enorm.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

function f=enorm_constr(e,x,y,Mp,w,ps,ms,qs,order,input_delay,pds,qds)
% Complementary sensitivity function for the MIMO system
% Xwc_ub_w Xwc_lb_w are the upper and lower bound tables
% with a structure Xwc_ub_w{i,j}= matrix of many rows of [magnitude w x] 
% global Xwc_ub_w Xwc_lb_w
if iscell(e)
   e=e{1};
end
f=norm(e);