usercascon.m

Software for design and tuninig of SISO and MIMO contol systems

function [g,h]=imc2com(x,y,E,signo,w,n,Mp,p,m,q,qf,qd,Tcanc)

if n > 0
 s=sqrt(-1)*x(n);
elseif n == 0
 s=sqrt(-1)*w;
end
plant(1)=eval(p(1,:));
plant(2)=eval(p(2,:));
model(1)=eval(m(1,:));
model(2)=eval(m(2,:));
e=E(1);
cont(1)=eval(q);
e=E(2);
cont(2)=eval(qf);
f=abs(plant(1)*plant(2)*cont(1)/(1+(plant(2)-model(2))*cont(2)+(plant(1)-model(1))*plant(2)*cont(1)));         % objective function
if Mp > 0
 g=[f-3*Mp];                                      % inequality constraint
elseif Mp == 0
 g=[];
end;
h=[];