ga_f34.m

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function PI=GA_f34(x)
% Fitness max. function evaluation of Example 3-4

% PenChen Chou, 7-8-2001

global MIN_offset MUL_factor ROBUST Kp Ki Kd K a1 a2 Ts Emin Ettl

Kp=GA_round4dp(x(1));
Ki=GA_round4dp(x(2));
Kd=GA_round4dp(x(3));
Ettl=0;

if ROBUST==0
    K=10;a1=3;a2=2;Err_scale=2;
    [tout, X, Y]=sim('ex34_dpid',[0 2]); % see [tout and yout]
    yout=Y(:,2); Err=Y(:,3); N=length(Err); Err=Err(N); 
    Ettl=Ettl+Err; Stop=sum(Y(:,4));
    if Stop>0, Ettl=Ettl+2000; end;
    if max(yout)>1.15; Ettl=Ettl+500; end;
else    
Err_scale=1;    
% Round #1
K =12.5+7.5*(rand-0.5)*2;
a1=3.75+2.25*(rand-0.5)*2;
a2=2.50+1.5*(rand-0.5)*2;
[tout, X, Y]=sim('ex34_dpid',[0 2]); 
yout=Y(:,2); Err=Y(:,3); N=length(Err); Err=Err(N); 
Ettl=Ettl+Err; Stop=sum(Y(:,4));
if Stop>0, Ettl=Ettl+2000; end;
if max(yout)>1.15; Ettl=Ettl+500; end;

% Round #2
K =10;
a1=3;
a2=2;
[tout, X, Y]=sim('ex34_dpid',[0 2]); 
yout=Y(:,2); Err=Y(:,3); N=length(Err); Err=Err(N); 
Ettl=Ettl+Err; Stop=sum(Y(:,4));
if Stop>0, Ettl=Ettl+2000; end;
if max(yout)>1.15; Ettl=Ettl+500; end;

% Round #3
K =5;
a1=1.5;
a2=1;
[tout, X, Y]=sim('ex34_dpid',[0 2]); 
yout=Y(:,2); Err=Y(:,3); N=length(Err); Err=Err(N); 
Ettl=Ettl+Err; Stop=sum(Y(:,4));
if Stop>0, Ettl=Ettl+2000; end;
if max(yout)>1.15; Ettl=Ettl+500; end;

% Round #4
K =20;
a1=1.5;
a2=1;
[tout, X, Y]=sim('ex34_dpid',[0 2]); 
yout=Y(:,2); Err=Y(:,3); N=length(Err); Err=Err(N); 
Ettl=Ettl+Err; Stop=sum(Y(:,4));
if Stop>0, Ettl=Ettl+2000; end;
if max(yout)>1.15; Ettl=Ettl+500; end;

% Round #5
K =20;
a1=6;
a2=4;
[tout, X, Y]=sim('ex34_dpid',[0 2]); 
yout=Y(:,2); Err=Y(:,3); N=length(Err); Err=Err(N); 
Ettl=Ettl+Err; Stop=sum(Y(:,4));
if Stop>0, Ettl=Ettl+2000; end;
if max(yout)>1.15; Ettl=Ettl+500; end;
end; % End of ROBUST check

Ettl=Err_scale*Ettl;
Ettl=MUL_factor*Ettl;
if MIN_offset~=0
    if Ettl>=MIN_offset, Ettl=MIN_offset-1; end;
    PI=MIN_offset-Ettl;
end;    

if Ettl<Emin & Stop==0, 
    Emin=Ettl; 
    fprintf('\n==>Kp=%f;Ki=%f;Kd=%f;E_total=%f;\n',...
        Kp,Ki,Kd,Ettl);
else
    fprintf('>');
end;