ga_f671.m

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function PI=GA_f671(x)
% Fitness max. function evaluation of Example 6.7-1

% PenChen Chou, Aug. 16, 2001

global MIN_offset MUL_factor ROBUST Kp Ki Kd K a1 a2 MDL FT Emin
global ERR1 ERR2 ERR3 ERR4 ERR5 MAIN_loop

Kp=GA_round4dp(x(1));
Ki=GA_round4dp(x(2));
Kd=GA_round4dp(x(3));
PI=0;
ERR1=0;ERR2=0;ERR3=0;ERR4=0;ERR5=0;

if ROBUST==0
    Err_scale=1;
    [T X Y]=sim(MDL,[0 FT]); 
    err=Y(:,3); N=length(err);err=err(N);
    stp=Y(:,4); stp=stp(N);
    ERR1=err+1000*stp;
%    if max(yout)>1.15; PI=PI+500; end;
    K=17661.1;a1=29.73;a2=21.033;
    K=2.5*K; a1=0.4*a1; a2=0.4*a2;
    [T X Y]=sim(MDL,[0 FT]); 
    err=Y(:,3); N=length(err);err=err(N);
    stp=Y(:,4); stp=stp(N);
    ERR2=100*err+1000*stp;
else    
    Err_scale=1;    
    collect_errors;
    PI=Err_scale*PI;
end; % End of ROBUST check
ERR=ERR1+ERR2+ERR3+ERR4+ERR5;
PI=ERR;
K=17661.1;a1=29.73;a2=21.033;

if Emin>PI
    Emin=PI; 
    fprintf('\n==>Emin=%10.4f;Kp=%10.6f;Ki=%10.6f;Kd=%10.6f;\n',...
       Emin,Kp,Ki,Kd);
else
    fprintf('>');
end;    
if MIN_offset~=0
    PI=MIN_offset-PI;
end;    
PI=MUL_factor*PI;