pid_cascade.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

   				grid on;
               hold on
            elseif plot_disturb
               gh1=subplot(2,1,1);plot(t,simout,'k--');
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* PI lag controller (dashed)');
   				set(h,'color','k');
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
            else
               gh1=plot(t,simout,'k--');
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* PI lag controller (dashed)');
   				set(h,'color','k');
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
            end
         end
         if plot_disturb
         	Setpoint=0;
         	Disturb=1;
				[t]=sim('pi_lagcas2',time,options);
            if plot_effort
               gh1=subplot(2,1,1);plot(t,simout,'k--');
					title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* PI lag controller (dashed)');
   				set(h,'color','k');
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
               
               gh2=subplot(2,1,2);plot(t,effort,'k--');
					title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
   				grid on;
               hold on
            elseif plot_setpoint
               gh2=subplot(2,1,2);plot(t,simout,'k--');
					title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
      			grid on;
   				hold on;
            else
               gh1=plot(t,simout,'k--');
					title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* PI lag controller (dashed)');
   				set(h,'color','k');
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
            end
         end
      end
    else
       PI_lag_Enable='off';
       plot_PI_lag=0;
    end
    
    if max(real(roots(PI_deng))) < 0
      if plot_PI
         if plot_setpoint
            Setpoint=1;
         	Disturb=0;
     	   	[t]=sim('pi_diagcas2',time,options);
            if plot_effort
               gh1=subplot(2,1,1);p_handle=plot(t,simout);
         		set(p_handle,'color',[0.78 0.78 0.78]);
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp_text)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* PI controller');
   				set(h,'color',[0.78 0.78 0.78]);
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
               
               gh2=subplot(2,1,2);p_handle1=plot(t,effort);
         		set(p_handle1,'color',[0.78 0.78 0.78]);
					title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
   				grid on;
               hold on
            elseif plot_disturb
               gh1=subplot(2,1,1);p_handle1=plot(t,simout);
         		set(p_handle1,'color',[0.78 0.78 0.78]);
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp_text)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* PI controller');
   				set(h,'color',[0.78 0.78 0.78]);
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
            else
               gh1=plot(t,simout);
         		set(gh1,'color',[0.78 0.78 0.78]);
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp_text)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* PI controller');
   				set(h,'color',[0.78 0.78 0.78]);
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
            end
         end
         if plot_disturb
         	Setpoint=0;
         	Disturb=1;
     	   	[t]=sim('pi_diagcas2',time,options);
            if plot_effort
               gh1=subplot(2,1,1);p_handle=plot(t,simout);
         		set(p_handle,'color',[0.78 0.78 0.78]);
					title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp_text)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* PI controller');
   				set(h,'color',[0.78 0.78 0.78]);
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
               
               gh2=subplot(2,1,2);p_handle1=plot(t,effort);
         		set(p_handle1,'color',[0.78 0.78 0.78]);
					title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
   				grid on;
               hold on
            elseif plot_setpoint
               gh2=subplot(2,1,2);p_handle=plot(t,simout);
         		set(p_handle,'color',[0.78 0.78 0.78]);
					title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp_text)])
   				xlabel('Time'); ylabel('Output'); 
  	 				grid on;
         		hold on;
            else
               gh1=plot(t,simout);
         		set(gh1,'color',[0.78 0.78 0.78]);
					title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp_text)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* PI controller');
   				set(h,'color',[0.78 0.78 0.78]);
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
            end
         end
         clear p_handle p_handle1
      end
    else
       PI_Enable='off';
       plot_PI=0;
    end
       
 else    
     
     if  max(real(roots(PID_realden))) < 0
      if plot_real_PID 
         if plot_setpoint
            Setpoint=1;
      		Disturb=0;
     			[t]=sim('realpidcas',time,options);
            if plot_effort
               gh1=subplot(2,1,1);plot(t,simout,'r');
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
   				h=text(x_position,y_position,'* realizable PID');
   				set(h,'color','r');
   				y_position=y_position-y_scale;
   				grid on;
   				hold on;
               
               gh2=subplot(2,1,2);plot(t,effort,'r');
					title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
   				grid on;
               hold on
            elseif plot_disturb
               gh1=subplot(2,1,1);plot(t,simout,'r');
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
   				h=text(x_position,y_position,'* realizable PID');
   				set(h,'color','r');
   				y_position=y_position-y_scale;
   				grid on;
   				hold on;
            else
               gh1=plot(t,simout,'r');
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
   				h=text(x_position,y_position,'* realizable PID');
   				set(h,'color','r');
   				y_position=y_position-y_scale;
   				grid on;
   				hold on;
            end
         end
         if plot_disturb
      		Setpoint=0;
      		Disturb=1;
     			[t]=sim('realpidcas',time,options);
            if plot_effort
               gh1=subplot(2,1,1);plot(t,simout,'r');
					title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
   				h=text(x_position,y_position,'* realizable PID');
   				set(h,'color','r');
   				y_position=y_position-y_scale;
   				grid on;
   				hold on;
               
               gh2=subplot(2,1,2);plot(t,effort,'r');
					title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
   				grid on;
               hold on
            elseif plot_setpoint
               gh2=subplot(2,1,2);plot(t,simout,'r');
					title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
   				grid on;
   				hold on;
            else
               gh1=plot(t,simout,'r');
					title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
   				h=text(x_position,y_position,'* realizable PID');
   				set(h,'color','r');
   				y_position=y_position-y_scale;
   				grid on;
   				hold on;
            end
         end
      end
    else
       real_PID_Enable='off';
       plot_real_PID=0;
    end
    
    if max(real(roots(PID2lagden))) < 0
      if plot_lag_PID
         if plot_setpoint
            Setpoint=1;
         	Disturb=0;
        		[t]=sim('pidcas2lag2',time,options);
            if plot_effort
               gh1=subplot(2,1,1);plot(t,simout,'g');
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* 2nd order lag*PID');
   				set(h,'color','g');
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
               
               gh2=subplot(2,1,2);plot(t,effort,'g');
					title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
   				grid on;
               hold on
            elseif plot_disturb
               gh1=subplot(2,1,1);plot(t,simout,'g');
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* 2nd order lag*PID');
   				set(h,'color','g');
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
            else
               gh1=plot(t,simout,'g');
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* 2nd order lag*PID');
   				set(h,'color','g');
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
            end
         end
         if plot_disturb
         	Setpoint=0;
         	Disturb=1;
        		[t]=sim('pidcas2lag2',time,options);
            if plot_effort
               gh1=subplot(2,1,1);plot(t,simout,'g');
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* 2nd order lag*PID');
   				set(h,'color','g');
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
               
               gh2=subplot(2,1,2);plot(t,effort,'g');
					title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
   				grid on;
               hold on
            elseif plot_setpoint
               gh2=subplot(2,1,2);plot(t,simout,'g');
					title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
  	 				grid on;
               hold on;
            else
               gh1=plot(t,simout,'g');
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* 2nd order lag*PID');
   				set(h,'color','g');
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;
            end
         end
       end   
   else
       lag_PID_Enable='off';
       plot_lag_PID=0;
   end
   
   if max(real(roots(PID_FIden))) < 0
      if plot_FI
         if plot_setpoint
            Setpoint=1;
         	Disturb=0;
     	   	[t]=sim('fi_diagcas2',time,options);
            if plot_effort
               gh1=subplot(2,1,1);plot(t,simout,'y');
					title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
   				xlabel('Time'); ylabel('Output'); 
	   			h=text(x_position,y_position,'* Floating Integral controler');
   				set(h,'color','y');
   				y_position=y_position-y_scale;
      			grid on;
   				hold on;