cbackm.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

   set(handle(13),'String',Xmdead{row,col,2,p_index});
   set(handle(20),'String',multi_tf(row,col,Xmnum,Xmden,Xmdead,p_index));
   end
   
case (8 + 3200)
	not_save_yet=1;
   set(main_fig,'Name',['Internal Model Control Tuning - [' datadir NAMEFILE '*]']);
   set(current_obj,'BackgroundColor',192/255*[1 1 1]);
   qnums{row,col,TF_index,p_index}=get(gcbo,'String');
	[qnummt{row,col,TF_index,p_index},qunidn{row,col,TF_index,p_index}]=ms2mtx1(qnums{row,col,TF_index,p_index});
%	[m_umax,Xmnummt,Xmdenmt,Xmdeadmt]=cnt_uncM(Xmnummt,Xmdenmt,Xmdeadmt,Xmunidn,Xmunidd,Xmuniddt);
   for l=1:cascade+1
   for j=1:maxrow
   for i=1:maxcol
   for k=1:n_of_TF
   	[qnum{j,i,k,l}]=mtx2str(qnummt{j,i,k,l},2);
   	[qden{j,i,k,l}]=mtx2str(qdenmt{j,i,k,l},2);
   	[qdead{j,i,k,l}]=mtx2str(qdeadmt{j,i,k,l},4);
	end;end;end;end
	set(handle(11),'String',qnum{row,col,1,p_index});
	set(handle(10),'String',qden{row,col,1,p_index});
	set(handle(9),'String',qdead{row,col,1,p_index});

case (6 + 2200)
	not_save_yet=1;
   set(main_fig,'Name',['Internal Model Control Tuning - [' datadir NAMEFILE '*]']);
   temp=get(gcbo,'String');
   if any(isletter(temp)) & ~all(temp(find(isletter(temp)))=='u')
      errordlg('Syntax error! Only numerical values and a letter ''u'' are allowed. (See user manual).');
      return
   end
	Xmdens{row,col,TF_index,p_index}=temp;
	[Xmdenmt{row,col,TF_index,p_index},Xmunidd{row,col,TF_index,p_index}]=ms2mtx1(Xmdens{row,col,TF_index,p_index});
	[m_umax,Xmnummt,Xmdenmt,Xmdeadmt]=cnt_uncM(Xmnummt,Xmdenmt,Xmdeadmt,Xmunidn,Xmunidd,Xmuniddt);
   %set the conditional variable of unstable
   if maxcol==1
   if any(roots(mt2poly(Xmdenmt{row,col,TF_index,p_index},y)) > 0)
      p_unstable=1; 
   else 
      p_unstable=0;
   end
   end
   for l=1:cascade+1
   for j=1:maxrow
   for i=1:maxcol
   for k=1:n_of_TF
   	[Xmnum{j,i,k,l}]=mtx2str(Xmnummt{j,i,k,l},2);
   	[Xmden{j,i,k,l}]=mtx2str(Xmdenmt{j,i,k,l},2);
   	[Xmdead{j,i,k,l}]=mtx2str(Xmdeadmt{j,i,k,l},4);
	end;end;end;end
	set(handle(12),'String',Xmnum{row,col,1,p_index});
	set(handle(11),'String',Xmden{row,col,1,p_index});
	set(handle(10),'String',Xmdead{row,col,1,p_index});
   if n_of_TF==2
	set(handle(15),'String',Xmnum{row,col,2,p_index});
	set(handle(14),'String',Xmden{row,col,2,p_index});
   set(handle(13),'String',Xmdead{row,col,2,p_index});
   set(handle(20),'String',multi_tf(row,col,Xmnum,Xmden,Xmdead,p_index));
   end
   
case (6 + 3200)
	not_save_yet=1;
   set(main_fig,'Name',['Internal Model Control Tuning - [' datadir NAMEFILE '*]']);
	qdens{row,col,TF_index,p_index}=get(gcbo,'String');
	[qdenmt{row,col,TF_index,p_index},qunidd{row,col,TF_index,p_index}]=ms2mtx1(qdens{row,col,TF_index,p_index});
	%[m_umax,Xmnummt,Xmdenmt,Xmdeadmt]=cnt_uncM(Xmnummt,Xmdenmt,Xmdeadmt,Xmunidn,Xmunidd,Xmuniddt);
   %set the conditional variable of unstable
   if any(roots(mt2poly(qdenmt{row,col,TF_index,p_index},y)) > 0)
      p_unstable=1; 
   else 
      p_unstable=0;
   end
   for l=1:cascade+1
   for j=1:maxrow
   for i=1:maxcol
   for k=1:n_of_TF
   	[qnum{j,i,k,l}]=mtx2str(qnummt{j,i,k,l},2);
   	[qden{j,i,k,l}]=mtx2str(qdenmt{j,i,k,l},2);
   	[qdead{j,i,k,l}]=mtx2str(qdeadmt{j,i,k,l},4);
	end;end;end;end
	set(handle(11),'String',qnum{row,col,1,p_index});
	set(handle(10),'String',qden{row,col,1,p_index});
	set(handle(9),'String',qdead{row,col,1,p_index});
   
case (6 + 3210)
	not_save_yet=1;
   set(main_fig,'Name',['Internal Model Control Tuning - [' datadir NAMEFILE '*]']);
   pd_prime{row,col}=str2num(get(gcbo,'String'));
   pd_prime_str{row,col}=['1/' mtx2str(pd_prime{row,col},1)];
   set(handle(7),'String',mtx2str(pd_prime{row,col},1));
   set(PD_handle(maxcol*(row-1)+col),'tooltipstring',pd_prime_str{row,col});
   
case (3 + 3210)
   close
   for i=1:maxcol
       temp=mq_gen(1,1,dec_M(i),1,1,order(i),y);
       [qd{i,i},qdnum{i,i},qdden{i,i}]=qd_mat(pd_prime{i,i},temp,Epsilon{2}(i),order(i),y);
       temp=strrep(qd{i,i},'e',num2str(Epsilon{2}(i)));
       qd{i,i}=strrep(qd{i,i},'e',['e(' num2str(i) ')']);
       set(QD_handle(maxcol*(i-1)+i),'tooltipstring',temp);
    end
    
 case (4 + 2200)
	not_save_yet=1;
   set(main_fig,'Name',['Internal Model Control Tuning - [' datadir NAMEFILE '*]']);
   temp=get(gcbo,'String');
   if any(isletter(temp)) & ~all(temp(find(isletter(temp)))=='u')
      errordlg('Syntax error! Only numerical values and a letter ''u'' are allowed. (See user manual).');
      return
   end
	Xmdeads{row,col,TF_index,p_index}=temp;
	[Xmdeadmt{row,col,TF_index,p_index},Xmuniddt{row,col,TF_index,p_index}]=ms2mtx1(Xmdeads{row,col,TF_index,p_index});
	[m_umax,Xmnummt,Xmdenmt,Xmdeadmt]=cnt_uncM(Xmnummt,Xmdenmt,Xmdeadmt,Xmunidn,Xmunidd,Xmuniddt);
   for l=1:cascade+1
   for j=1:maxrow
   for i=1:maxcol
   for k=1:n_of_TF
   	[Xmnum{j,i,k,l}]=mtx2str(Xmnummt{j,i,k,l},2);
   	[Xmden{j,i,k,l}]=mtx2str(Xmdenmt{j,i,k,l},2);
   	[Xmdead{j,i,k,l}]=mtx2str(Xmdeadmt{j,i,k,l},4);
	end;end;end;end
	set(handle(12),'String',Xmnum{row,col,1,p_index});
	set(handle(11),'String',Xmden{row,col,1,p_index});
	set(handle(10),'String',Xmdead{row,col,1,p_index});
   if n_of_TF==2
	set(handle(15),'String',Xmnum{row,col,2,p_index});
	set(handle(14),'String',Xmden{row,col,2,p_index});
   set(handle(13),'String',Xmdead{row,col,2,p_index});
   set(handle(20),'String',multi_tf(row,col,Xmnum,Xmden,Xmdead,p_index));
   end
   
case (3 + 2200)
   for i=1:maxrow
      for j=1:maxcol
         if ~strcmp(Xmden{i,j,1,p_index},'')
            temp=['(' Xmden{i,j,1,p_index} ')'];
            if strcmp(Xmdead{i,j,1,p_index},'')
               m{i,j,p_index}=[Xmnum{i,j,1,p_index} '/' temp];
            else
               m{i,j,p_index}=[Xmnum{i,j,1,p_index} '/' temp '*' Xmdead{i,j,1,p_index}];
            end
         else
            if strcmp(Xmdead{i,j,1,p_index},'')
               m{i,j,p_index}=Xmnum{i,j,1,p_index};
            else
               m{i,j,p_index}=[Xmnum{i,j,1,p_index} '*' Xmdead{i,j,1,p_index}];
            end
         end
         if p_index==1
            temp=maxrow*maxcol+maxcol*(i-1)+j;
         else
            temp=3*maxrow*maxcol+maxcol*(i-1)+j;
         end
         set(diag_handle(temp),'TooltipString',m{i,j,p_index});
      end
   end
   close;
   
case (3 + 3200)
    temp1=zeros(maxrow,maxcol);
    for i=1:maxrow
       for j=1:maxcol
          temp1(i,j)=length(mt2poly(qdenmt{i,j,1,1},y))-length(mt2poly(qnummt{i,j,1,1},y));
          qdead{i,j,1,1}=mtx2str(qdeadmt{i,j,1,1},3);
          qdeads{i,j,1,1}=num2str(qdeadmt{i,j,1,1},3);
         if ~strcmp(qden{i,j,1,1},'')
            temp=['(' qden{i,j,1,1} ')'];
            if strcmp(qdead{i,j,1,1},'')
               q{i,j,1}=[qnum{i,j,1,1} '/' temp];
            else
               q{i,j,1}=[qnum{i,j,1,1} '/' temp '*' qdead{i,j,1,1}];
            end
         else
            if strcmp(qdead{i,j,1,1},'')
               q{i,j,1}=qnum{i,j,1,1};
            else
               q{i,j,1}=[qnum{i,j,1,1} '*' qdead{i,j,1,1}];
            end
         end
         temp=maxcol*(i-1)+j;
         set(M_handle(temp),'TooltipString',q{i,j,1});
      end
   end
   order=max(temp1');
   set(order_handle,'string',num2str(order));
   close
   
case (2 + 2200)
   for i=1:maxrow
      for j=1:maxcol
         m{i,j,p_index}=multi_tf(i,j,Xmnum,Xmden,Xmdead,p_index);
         if p_index==1
            temp=maxrow*maxcol+maxcol*(i-1)+j;
         else
            temp=3*maxrow*maxcol+maxcol*(i-1)+j;
         end
         set(diag_handle(temp),'TooltipString',m{i,j,p_index});
      end
   end
  close; 
%Single loop forward path controller
%Sigle degree of freedom

case (8 + 2300)
not_save_yet=1;
set(main_fig,'Name',['Internal Model Control Tuning - [' datadir NAMEFILE '*]']);
set(current_obj,'BackgroundColor',192/255*[1 1 1]);
qnums{row,col}=get(handle(8),'String');  
[qnummt{row,col}]=ms2mtx1(qnums{row,col});
[m_umax,qnummt,qdenmt]=cnt_uncM(qnummt,qdenmt,{0},{0});
[qnum{row,col}]=mtx2str(qnummt{row,col},2);
[qden{row,col}]=mtx2str(qdenmt{row,col},2);
if strcmp(qnum{row,col},'1')
   if order{row,col} > 1
      qdenc{row,col}=['(e*s+1)^' num2str(order{row,col})];
   elseif order{row,col}==1
      qdenc{row,col}=['(e*s+1)'];
   else
      qdenc{row,col}=qnum{row,col};
   end
else
   if order{row,col} > 1
      qdenc{row,col}=[qnum{row,col} '*(e*s+1)^' num2str(order{row,col})];
   elseif order{row,col}==1
      qdenc{row,col}=[qnum{row,col} '*(e*s+1)'];
   else
      qdenc{row,col}=qnum{row,col};
   end
end
k=0;
[rowc,colc]=size(qnummt{row,col});
for i=1:rowc
 if max(real(roots(qnummt{row,col}(i,:)))) > 0
  k=1;
 end
end
if k==1
 warndlg('The IMC controller will be unstable.','Warning')
end
temp=strrep(qdenc{row,col},'e',num2str(Epsilon{row,col}(1)));
set(handle(10),'String',temp);

case (6 + 2300)
qdens{row,col}=get(handle(6),'String');
[qdenmt{row,col}]=ms2mtx1(qdens{row,col});
[m_umax,qnummt,qdenmt]=cnt_uncM(qnummt,qdenmt,{0},{0});
[qnum{row,col}]=mtx2str(qnummt{row,col},2);
[qden{row,col}]=mtx2str(qdenmt{row,col},2);
set(handle(11),'String',qden{row,col});

case (4 + 2300)
   order{row,col}=str2num(get(handle(4),'String'));
	if strcmp(qnum{row,col},'1')
   	if order{row,col} > 1
      	qdenc{row,col}=['(e*s+1)^' num2str(order{row,col})];
   	elseif order{row,col}==1
      	qdenc{row,col}=['(e*s+1)'];
   	else
     	 	qdenc{row,col}=qnum{row,col};
   	end
	else
   	if order{row,col} > 1
      	qdenc{row,col}=[qnum{row,col} '*(e*s+1)^' num2str(order{row,col})];
   	elseif order{row,col}==1
      	qdenc{row,col}=[qnum{row,col} '*(e*s+1)'];
   	else
     	 	qdenc=qnum{row,col};
   	end
	end

temp=strrep(qdenc{row,col},'e',num2str(Epsilon{row,col}(1)));
set(handle(10),'String',temp);

case (12 + 2300) 
temp=get(handle(12),'String');
temp=ms2mtx1(temp);
if min(temp) < 0;
 errordlg('Filter t.c. must be positive.');
else
   Epsilon{row,col}(1)=temp;
end
temp=strrep(qdenc{row,col},'e',num2str(Epsilon{row,col}(1)));
set(handle(10),'String',temp);

case (3 + 2300)
   if maxrow >1
      Epsilon{1}=str2num(get(E_handle,'String'));
      order=str2num(get(order_handle,'String'));
      if length(order) < maxcol | length(Epsilon{1}) < maxcol
         errordlg('Size of the order or the filter time constant mismatch!');
      else
         close;
         clear E_handle order_handle
         if degree_freedom==1
            [Ksp,K,Kdelay,Kspstr,Kstr,Ds,Dstr]=msfgainM(q,order,Epsilon{1},qdeadmt,qnummt,qdenmt,y);
            delete(diag_handle(ishandle(diag_handle))); [diag_handle]=showmsf1dfdiag(main_fig,...
               maxrow,maxcol,p,pd,m,Kspstr,d_through_p,input_delay,Kstr,Dstr);      
   	      view_MIMO_MSF;
         else
            if any(iscellempty(diag(pd_prime)))
               warndlg('Next, you need to config the feedback controller!');
            else
               [Ksp,K,Kdelay,Kspstr,Kstr,Ds,Dstr]=msfgainM(q,order,Epsilon{2},qdeadmt,qnummt,qdenmt,y);
               delete(diag_handle(ishandle(diag_handle))); [diag_handle]=showmsf2dfdiag(main_fig,...
                  maxrow,maxcol,p,pd,m,Kspstr,d_through_p,input_delay,Kstr,Dstr,qd,...
                  prefilcal(Epsilon,order,order),Epsilon);      
               view_MIMO_MSF;
            end
         end
      end
   else
      temp=['(' qdenc{row,col} ')'];
      if strcmp(qnum{row,col},'') | strcmp(qden{row,col},'')
         q{row,col}='';
      else
         q{row,col}=[qden{row,col} '/' temp];
      end
   close
   end
   

%-----------------
% Process Lag , Pd
%-----------------
case (1 + 2400)
   temp=get(handle(1),'String');
   if any(isletter(temp))
      errordlg('Not a number !');
   else
      temp=str2num(temp);
      if length(temp)==length(pduindex{row,col})
         vlb(pduindex{row,col})=temp;
      else
         errordlg('Size of bound does not match !');
      end
   end
   
case (3 + 2400)
   temp=get(handle(3),'String');
   if any(isletter(temp))
      errordlg('Not a number !');
   else
      temp=str2num(temp);
      if length(temp)==length(pduindex{row,col})
         vub(pduindex{row,col})=temp;
      else
         errordlg('Size of bound does not match !');
      end
   end
   
case (12 + 2400)
	not_save_yet=1;
   set(main_fig,'Name',['Internal Model Control Tuning - [' datadir NAMEFILE '*]']);
   set(current_obj,'BackgroundColor',192/255*[1 1 1]);
   Xpdnums{row,col}=get(handle(12),'String');
	[Xpdnummt{row,col},Xpdunidn{row,col}]=ms2mtx1(Xpdnums{row,col});
   [p_umax,Xpnummt,Xpdenmt,Xpdeadmt,Xpdnummt,Xpddenmt]=cnt_uncM(Xpnummt,...
      Xpdenmt,Xpdeadmt,Xpdnummt,Xpddenmt,Xunidn,Xunidd,Xuniddt,Xpdunidn,Xpdunidd);
   temp=get_uindex(Xpnummt,Xpdenmt,Xpdeadmt);
   temp1=get_uindex(Xpdnummt,Xpddenmt);
   temp2=[vub;vlb]; % save the original bounds
   for j=1:maxrow
	for i=1:maxcol
   	[Xpnum{j,i}]=mtx2str(Xpnummt{j,i},1);
   	[Xpden{j,i}]=mtx2str(Xpdenmt{j,i},1);
   	[Xpdead{j,i}]=mtx2str(Xpdeadmt{j,i},3);
   	[Xpdnum{j,i}]=mtx2str(Xpdnummt{j,i},1);
      [Xpdden{j,i}]=mtx2str(Xpddenmt{j,i},1);
      if (j~=row) | (i~=col)
         if ~isempty(uindex{j,i}) & all(length(vub) >= uindex{j,i})
         	vub([temp{j,i}])=temp2(1,[uindex{j,i}]);
         	vlb([temp{j,i}])=temp2(2,[uindex{j,i}]);
      	end
      	if ~isempty(pduindex{j,i}) & all(length(vub) >= pduindex{j,i})
         	vub([temp1{j,i}])=temp2(1,[pduindex{j,i}]);
         	vlb([temp1{j,i}])=temp2(2,[pduindex{j,i}]);
      	end
      end
   end
	end
	uindex=temp;pduindex=temp1;
   set(handle(16),'String',['Only x [  ' num2str(pduindex{row,col}) '  ] required']);
	set(handle(15),'String',Xpdnum{row,col});
	set(handle(14),'String',Xpdden{row,col});
   
case (10 + 2400)
	not_save_yet=1;
   set(main_fig,'Name',['Internal Model Control Tuning - [' datadir NAMEFILE '*]']);
	Xpddens{row,col}=get(handle(10),'String');
	[Xpddenmt{row,col},Xpdunidd{row,col}]=ms2mtx1(Xpddens{row,col});
   [p_umax,Xpnummt,Xpdenmt,Xpdeadmt,Xpdnummt,Xpddenmt]=cnt_uncM(Xpnummt,...
      Xpdenmt,Xpdeadmt,Xpdnummt,Xpddenmt,Xunidn,Xunidd,Xuniddt,Xpdunidn,Xpdunidd);
   temp=get_uindex(Xpnummt,Xpdenmt,Xpdeadmt);
   temp1=get_uindex(Xpdnummt,Xpddenmt);
   temp2=[vub;vlb]; % save the original bounds
   for j=1:maxrow
	for i=1:maxcol
   	[Xpnum{j,i}]=mtx2str(Xpnummt{j,i},1);
   	[Xpden{j,i}]=mtx2str(Xpdenmt{j,i},1);
   	[Xpdead{j,i}]=mtx2str(Xpdeadmt{j,i},3);
   	[Xpdnum{j,i}]=mtx2str(Xpdnummt{j,i},1);
      [Xpdden{j,i}]=mtx2str(Xpddenmt{j,i},1);
      if (j~=row) | (i~=col)
         if ~isempty(uindex{j,i}) & all(length(vub) >= uindex{j,i})
         	vub([temp{j,i}])=temp2(1,[uindex{j,i}]);
         	vlb([temp{j,i}])=temp2(2,[uindex{j,i}]);
      	end
      	if ~isempty(pduindex{j,i}) & all(length(vub) >= pduindex{j,i})
         	vub([temp1{j,i}])=temp2(1,[pduindex{j,i}]);
         	vlb([temp1{j,i}])=temp2(2,[pduindex{j,i}]);
      	end
      end
   end
	end
	uindex=temp;pduindex=temp1;
   set(handle(16),'String',['Only x [  ' num2str(pduindex{row,col}) '  ] required']);
	set(handle(15),'String',Xpdnum{row,col});
	set(handle(14),'String',Xpdden{row,col});