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

'the range of frequencies for which the',...
'upper/lower bound of frequency',...
'responses will be computed',...
'* default = -1 1',...
'(i.e. the frequency range is',... 
'[ 10^(-1)  10^(1) ] )',' ',...
'NUMBER OF POINTS PER DECADE:',...
'for which the maximum magnitude of',...
'frequency responses will be computed',...
'* default = 10',...
'(i.e. for the above frequency range it',...
'would mean to compute 20 points for',...
'both upper and lower bound)',' ',...
'ACCURACY:',...
'A number taken as a condition to stop',...
'some algorithms when desired',...
'accuracy is achieved',...
'* default = 0.005',' ',...
'INFINITY:',...
'A number to be considered "very large"',...
'or "infinity"',...
'* default = 10^5',' ',...
'CONTROL STRUCTURE FILENAME:',...
'These are four built-in control',...
'structures:',' ',...
'imc1com -  1-degree-of-freedom',...
'complementary sensitivity function',' ',...
'imc2com -  2-degree-of-freedom',...
'complementary sensitivity function',' ',...
'imc1sen -  1-degree-of-freedom',...
'sensitivity function',' ',...
'imc2sen -  2-degree-of-freedom',...
'sensitivity function',' ',...
'imc1msf -  model state feedback',' ',...
'The user can define a control structure',...
'and save it in an accessible directory',...
'under "user1.m" or "user2.m".',... 
'The user-defined control structures',...
'can be used only for upper or lower',...
'bound of frequency responses',...
'computations not for tuning',...
'the control systems.',' ',...
'user1   -  user-defined control structure',... 
'for a 1-degree of-freedom control',...
'system (graphs shown under the',... 
'complementary sensitivity function',...
'option)',' ',...
'user2   -  user-defined control structure',...
'for a 2-degree of-freedom control',...
'system (graphs shown under the',...
'complementary sensitivity function',...
'option)',...
'* default = imc1com');


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

elseif IMENU==2710
help_str=strvcat('TO EDIT A PROCESS',' ',...
'Use this option to enter a process',...
'in case its LaPlace form cannot be',...
'entered in the standard form of',' ',...
'                    Polynomial 1',...
'Process =  ------------------------ * exp(-T*s)',...
'                    Polynomial 2',' ',...
'with independently varying uncertain',...
'parameters.',' ',...
'Example:',' ',...
'              K(1+exp(-T*s))',...
'P1 = --------------------------------------------------------',...
'        (Tau1*s+1)*(Tau2^2*s^2+Tau2*s+1)',' ',...
'would be entered as',' ',...
'P1 = x(1)*(1+exp(-x(2)*s))/(x(3)*s+1)/',...
'((x(4)*s)^2+x(4)*s+1)',' ',...
'!!! Watch the syntax !!!',' ',... 
'Any syntax error will result in stopping',...
'all routines (with a beep) when they',...
'encounter the error. If an error is',...
'detected check the entries.',' ',...
'It is up to the user to enter the',...
'correct number of uncertain parameters',...
'and their bounds. The error checking',...
'routines which work with the normal',...
'edit windows do not work with the edit',...
'special window. Also, the IMC Time',...
'Response window does not work when',...
'the process is entered through the edit',...
'special window. The PID controller',...
'calculation does not work when the',...
'model or the controller is entered',...
'through the edit special window.');

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

elseif IMENU==2720
help_str=strvcat('TO EDIT A MODEL',' ',...
'Use this option to enter a model',...
'in case its LaPlace form cannot be',...
'entered in the standard form of',' ',...
'                    Polynomial 1',...
'Model   =  ------------------------ * exp(-T*s)',...
'                    Polynomial 2',' ',...
'with all coefficients of the polynomials',...
'and the deadtime T to be constants.',' ',...
'Example:',' ',...
'              10(1+exp(-5*s))',...
'M1 = ------------------------------------ ',...
'           (3s+1)*(s^2+.5s+1)',' ',...
'would be entered as',' ',...
'M1 = 10*(1+exp(-5*s))/(3*s+1)/',...
'(s^2+.5*s+1)',' ',...
'!!! Watch the syntax !!!',' ',... 
'Any syntax error will result in stopping',...
'all routines (with a beep) when they',...
'encounter the error. If an error is',...
'detected check the entries.',' ',...
'It is up to the user to enter the',...
'correct number of uncertain parameters',...
'and their bounds. The error checking',...
'routines which work with the normal',...
'edit windows do not work with the edit',...
'special window. Also, the IMC Time',...
'Response window does not work when',...
'the process is entered through the edit',...
'special window. The PID controller',...
'calculation does not work when the',...
'model or the controller is entered',...
'through the edit special window.');


%EDIT SPECIAL CONTROLLER--------------------------

elseif IMENU==2730
help_str=strvcat('TO EDIT A CONTROLLER',' ',...
'Use this option to enter an IMC',...
'controller in case its LaPlace form',...
'cannot be entered in the standard',...
'form of',' ',...
'                          1',...
'Cont. =  ------------------------------------- * Filter',...
'              Invert. part of a model',' ',...
'with all coefficients of the polynomials',...
'to be constants.',' ',...
'Example:',' ',...
'            (3s+1)*(s^2+.5s+1)',...
'C1 = --------------------------------------- ',...
'                   (es+1)^3',' ',...
'would be entered as',' ',...
'C1 = (3*s+1)*(s^2+.5*s+1)/(e*s+1)^3',' ',...
'with "e" as the filter time constant',' ',...
'!!! Watch the syntax !!!',' ',... 
'Any syntax error will result in stopping',...
'all routines (with a beep) when they',...
'encounter the error. If an error is',...
'detected check the entries.',' ',...
'It is up to the user to enter the',...
'correct number of uncertain parameters',...
'and their bounds. The error checking',...
'routines which work with the normal',...
'edit windows do not work with the edit',...
'special window. Also, the IMC Time',...
'Response window does not work when',...
'the process is entered through the edit',...
'special window. The PID controller',...
'calculation does not work when the',...
'model or the controller is entered',...
'through the edit special window.');


%VIEW PROCESS VARIABLES--------------------------

elseif IMENU==310
help_str=strvcat('TO VIEW A SYSTEM',' ',...
'View entered process, model, controller',... 
'and a disturbance lag time constant',...
'with associated time constant Alpha for',...
'the "qd" portion of 2-degree-of-freedom',...
'controller',' ',...
'           Alpha*s+1',...
'qd = ----------------------',...
'              e*s+1',' ',...
'Also, the ranges for all uncertain',...
'parameters are displayed.');

%VIEW DEFAULT VARIABLES--------------------------

elseif IMENU==3200
help_str=strvcat('TO VIEW DEFAULT VARIABLES',' ',...
'Displays current values of all',...
'parameters and control variables.');

%PID CONTROLLER COMPUTATION--------------------------

elseif IMENU==4250
help_str=strvcat('TO COMPUTE PID CONTROLLER',...
'PARAMETERS EQUIVALENT TO',...
'THE IMC CONTROLLER',' ',...
'Finds PID equivalent for given IMC',...
'controller. The results are shown',...
'in the command window. Also, they',...
'can be viewed using the PID',...
'controller Results option.',' ',...
'Shows setpoint step responses of',...
'all realizable PID, PI or I',...
'controllers and an IMC controller',...
'as shown in the title of the graphs.',' ',...
'Click the Change button to change',...
'the final time and step size.',' ',...
'Click any spot in the graph to see',...
'its coordinates.',' ',...
'A PID equivalent will be found only',...
'for a single-degree-of-freedom',...
'IMC controller in this version',...
'of the program.');

%UPPER BOUND OF FREQUENCY RESPONSES--------------------------

elseif IMENU==4300
help_str=strvcat('UPPER BOUND OF FREQUENCY',...
'RESPONSES',' ',...
'Computes an Upper bound of the',...
'frequency responses over the range of',...
'frequencies specified in the Default',...
'Variables Edit window for all',...
'possible processes.',...
'Shows the graph.',' ',...
'Click the Add button to add',...
'a frequency response of any plant.',...
'Enter the plant parameters inside',...
'the rectangular box of the Edit',...
'window. Click the OK button.',' ',...
'Click any spot in the graph to see',...
'its coordinates.');

%LOWER BOUND OF FREQUENCY RESPONSES--------------------------

elseif IMENU==4400
help_str=strvcat('LOWER BOUND OF FREQUENCY',...
'RESPONSES',' ',...
'Computes a Lower bound of the',...
'frequency responses over the range of',...
'frequencies specified in the Default',...
'Variables Edit window for all',...
'possible processes.',...
'Shows the graph.',' ',...
'Click the Add button to add',...
'a frequency response of any plant.',...
'Enter the plant parameters inside',...
'the rectangular box of the Edit',...
'window. Click the OK button.',' ',...
'Click any spot in the graph to see',...
'its coordinates.');

%UPPER & LOWER BOUND OF FREQUENCY RESPONSES--------------------------

elseif IMENU==4500
help_str=strvcat('UPPER & LOWER BOUND OF',...
'FREQUENCY RESPONSES',' ',...
'Computes both Upper & Lower bound of',...
'the frequency responses over the range of',...
'frequencies specified in the Default',...
'Variables Edit window for all',...
'possible processes.',...
'Shows the graph.',' ',...
'Click the Add button to add',...
'a frequency response of any plant.',...
'Enter the plant parameters inside',...
'the rectangular box of the Edit',...
'window. Click the OK button.',' ',...
'Click any spot in the graph to see',...
'its coordinates.');


end