convertdata2.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

%convert data from the old cascade system to the new data
maxrow=1; maxcol=1; Epsilon={Epsilon};
p={p};  m={m}; n_of_TF=col;
if findstr('imc1',fun)
   degree_freedom=1;
else
   degree_freedom=2;
end
if exist('p2')
   p{1,1,2}={p2};
   m{1,1,2}={m2};
end
if n_of_TF==1
   Xpnums=Xpnums(:,1);
   Xpdens=Xpdens(:,1);
   Xpdeads=Xpdeads(:,1);
   Xmnums=Xmnums(:,1);
   Xmdens=Xmdens(:,1);
   Xmdeads=Xmdeads(:,1);
end
Xpnums=shiftdim(Xpnums',-2);Xpdens=shiftdim(Xpdens',-2);Xpdeads=shiftdim(Xpdeads',-2); 
Xmnums=shiftdim(Xmnums',-2);Xmdens=shiftdim(Xmdens',-2);Xmdeads=shiftdim(Xmdeads',-2); 
mds=num2str(Tcanc(2,:));
q={q}; qs={qs}; qd={qd};
qnums={cnums}; qdens={cdens}; 
qfnums={cfnums}; qfdens={cfdens}; 
qnummt={cnummt}; qdenmt={cdenmt}; 
qfnummt={cfnummt}; qfdenmt={cfdenmt}; 
qnum={cnum}; qden={cden}; order={order}; qdenc={cdenc}; 
qfnum={cfnum}; qfden={cfden}; F_order={orderf}; qfdenc={cfdenc};
qfs={qfs}; qf={qf};

if cascade
   Xpdnums={'1'};
   Xpddens={'1'};
else
   Xpdnums={'1'};
   Xpddens={strrep(pds,'0','')};
end
vub=str2num(vubs);
vlb=str2num(vlbs);

clear  X  Y Scalars cnums cdens cnummt cdenmt cnum cden cdenc cfnums cfdens cfnummt cfdenmt 
clear cfnum cfden orderf cfdenc ys d_through_p1 mnums mdens mdeads vubs vlbs Xpnum Xpden Xpdead
clear Xpnummt Xpdenmt Xpdeadmt Xmnum Xmden Xmdead Xmnummt Xmdenmt Xmdeadmt col