test.m

内模控制器（IMC）工具箱。包括参数整定、PID控制器参数转换等

%MSF Controller
%-----------------------------------------------
[input_delay,dec_M,qdeadmt]=dtarray(Xmdeadmt,y);
[T,qdeadmt]=transform(qdeadmt);
[Ksp,K,Kdelay,Kspstr,Kstr,Ds,Dstr]=msfgainM(q,order,Epsilon{1,1},Xmdeadmt,qnummt,qdenmt,y);

%Model
%------------------------------------------------
n=length(order);
for i=1:n
   for j=1:n
      Mnum{i,j}=mt2poly(Xmnummt{i,j},y);
      Mden{i,j}=mt2poly(Xmdenmt{i,j},y);
      Mdead{i,j}=mt2poly(Xmdeadmt{i,j},y);
   end
end

%Process
%-----------------------------------------------
if any(isCellempty(Xpnummt)) | any(isCellempty(Xpdenmt))
   Pnum=Mnum;
   Pden=Mden;
   Pdead=Mdead;
else
for i=1:n
   for j=1:n
      Pnum{i,j}=mt2poly(Xpnummt{i,j},x);
      Pden{i,j}=mt2poly(Xpdenmt{i,j},x);
      Pdead{i,j}=mt2poly(Xpdeadmt{i,j},x);
   end
end
end
%Pd
%------------------------------------------------
for i=1:n
   for j=1:n
      Pdnum{i,j}=mt2poly(Xpdnummt{i,j},y);
      Pdden{i,j}=mt2poly(Xpddenmt{i,j},y);
      Pddead{i,j}=0;
   end
end