imc1constr.m

Software for design and tuninig of SISO and MIMO contol systems

function [g,h]=imc1com(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

if length(E) == 1
 E(2)=E(1);
end

e=E(1);
qr=eval(q);
e=E(2);
cont=eval(q);
if isempty(p)
   p=m;
end
plant=eval(p);
model=eval(m);
cont =eval(q);
f=abs(plant*qr/(1+(plant-model)*cont));         % objective function
                                                        % constraints
g=[f-3*Mp];                                      % inequality constraint
h=[];