummt,Xmdenmt,Xmdeadmt,y);
             not_save_yet=1;
             set(main_fig,'Name',['Internal Model Control Tuning - [' datadir NAMEFILE '*]']);
             set(current_obj,'BackgroundColor',192/255*[1 1 1]);
          end
       else
          [qnummt,qdenmt,qdeadmt,Gnum,dec_M,input_delay,n_dec,TR,TL]=decouple(...
             Xmnummt,Xmdenmt,Xmdeadmt,y);
          not_save_yet=1;
          set(main_fig,'Name',['Internal Model Control Tuning - [' datadir NAMEFILE '*]']);
          set(current_obj,'BackgroundColor',192/255*[1 1 1]);
       end
      if isempty(n_dec) n_dec=maxcol; end

      [f]=crfig(50,50,450,340,'Forward Path Controller --> MSF controller',192/255*[1 1 1],'none','off');
 		set(f,'UserData',{[row col p_index],current_obj});
       set(f,'DeleteFcn','clear M_handle;');
		uicontrol(f,...
		 'Style','text',...
		 'Position',[20 215 170 23],...
		 'Backgroundcolor',192/255*[1 1 1],...
		 'Foregroundcolor','k',...
		 'HorizontalAlignment','Left',...
       'String','A vector of required input-delays :');
		uicontrol(f,...
		 'Style','frame',...
		 'Position',[190 217 200 24],...
		 'Foregroundcolor','k');
		uicontrol(f,...
		 'Style','edit',...
		 'Position',[195 220 190 18],...
		 'Backgroundcolor','w',...
       'Foregroundcolor','k',...
       'Enable','off',...
		 'String',num2str(input_delay),...
 		 'UserData',[12],...
		 'Callback','');
		uicontrol(f,...
		 'Style','text',...
		 'Position',[20 185 170 23],...
		 'Backgroundcolor',192/255*[1 1 1],...
		 'Foregroundcolor','k',...
		 'HorizontalAlignment','Left',...
       'String','The decoupling delay matrix (M+)');
		uicontrol(f,...
		 'Style','frame',...
		 'Position',[190 187 200 24],...
		 'Foregroundcolor','k');
		uicontrol(f,...
		 'Style','edit',...
		 'Position',[195 190 190 18],...
		 'Backgroundcolor','w',...
		 'Foregroundcolor','k',...
       'Enable','off',...
		 'String',num2str(dec_M),...
 		 'UserData',[12],...
		 'Callback','');
    temp1=zeros(maxrow,maxcol);
    for i=1:maxrow
       for j=1:maxcol
          temp1(i,j)=length(mt2poly(qdenmt{i,j},y))-length(mt2poly(qnummt{i,j},y));
          qnum{i,j}=mtx2str(qnummt{i,j},2);
          if isempty(qnum{i,j})
             qnum{i,j}='0';
          end
          qnums{i,j}=num2str(qnummt{i,j});
          qden{i,j}=mtx2str(qdenmt{i,j},2);
          qdens{i,j}=num2str(qdenmt{i,j});
          qdead{i,j}=mtx2str(qdeadmt{i,j},4);
          qdeads{i,j,1,1}=num2str(qdeadmt{i,j});
          if isempty(qden{i,j}) | (length(qdenmt{i,j})==1 & ...
                mt2poly(qdenmt{i,j},y)==1)
            if isempty(qdead{i,j})
               q{i,j,1}=qnum{i,j};
            else
               q{i,j,1}=[qnum{i,j} '*' qdead{i,j}];
            end
         else
            temp=['(' qden{i,j} ')'];
            if isempty(qdead{i,j})
               q{i,j,1}=[qnum{i,j} '/' temp];
            else
               q{i,j,1}=[qnum{i,j} '/' temp '*' qdead{i,j}];
            end
         end
      end
   end
   order=max(temp1);
	uicontrol(f,...
		 'Style','text',...
		 'Position',[20 75 180 25],...
		 'Backgroundcolor',192/255*[1 1 1],...
		 'Foregroundcolor','k',...
		 'HorizontalAlignment','Left',...
       'String','The part of model to be inverted (M-)');
  M_handle=Xuiarray([235 65 110 50],maxrow,maxcol,0,0,...
       'push','p_index=1;imcmenuM;','',q,3200,f);
	uicontrol(f,...
		 'Style','text',...
		 'Position',[20 155 170 23],...
		 'Backgroundcolor',192/255*[1 1 1],...
		 'Foregroundcolor','k',...
		 'HorizontalAlignment','Left',...
       'String','Order of the diagonal filter :');
	uicontrol(f,...
		 'Style','frame',...
		 'Position',[190 157 200 24],...
		 'Foregroundcolor','k');
	order_handle=uicontrol(f,...
		 'Style','edit',...
		 'Position',[195 160 190 18],...
		 'Backgroundcolor','w',...
		 'Foregroundcolor','k',...
		 'String',num2str(order),...
 		 'UserData',[12],...
		 'Callback','');
	uicontrol(f,...
		 'Style','text',...
		 'Position',[20 125 170 23],...
		 'Backgroundcolor',192/255*[1 1 1],...
		 'Foregroundcolor','k',...
		 'HorizontalAlignment','Left',...
       'String','Diagonal filter time constants :');
	uicontrol(f,...
		 'Style','frame',...
		 'Position',[190 127 200 24],...
		 'Foregroundcolor','k');
    if length(Epsilon{1}) < maxcol
       Epsilon{1}(2:maxcol)=Epsilon{1}(1);
    end
    E_handle=uicontrol(f,...
		 'Style','edit',...
		 'Position',[195 130 190 18],...
		 'Backgroundcolor','w',...
		 'Foregroundcolor','k',...
		 'String',num2str(Epsilon{1}),...
 		 'UserData',[12],...
		 'Callback','Epsilon{1}=str2num(get(gco,''String''));');
    uicontrol(f,...
		  'Style','push',...
		  'Position',[40 20 100 25],...
		 'Backgroundcolor',192/255*[1 1 1],...
		  'String','Nyquist Test',...
        'Callback',['[n_circle]=detect_RHPZ(qnummt(1:n_dec,1:n_dec),',...
           'qdenmt(1:n_dec,1:n_dec),qdeadmt(1:n_dec,1:n_dec),1);']); 
		uicontrol(f,...
		  'Style','push',...
		  'Position',[180 20 80 25],...
		 'Backgroundcolor',192/255*[1 1 1],...
		  'String','Done',...
 		 'UserData',[3],...
		  'Callback','cbackM;'); 
		uicontrol(f,...
		  'Style','push',...
		  'Position',[300 20 80 25],...
		 'Backgroundcolor',192/255*[1 1 1],...
		  'String',' Cancel',...
		  'Callback','close');
    
   end
   
case 3200 % Part of model to be inverted for the MIMO system
[f]=crfig(50,50,520,300,['Part of model to be inverted (',num2str(row),',',...
   num2str(col),')'],'w','none','off');
set(f,'UserData',{[row col p_index],current_obj});
uicontrol(f,...
 'Style','text',...
 'Position',[20 230 400 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Left',...
 'String','Model   (edit) =  --------------------------------------------------------------------------------');
uicontrol(f,...
 'Style','text',...
 'Position',[20 120 200 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Left',...
 'String','Current model:');
uicontrol(f,...
 'Style','text',...
 'Position',[100 110 400 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Left',...
 'String','-------------------------------------------------------------------------------------');
uicontrol(f,'Style','edit',...
 'Position',[100 125 296 20],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'String',qnum{row,col,1,1});
uicontrol(f,'Style','edit',...
 'Position',[100 95 296 20],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Center',...
 'String',qden{row,col,1,1});
uicontrol(f,'Style','edit',...
 'Position',[415 110 100 20],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'Enable','off',...
 'HorizontalAlignment','Left',...
 'String',qdead{row,col,1,1});
uicontrol(f,...
 'Style','frame',...
 'Position',[100 250 296 24],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k');
uicontrol(f,...
 'Style','edit',...
 'Position',[105 253 286 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'String',qnums{row,col,1,1},...
 'UserData',[8],...
 'Callback',['TF_index=1;cbackM']);
uicontrol(f,...
 'Style','frame',...
 'Position',[100 205 296 24],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k');
uicontrol(f,...
 'Style','edit',...
 'Position',[105 208 286 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'String',qdens{row,col,1,1},...
 'UserData',[6],...
 'Callback',['TF_index=1;cbackM']);
uicontrol(f,...
 'Style','frame',...
 'Position',[420 228 80 24],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k');
uicontrol(f,...
 'Style','edit',...
 'Position',[425 231 70 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'String',qdeads{row,col,1,1},...
 'Enable','off');
uicontrol(f,...
  'Style','push',...
  'Position',[100 20 80 25],...
  'String','OK',...
  'UserData',[3],...
  'Callback',['TF_index=1;cbackM']);
uicontrol(f,...
  'Style','push',...
  'Position',[220 20 80 25],...
  'String',' Cancel',...
  'Callback','close');

case 3210 
   if row~=col
      return
   end
[f]=crfig(50,50,460,300,['model of Pd lag (',num2str(row),',',...
   num2str(col),')'],'w','none','off');
set(f,'UserData',{[row col p_index],current_obj});
uicontrol(f,...
 'Style','text',...
 'Position',[20 230 400 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Left',...
 'String','Pd*   (edit) =  --------------------------------------------------------------------------------');
uicontrol(f,...
 'Style','text',...
 'Position',[20 120 200 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Left',...
 'String','Current Pd* :');
uicontrol(f,...
 'Style','text',...
 'Position',[100 110 400 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Left',...
 'String','-------------------------------------------------------------------------------------');
uicontrol(f,'Style','edit',...
 'Position',[100 125 296 20],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'String','1');
uicontrol(f,'Style','edit',...
 'Position',[100 95 296 20],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Center',...
 'String',mtx2str(pd_prime{row,col,1,1},2));
uicontrol(f,...
 'Style','frame',...
 'Position',[100 250 296 24],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k');
uicontrol(f,...
 'Style','edit',...
 'Position',[105 253 286 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'String','1',...
 'UserData',[8],...
 'Callback','');
uicontrol(f,...
 'Style','frame',...
 'Position',[100 205 296 24],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k');
uicontrol(f,...
 'Style','edit',...
 'Position',[105 208 286 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'String',num2str(pd_prime{row,col,1,1}),...
 'UserData',[6],...
 'Callback',['TF_index=1;cbackM']);
uicontrol(f,...
  'Style','push',...
  'Position',[100 20 80 25],...
  'String','OK',...
  'UserData',[3],...
  'Callback',['TF_index=1;cbackM']);
uicontrol(f,...
  'Style','push',...
  'Position',[220 20 80 25],...
  'String',' Cancel',...
  'Callback','close');
 
case 3220
    for i=1:maxcol
       temp=mq_gen(1,1,dec_M(i),1,1,order(i),y);
       [qd{i,i},qdnum{i,i},qdden{i,i}]=qd_mat(pd_prime{i,i},temp,Epsilon{2}(i),order(i),y);
       temp=strrep(qd{i,i},'e',num2str(Epsilon{2}(i)));
       qd{i,i}=strrep(qd{i,i},'e',['e(' num2str(i) ')']);
       set(QD_handle(maxcol*(i-1)+i),'tooltipstring',temp);
    end
   view_MIMO_qd;
   
case 2500 % Feedback part controller
if maxrow<=1 & maxcol<=1
[f]=crfig(50,50,520,300,'Feedback Path Controller','w','none','off');
set(f,'UserData',{[row col p_index],current_obj});
uicontrol(f,...
 'Style','text',...
 'Position',[20 250 400 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Left',...
 'String','Invert (edit)  :    ------------------------------------------------------------------------------------- ');
uicontrol(f,...
 'Style','text',...
 'Position',[25 50 200 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Left',...
 'String','(Feedback path controller = q*qd )');
uicontrol(f,...
 'Style','text',...
 'Position',[50 85 200 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Left',...
 'String','q  = ');
uicontrol(f,...
 'Style','text',...
 'Position',[105 85 400 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Left',...
 'String','---------------------------------------------------------------------------');
uicontrol(f,...
 'Style','text',...
 'Position',[20 190 130 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Left',...
 'String','Order of the filter:');
uicontrol(f,...
 'Style','text',...
 'Position',[230 190 100 18],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k',...
 'HorizontalAlignment','Left',...
 'String','Filter time constant:');
uicontrol(f,...
 'Style','frame',...
 'Position',[330 187 70 24],...
 'Backgroundcolor','w',...
 'Foregroundcolor','k');
if length(Epsilon{row,col})==1
   Epsilon{row,col}=[Epsilon{row,col} Epsilon{row,col}];
end
uicontrol(f,...
 'Style','edit',...