imc2constr.m

Software for design and tuninig of SISO and MIMO contol systems

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

if n > 0
 s=sqrt(-1)*x(n);
elseif n == 0
 s=sqrt(-1)*w;
end

plant=eval(p);
model=eval(m);
e=E(1);
cont1=eval(q);
e=E(2);
cont2=eval(qf);
qd_part=eval(qd);
f=abs(plant*cont1/(1+(plant-model)*cont2*qd_part));      % objective function
g=[f-3*Mp];                                      % inequality constraint
h=[];