doevent.m

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             'NewPhi = str2num(get(hUserInput3,''String'')); ', ...
             'NewdPhi = str2num(get(hUserInput4,''String'')); ', ...                   
             'if ~isempty(NewY), ', ...
             '   Y = max(-0.525, min(0.525, NewY)); ',...
             '   hSimIniPos = findobj(''Tag'',''txtSimIniPos'');',...
             '   dispinfo(''Y'',Y,hSimIniPos); ', ...
             'end;',...
             'if ~isempty(NewdY), ', ...
             '   dY = NewdY; ',...
             '   hSimIniVel = findobj(''Tag'',''txtSimIniVel'');',...
             '   dispinfo(''dY'',dY,hSimIniVel); ', ...
             'end;',...
             'if ~isempty(NewPhi), ', ...
             '   Phi = max(-12.6, min(12.6, NewPhi)); ',...
             '   hSimIniAng = findobj(''Tag'',''txtSimIniAng'');',...
             '   dispinfo(''Phi'',Phi,hSimIniAng); ', ...
             'end;',...
             'if ~isempty(NewdPhi), ', ...
             '   dPhi = NewdPhi; ',...
             '   hSimIniAVe = findobj(''Tag'',''txtSimIniAVe'');',...
             '   dispinfo(''dPhi'',dPhi,hSimIniAVe); ', ...
             'end;',...
             'delete(gcf); clear NewY NewdY NewPhi NewdPhi; draw(Y,Phi*pi/180);'];
   cmdCancel   = 'delete(gcf);';
   KeyPressFcn = [''];
   %
   %  Load and get a handle to the input window, command buttons and editbox.
   %
   h = figure('Visible','off','NumberTitle','off','MenuBar','none', ...
              'Name',strTitle,'Position',posBox,'Resize','off','Color',[.75 .75 .75] ,'KeyPressFcn',KeyPressFcn);
   uicontrol('Style','frame','String','','Position',posFrame,'BackgroundColor',[.75 .75 .75]);              
   uicontrol('Style','pushbutton','Units','pixels','Enable','on', ...
                          'Position',posOK,'String','OK','Callback',cmdOK );
   uicontrol('Style','pushbutton','Units','pixels','Enable','on', ...
             'Position',posCancel,'String','Cancel','Callback',cmdCancel );
   uicontrol('Style','text','String',strY,'Position',posYLbl, ...
             'BackgroundColor',[.75 .75 .75],'HorizontalAlignment','left');
   uicontrol('Style','text','String',strdY,'Position',posdYLbl, ...
             'BackgroundColor',[.75 .75 .75],'HorizontalAlignment','left');
   uicontrol('Style','text','String',strPhi,'Position',posPhiLbl, ...
             'BackgroundColor',[.75 .75 .75],'HorizontalAlignment','left');
   uicontrol('Style','text','String',strdPhi,'Position',posdPhiLbl, ...
             'BackgroundColor',[.75 .75 .75],'HorizontalAlignment','left');
   uicontrol('Style','edit','Position',posYEdit,'String',num2str(Y), ...
             'BackgroundColor','White','Callback','','Tag','hUserInput1');
   uicontrol('Style','edit','Position',posdYEdit,'String',num2str(dY), ...
             'BackgroundColor','White','Callback','','Tag','hUserInput2');
   uicontrol('Style','edit','Position',posPhiEdit,'String',num2str(Phi), ...
             'BackgroundColor','White','Callback','','Tag','hUserInput3');
   uicontrol('Style','edit','Position',posdPhiEdit,'String',num2str(dPhi), ...
             'BackgroundColor','White','Callback','','Tag','hUserInput4');
   set(h,'Visible','on');
   watchoff(fignumber);   

elseif strcmp(strEvent,'SimIniPos')
   cmdOK = [' watchon; global Y Phi;',...
            'hUserInput1 = findobj(''Tag'',''hUserInput1''); ',...   
            ' NewY = str2num(get(hUserInput1,''String'')); ', ...
            ' if ~isempty(NewY), ', ...
            '    NewY = max(-0.525, min(0.525, NewY)); ', ...
            '    Y = NewY; hSimIniPos = findobj(''Tag'',''txtSimIniPos'');', ...
            '    delete(gcf); dispinfo(''Y'',Y,hSimIniPos); draw(Y,Phi*pi/180); ', ...
            ' end; clear NewY; ' ];
   inputbox('Initial Cart Position','New value:  [m]',num2str(Y),cmdOK,'hUserInput1');
   watchoff(fignumber);

elseif strcmp(strEvent,'SimIniVel')
   cmdOK = [' watchon; global dY;',...
            'hUserInput1 = findobj(''Tag'',''hUserInput1''); ',...
            ' NewdY = str2num(get(hUserInput1,''String'')); ', ...
            ' if ~isempty(NewdY), ', ...
            '    dY = NewdY; hSimIniVel = findobj(''Tag'',''txtSimIniVel'');', ...
            '    delete(gcf); dispinfo(''dY'',dY,hSimIniVel);', ...
            ' end; clear NewdY;' ];
   inputbox('Initial Cart Velocity','New value:  [m/s]',num2str(dY),cmdOK,'hUserInput1');
   watchoff(fignumber);

elseif strcmp(strEvent,'SimIniAng')
   cmdOK = [' watchon; global Y Phi;',...
            'hUserInput1 = findobj(''Tag'',''hUserInput1''); ',...
            ' NewPhi = str2num(get(hUserInput1,''String'')); ', ...
            ' if ~isempty(NewPhi), ', ...
            '    NewPhi = max(-12.6, min(12.6, NewPhi)); ', ...
            '    Phi = NewPhi; hSimIniAng = findobj(''Tag'',''txtSimIniAng'');', ...
            '    delete(gcf); dispinfo(''Phi'',Phi,hSimIniAng); draw(Y,Phi*pi/180);', ...
            ' end; clear NewPhi; ' ];
   inputbox('Initial Ball Angle','New value:  [deg]',num2str(Phi),cmdOK,'hUserInput1');
   watchoff(fignumber);

elseif strcmp(strEvent,'SimIniAVe')
   cmdOK = [' watchon; global dPhi;',...
            'hUserInput1 = findobj(''Tag'',''hUserInput1''); ',...
            ' NewdPhi = str2num(get(hUserInput1,''String'')); ', ...
            ' if ~isempty(NewdPhi), ', ...
            '    dPhi = NewdPhi; hSimIniAVe = findobj(''Tag'',''txtSimIniAVe'');', ...
            '    delete(gcf); dispinfo(''dPhi'',dPhi,hSimIniAVe);', ...
            ' end; clear NewdPhi;' ];
   inputbox('Initial Ball Velocity','New value:  [deg/s]',num2str(dPhi),cmdOK,'hUserInput1');
   watchoff(fignumber);

elseif strcmp(strEvent,'SimIniDef')
   %
   %  Set the initial values to their defaults.
   %
   Y = 0;        dY = 0;
   Phi = -12;    dPhi = 0;
   %
   %  Update the initial values displayed in the main window.
   %
   hSimIniPos = findobj('Tag','txtSimIniPos');
   hSimIniVel = findobj('Tag','txtSimIniVel');
   hSimIniAng = findobj('Tag','txtSimIniAng');
   hSimIniAVe = findobj('Tag','txtSimIniAVe');
   dispinfo('Y',Y,hSimIniPos);dispinfo('dY',dY,hSimIniVel);
   dispinfo('Phi',Phi,hSimIniAng);dispinfo('dPhi',dPhi,hSimIniAVe);
   %
   %  Redraw the cart and ball to reflect new initial values.
   %
   draw(Y,Phi/180*pi);
   watchoff(fignumber);

elseif strcmp(strEvent,'SimStart'),
   %
   %  Call the simulation routine and begin simulation/animation.
   %
   hbtnSimStart = findobj('Tag','btnSimStart');
   set(hbtnSimStart,'String','Stop','Callback','doevent(''SimStop'')','Value',1);
   Gains = [G1,G2,G3,G4,GU1,GU2];
   simulate(Gains,Y,dY,Phi,dPhi,Ts,Ttot,SOCLR,SOCTC,SOCDP,ConType,CartRules,BallRules);
   
   set(hbtnSimStart,'String','Start','Callback','doevent(''SimStart'')','Value',0);
   %
   %  Now that we have some results, we can enable the Results menu and
   %  the Replay command button and menu command.
   %
   hmnuSimReplay = findobj('Tag','mnuSimReplay');
   hReplayButton = findobj('Tag','btnSimReplay');
   hmnuRes = findobj('Tag','mnuResults');
   set(hmnuSimReplay,'Enable','on');
   set(hReplayButton,'Enable','on');
   set(hmnuRes,'Enable','on');
   watchoff(fignumber);
   
elseif strcmp(strEvent,'SimStop'),
   hbtnSimStart = findobj('Tag','btnSimStart');
   set(hbtnSimStart,'Value',0);

elseif strcmp(strEvent,'SimReplay'),
   %
   %  Declare which global variables need to be accessible and load
   %  simulation history.
   %
   load history; 
   hTime = findobj('Tag','txtTime');   
   hCart = findobj('Tag','objCart');
   hBall = findobj('Tag','objBall');
   set([hCart hBall],'EraseMode','background');

   %
   %  Run through the animation again, using X1(t) and X3(t).
   %  Also, update the current time display in the main window.
   %
   for Pass=1:length(AllX1),
      draw(AllX1(Pass),AllX3(Pass));
      set(hTime,'String',sprintf(' Time:    %5.2f [s]',Pass*Ts));
   end;
   set([hCart hBall],'EraseMode','normal');
   watchoff(fignumber);
   

%##############################################################################
%
%  RESULTS MENU EVENTS
%
elseif strcmp(strEvent,'ResCartPos'),
   %
   %  Declare which global variables need to be accessible and load
   %  simulation history.
   %
   load history; 
   window('Cart Position Y','figure'); plot(t,AllX1,'k-'); grid;
   title(['Cart Position Y, ' ConType ' Controller, IAE = ', num2str(sum(abs(AllX1))*Ts) ]);
   xlabel('Time [s]'); ylabel('Y [m]');
   watchoff(fignumber);

elseif strcmp(strEvent,'ResCartCtrl'),
   load history; 
   window('Cart Control Signal U1','figure');
   % plot(t,AllU1,'-k',t,AllX1*G1*GU1,'--r',t,AllX2*G2*GU1,'-.r');
   plot(t,AllU1,'-k');grid;
   % title([ConType ' Controller: - U1, -- Y稧1稧U1, -. dY稧2稧U1']);
   title([ConType ' Controller: U1']);
   xlabel('Time [s]'); ylabel('U1 [volts]');
   watchoff(fignumber);

elseif strcmp(strEvent,'ResCartPosCtrl'),
   load history; 
   window('Cart Position Y and Control Signal U1','figure');
   subplot(211); plot(t,AllX1,'k'); grid;
   title(['Cart Position Y, ' ConType ' Controller' ]); ylabel('Y [m]');
   subplot(212); plot(t,AllU1,'k'); title('Control Signal U1');
   xlabel('Time [s]'); ylabel('U1 [Volt]'); grid ;
   watchoff(fignumber);

elseif strcmp(strEvent,'ResCartCtrlSurf'),
   load fzytable; load history; 
   window('Cart States and Control Surface','figure');
   meshz(-100:10:100,-100:10:100,CartTable',CartTable*0);
   colormap([1 0 0]);
   hold on;
   % Correct for wrong drawing in Matlab 4 and earlier
   s=version;
   if (str2num(s(1))<5)
      [Xxx,Yyy,Zzz] = frontpts(G1*AllX1,G2*AllX2,AllU1/GU1,.05) ;
   else
      Xxx = G1*AllX1;
      Yyy = G2*AllX2;
      Zzz = AllU1/GU1;
   end;
   plot3(Xxx,Yyy,Zzz,'k-') ;
   text(Xxx(1),Yyy(1),Zzz(1)+10,'1') ;
   text(Xxx(2),Yyy(2),Zzz(2)+10,'2') ;
   text(Xxx(3),Yyy(3),Zzz(3)+10,'3') ;
   % plot3(G1*AllX1,G2*AllX2,AllU1/GU1+5,'y-');
   % hold on; plot3(G1*AllX1,G2*AllX2,AllU1/GU1+5,'y*');
   title('Cart State and Control Surface');
   xlabel('Position'); ylabel('Velocity'); zlabel('Control');
   axis([-100 100 -100 100 -200 200]);view([1,-1,1])
   clear Xxx Yyy Zzz;
   watchoff(fignumber);

elseif strcmp(strEvent,'ResCartPhase'),
   load history; 
   window('Cart Phase Plot','figure');
   plot(AllX1*G1,AllX2*G2,'k');
   text(AllX1(1)*G1,AllX2(1)*G2,'1') ;
   text(AllX1(2)*G1,AllX2(2)*G2,'2') ;
   text(AllX1(3)*G1,AllX2(3)*G2,'3') ;
   title(['Cart Phase Plot, ' ConType ' Controller' ]);
   xlabel('Position稧1'); ylabel('Velocity稧2'); grid;
   axis([-100 100 -100 100]);
   watchoff(fignumber);

elseif strcmp(strEvent,'ResBallAng'),
   load history; 
   window('Ball Angle Phi','figure');
   plot(t,180*AllX3/pi,'k');
   IAEB = sum(abs(AllX3))*Ts*180/pi ;
   title(['Ball Angle, ' ConType ' Controller, IAE = ', num2str(IAEB) ]);
   grid; xlabel('Time [s]'); ylabel('Phi [deg]');
   watchoff(fignumber);

elseif strcmp(strEvent,'ResBallCtrl'),
   load history; 
   window('Ball Control Signal U2','figure');
   % plot(t,AllU2,'-k',t,AllX3*G3*GU2,'--r',t,AllX4*G4*GU2,'-.r');
   % title([ConType ' Controller: - U2, -- Y稧3稧U2, -. dY稧4稧U2']);
   plot(t,AllU2,'-k');grid;
   title([ConType ' Controller: U2']);
   xlabel('Time [s]'); ylabel('U2 [volts]');
   watchoff(fignumber);

elseif strcmp(strEvent,'ResBallAngCtrl'),
   load history; 
   window('Ball Angle Phi and Control Signal U2','figure');
   subplot(211); plot(t,AllX3,'k'); grid;
   title(['Ball Angle, ' ConType ' Controller' ]); ylabel('Phi [rad]');
   subplot(212); plot(t,AllU2,'k'); title('Control Signal U2');
   xlabel('Time [s]'); ylabel('U2 [Volt]'); grid ;
   watchoff(fignumber);

elseif strcmp(strEvent,'ResBallCtrlSurf'),
   load fzytable; load history; 
   window('Ball States and Control Surface','figure');
   meshz(-100:10:100,-100:10:100,BallTable',BallTable*0);
   colormap([1 0 0]);
   hold on;
   % Correct for wrong drawing in Matlab 4 and earlier
   s=version;
   if (str2num(s(1))<5)
      [Xxx,Yyy,Zzz] = frontpts(G3*AllX3,G4*AllX4,AllU2/GU2,.05) ;
   else
      Xxx = G3*AllX3;
      Yyy = G4*AllX4;
      Zzz = AllU2/GU2;
   end;
   plot3(Xxx,Yyy,Zzz,'k-') ;
   text(Xxx(1),Yyy(1),Zzz(1)+10,'1') ;
   text(Xxx(2),Yyy(2),Zzz(2)+10,'2') ;
   text(Xxx(3),Yyy(3),Zzz(3)+10,'3') ;
   % plot3(G3*AllX3,G4*AllX4,AllU2/GU2+5,'y-');
   % hold on; plot3(G3*AllX3,G4*AllX4,AllU2/GU2+5,'y*');
   title('Ball State and Control Surface');
   xlabel('Angle'); ylabel('Angular Velocity'); zlabel('Control');
   axis([-100 100 -100 100 -200 200]);view([1,-1,1])
   clear Xxx Yyy Zzz;
   watchoff(fignumber);

elseif strcmp(strEvent,'ResBallPhase'),
   load history; 
   window('Ball Phase Plot','figure');
   plot(AllX3*G3,AllX4*G4,'k');
   text(AllX3(1)*G3,AllX4(1)*G4,'1') ;
   text(AllX3(2)*G3,AllX4(2)*G4,'2') ;
   text(AllX3(3)*G3,AllX4(3)*G4,'3') ;
   title(['Ball Phase Plot, ' ConType ' Controller' ]);
   xlabel('Angle稧3'); ylabel('Velocity稧4'); grid;
   axis([-100 100 -100 100]);
   watchoff(fignumber);

elseif strcmp(strEvent,'ResControl'),
   load history; 
   window('Control Signal Components U1 + U2','figure');
   plot(t,AllU,'-k',t,AllU1,'--r',t,AllU2,'-.r');grid;
   title(['Control Signals: - Total U, -- Cart U1, -. Ball U2, ' ConType]);
   xlabel('Time [s]'); ylabel('U, U1, U2 [volts]');
   watchoff(fignumber);

elseif strcmp(strEvent,'ResStates'),
   load history; 
   window('State Variables','figure');
   subplot(221); plot(t,AllX1,'k'); grid;
                 %title(['Cart Position, ' ConType ' Controller']);
                 title([ConType ' Controller']);
                 ylabel('Y [m]');
   subplot(222); plot(t,AllX2,'k'); grid;
                 % title('Cart Velocity');
                 ylabel('YDot [m/s]');
   subplot(223); plot(t,AllX3,'k'); grid;
                 % title('Ball Position');
                 xlabel('Time [s]'); ylabel('Phi [rad]');
   subplot(224); plot(t,AllX4,'k'); grid;
                 % title('Ball Velocity');
                 xlabel('Time [s]'); ylabel('PhiDot [rad/s]');
   watchoff(fignumber);

else 
   delete(gcf);
   error(['An unknow event occured.  Event ''',strEvent,''' not recognized']);
end; % Phew!