help_imc.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 [help_str]=help_imc(IMENU)

%HELP FILE
%----------------------------------------------------------------

help_str='';

%LOAD-------------------------------------

if IMENU==1200
help_str=strvcat('TO LOAD A FILE:',' ',...
'Press the space bar to see the choices',...
'for files to load. Choose a file,',...
'then click on the Load window.  Click',...
'inside the rectangular box and type in',...
'the file name.',...
'Click the OK button.');

%SAVE--------------------------------------

elseif IMENU==1300
help_str=strvcat('TO SAVE A FILE',' ',...
'The directory above the box shows',...
'where the file will be saved. To save',...
'within the listed directory, click',...
'inside the rectangular box and type in',...
'the file name.',...
'Click the OK button.');

%CHANGE DIRECTORY--------------------------

elseif IMENU==1400
help_str=strvcat('TO CHANGE DIRECTORY:',' ',...
'Click inside the rectangular box and',...
'delete the current directory name. Type',...
'in the new directory name beginning',...
'with the drive ( e.g.  a:\  b:\  or  c:\ ).',...
'Click the OK button.');

%EDIT PROCESS--------------------------

elseif IMENU==2100
help_str=strvcat('TO EDIT A PROCESS:',' ',...
'Enter an uncertain process in the ',...
'LaPlace form: ',' ',...
'                    Polynomial 1',...
'Process =  ------------------------ * exp(-T*s)',...
'                    Polynomial 2',' ',...
'The coefficients of the polynomials',...
'and the deadtime T may be constants',...
'or may vary independently within',...
'specified ranges (see uncertainty',... 
'limits).',' ',...
'Example of an uncertain process:',' ',...
'                  K(-s+1)',...
'P1 = ------------------------------------- exp(-T*s)',...
'         (Tau1*s+1)*(Tau2*s+1)',' ',...
'with uncertain gain K, time constants ',...
'Tau1 and Tau2 and deadtime T would',...
'be entered as',' ',...
'            u;-1 1',...
'P1 = ----------------- * u',...
'           u 1;u 1',' ',...
'in appropriate windows in the Process',...
'Edit screen.',' ',...
'DISTURBANCE LAG:',...
'Enter coefficients [k1 k2 k3]',...
'of an assumed second order lag',...
'a disturbance passes through.',' ',...
'		    1',...
'	Lag =  ---------------------------',...
'	            k1*s^2+k2*s+k3',' ',...
'* default = [0 0 1]',' ',...
'EDIT CORRELATED UNCERTAIN PARAMETERS:',' ',...
'The same two or more uncertain parameters',' ',...
'can be enter as u cascaded with',...
'a same number',...
'Example of an uncertain process:',' ',...
'        K(-s+1)',...
'P1 =-------------- exp(-T*s)',...
'       (Tau*s+1)',' ',...
'with uncertain gain K, time constants ',...
'Tau and deadtime T and the disturbance lag as',...
'Tau*s+1, the same Tau would be entered as',' ',...
'           u;-1 1',...
'P1 = -------------- * u',...
'           u1 1',' ',...
'in appropriate windows in the Process',...
'Edit screen.',' ',...
'Enter coefficients [u1 1]',...
'of an assumed first order lag',...
'a disturbance passes through.',' ',...
'	 1',...
'Lag =  ------------------',...
'           Tau*s+1');



%EDIT MODEL--------------------------

elseif IMENU==2200
help_str=strvcat('TO EDIT A MODEL:',' ',...
'Enter a model of an uncertain process',...
'in the LaPlace form:',' ',...
'                    Polynomial 1',...
'Model   =   ------------------------ * exp(-T*s)',...
'                    Polynomial 2',' ',...
'The coefficients of the polynomials and',...
'the deadtime T have to be constants.',... 
'Example of a model for an uncertain',...
'process:',' ',...
'                  10(-s+1)',...
'M1 = --------------------------------- exp(-5*s)',...
'           (3s+1)(s^2+.5s+1)',' ',...
'would be entered as',' ',...
'            10;-1 1',...
'M1 = --------------------- * 5',...
'           3 1;1 .5 1',' ',...
'in appropriate windows in the Model',...
'Edit screen.',' ',...
'In case of an optimal model calculation ',...
'enter the model parameters that you want ',...
'to vary as "uncertain" the same way as ',...
'the uncertain process parameters. ',' ',...
'           u',...
'M1 = ---------- * u',...
'        3 1;5 1',' ',...
'For this case, a gain and deadtime from ',...
'specified ranges will be chosen as model ',...
'parameters to satisfy an optimality ',...
'criterion (see COMPUTE section, FIND ',...
'OPTIMAL MODEL option)|');

%EDIT INV. PART OF A MODEL--------------------------

elseif IMENU==2300
help_str=strvcat('TO EDIT AN INVERTIBLE PART',...
'OF A MODEL:',' ',...
'Enter a part of a model in the LaPlace',...
'form which will be inverted and become',... 
'part of the IMC controller.',' ',...
'                     Polynomial 1',...
'Inv. part =   ------------------------',...
'                     Polynomial 2',' ',...
'The coefficients of the polynomials',...
'have to be constants.',...
'Example of an invertible part',...
'of a model:',' ',...
'                        10',...
'Inv1 = --------------------------------- ',...
'             (3s+1)(s^2+.5s+1)',' ',...
'would be entered as',' ',...
'                  10',...
'Inv1 = --------------------- ',...
'              3 1;1 .5 1',' ',...
'in appropriate windows in the Invertible',... 
'Part of a Model Edit screen. Since the',...
'realizable IMC controller is formed as',...
'             1',...
'   Q = --------- * F',...
'           Inv1 ',' ',...  
'where F is a filter',' ',...
'               1',...
'   F = -----------------',...
'          (e*s+1)^r',' ',...
'The order of a filter "r" has to be entered',...
'in the frame within the Invertible Part',...
'of the EDIT MODEL screen. The filter time',...
'constant "e" can be either entered',...
'directly in the Default Variables Edit',...
'window or can be computed by',... 
'choosing the item IMC CONTROLLER ',...
'TUNING in the COMPUTE menu.',' ',...
'In case of an optimal model calculation ',...
'enter the model parameters that you want ',...
'to vary as "uncertain" the same way as ',...
'the uncertain model parameters ',...
'(See EDIT MODEL). This is important ',...
'especially in case optimal gain of ',...
'a model is to be found.|');

%EDIT UNCERTAINTY LIMITS--------------------------

elseif IMENU==2400
help_str=strvcat('TO EDIT UNCERTAINTY LIMITS',' ',...
'Enter two vectors',...
'- upper bound of uncertain parameters',...
'- lower bound of uncertain parameters',...
'in appropriate windows.',...
'Leave a space between numbers.',' ',...
'Example:',' ',...
'Upp. bound = 11 4 6',...
'Low. bound =  9 2 4',' ',...
'In case of the uncertainty bounds ',...
'calculation enter also a nominal plant, ',...
'a vector of numbers that will be assigned ',...
'to the uncertain parameters. The uncertainty ',...
'bounds will then be calculated given ',...
'a control system and assuming the nominal ',...
'plant be mid-range parameters with the same ',...
'percentage deviations around each ',...
'parameter.',' ',...
'Example: ',' ',...
'Nominal plant = 10 3 5 |');



%EDIT MODEL RANGE LIMITS--------------------------

elseif IMENU==2500
help_str=strvcat('TO EDIT MODEL RANGE LIMITS',' ',...
'Enter three vectors',...
'- nominal model',...
'- upper bound of uncertain model parameters',...
'- lower bound of uncertain model parameters',...
'in appropriate windows.',...
'Leave a space between numbers.',' ',...
'Example:',' ',...
'Nom. model = 10 3 5',...
'Upp. bound = 11 4 6',...
'Low. bound =  9 2 4',' ',...
'Upper and lower bounds will be used only ',...
'if FIND OPTIMAL MODEL in the COMPUTE ',...
'section is chosen. The current nominal model ',...
'parameters will be used in all other ',...
'calculations.|');

%EDIT SATURATION BOUNDS--------------------------
elseif IMENU==2550
help_str=strvcat('TO EDIT SATURATION BOUNDS',' ',...
'Enter two numbers',...
'- upper bound of the saturation',...
'- lower bound of the saturation',...
'in appropriate windows.',...
'Example:',' ',...
'Upper bound = 11',' ',...
'Low. bound =  9',' ',...
'Upper and lower bounds will be used only ',...
'if IMC SATURATION STEPONSES and MSF STEP RESPONSES in RESULTS',...
'section are chosen. The current nominal model ',...
'parameters will be used in all other ',...
'calculations.|');

%EDIT DEFAULT VARIABLES--------------------------

elseif IMENU==2600
help_str=strvcat('TO EDIT DEFAULT VARIABLES',' ',...
'Enter initial values of all parameters',...
'associated with the design problem.',' ',...
'EPSILON:',...
'the filter time constant (a scalar for',... 
'1-degree-of-freedom IMC controller,',...
'a 1x2 vector for a 2-degree-of-freedom',... 
'IMC controller)',...
'* default = 0',' ',...
'MAXIMUM PEAK:',...
'the maximum peak (a scalar for',...
'1-degree-of-freedom IMC controller,',... 
'a 1x2 vector for a 2-degree-of-freedom',...
'IMC controller) of possible frequency',...
'responses over all plants within the',... 
'specified uncertainty set',...
'* default = 1.05',' ',...
'NOISE AMPLIFICATION FACTOR:',...
'a number that specifies maximum',...
'allowable amplification of noise',...
'by the IMC controller',...
'* default = 20',' ',...
'WORST CASE FREQUENCY:',...
'frequency at which the maximum peak',...
'was found',...
'* default = 0',' ',...
'FREQUENCY RANGE:',...
'a vector of two integers that specifies',...