mimo_ub_lb.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 mimo_ub_lb(fun,f,flag,y,vub,vlb,Epsilon,ps,ms,qs,qds,order,handle,...
   L_handle,p_handle,input_delay,pds,Mp,decade)
% This function compute upper bound and lower bound of the MIMO system
% This funtion is used by function mimo_freq.m .
global Xwc_ub_w Xwc_lb_w Tune_flag
%clc
tic
x=(vub+vlb)/2;
n=length(order);
Tune_flag=zeros(1,n);
%y_limit=[str2num(get(L_handle(2),'String')) str2num(get(L_handle(1),'String'))];
[len,temp]=size(Xwc_ub_w{1,1});
if get(p_handle,'value')
   f=figure;
else
   figure(f);cla;
end
count=0;
for i=1:n
   for j=1:n
      bg_color=get(handle(n*(i-1)+j),'Backgroundcolor');
      if ~all(bg_color==[1 1 1])
         count=count+1;
      end
   end
end
h_wait=waitbar(0,'Please wait ...');
option=optimset('LargeScale','off','Display','off');
switch fun
case 'mimo1com'
   constn='mimo1com_con';
case 'mimo2com'
   constn='mimo2com_con';
case 'mimopartial'
   constn='mimopartial_con';
end
switch flag
case 1 % upper bound
total_count=count*len; count=0;
   for i=1:n
      for j=1:n
         bg_color=get(handle(n*(i-1)+j),'Backgroundcolor');
         if ~all(bg_color==[1 1 1])
            if i==j
               Tune_flag(i)=i;
            end
            freq=Xwc_ub_w{i,j}(:,2)';
            for k=1:length(freq)
               if any(Xwc_ub_w{i,j}(k,3:end)~=0)
                  x=Xwc_ub_w{i,j}(k,3:end);
               end
               [x,fval]=fmincon(fun,x,[],[],[],[],vlb,vub,constn,option,...
                  y,Epsilon,-1,freq(k),ps,ms,qs,order,i,j,input_delay,pds,qds);
                  Xwc_ub_w{i,j}(k,3:end)=x;
                  Xwc_ub_w{i,j}(k,1)=-fval;
               count=count+1;
               waitbar(count/total_count,h_wait);
            end
         end
      end
   end
   close(h_wait)
   figure(f);
   for i=1:n
      for j=1:n
         bg_color=get(handle(n*(i-1)+j),'Backgroundcolor');
         if ~all(bg_color==[1 1 1])
            g=loglog(Xwc_ub_w{i,j}(:,2),Xwc_ub_w{i,j}(:,1),'-');
            set(g,'color',bg_color);
            set(g,'ButtonDownFcn',['temp=get(gca,''CurrentPoint'');temp=text(temp(1,1),temp(2,2),',...
                  '[''Mp='' num2str(max(get(gco,''Ydata'')))],''color'',[' num2str(bg_color) ']);']);
            hold on
            disp(' ');
            disp(' ');
            disp(['Upper bound results for the (' num2str(i) ' , ' num2str(j) ')  component :']); 
            disp('Mag    Freq   | ---> Uncertain parameters x(i) ');
            print_result(Xwc_ub_w{i,j});
            if i==j
               g=loglog(10.^decade,[Mp(i) Mp(i)],'-.');
               set(g,'color',bg_color);
               h=text(mean(10.^decade)/2,Mp(i),['Mp = ' num2str(Mp(i))]);
               set(h,'color',bg_color,'VerticalAlignment','bottom');
            end
         end
      end
   end
	axis auto
   temp=axis;
   set(L_handle(2),'string',num2str(temp(3)));
   set(L_handle(1),'string',num2str(temp(4)));
   title('Upper bound of the frequency response');
   xlabel('Frequency');
	ylabel('Magnitude');

case 2 % lower bound
total_count=count*len; count=0;
   for i=1:n
      for j=1:n
         bg_color=get(handle(n*(i-1)+j),'Backgroundcolor');
         if ~all(bg_color==[1 1 1])
            freq=Xwc_lb_w{i,j}(:,2)';
            for k=1:length(freq)
               if any(Xwc_lb_w{i,j}(k,3:end)~=0)
                  x=Xwc_lb_w{i,j}(k,3:end);
               end
               [x,fval]=fmincon(fun,x,[],[],[],[],vlb,vub,[],option,...
                  y,Epsilon,1,freq(k),ps,ms,qs,order,i,j,input_delay,pds,qds);
                  Xwc_lb_w{i,j}(k,3:end)=x;
                  Xwc_lb_w{i,j}(k,1)=fval;
               count=count+1;
               waitbar(count/total_count,h_wait);
            end
         end
      end
   end
   close(h_wait)
   figure(f);
   for i=1:n
      for j=1:n
         bg_color=get(handle(n*(i-1)+j),'Backgroundcolor');
         if ~all(bg_color==[1 1 1])
            g=loglog(Xwc_lb_w{i,j}(:,2),Xwc_lb_w{i,j}(:,1),'--');
            set(g,'color',bg_color);
            hold on
            disp(' ');
            disp(' ');
            disp(['Lower bound results for the (' num2str(i) ' , ' num2str(j) ')  component :']); 
            disp('Mag    Freq   | ---> Uncertain parameters x(i) ');
            print_result(Xwc_lb_w{i,j});
         end
      end
   end
	axis auto
   temp=axis;
   set(L_handle(2),'string',num2str(temp(3)));
   set(L_handle(1),'string',num2str(temp(4)));
   title('Lower bound of the frequency response');
   xlabel('Frequency');
	ylabel('Magnitude');

case 3 % both upper and lower bound
total_count=count*len*2; count=0;
   for i=1:n
      for j=1:n
         bg_color=get(handle(n*(i-1)+j),'Backgroundcolor');
         if ~all(bg_color==[1 1 1])
            if i==j
               Tune_flag(i)=i;
            end
            freq=Xwc_ub_w{i,j}(:,2)';
            for k=1:length(freq)
               if any(Xwc_ub_w{i,j}(k,3:end)~=0)
                  x=Xwc_ub_w{i,j}(k,3:end);
               end
               [x,fval]=fmincon(fun,x,[],[],[],[],vlb,vub,constn,option,...
                  y,Epsilon,-1,freq(k),ps,ms,qs,order,i,j,input_delay,pds,qds);
                  Xwc_ub_w{i,j}(k,3:end)=x;
                  Xwc_ub_w{i,j}(k,1)=-fval;
               count=count+1;
               waitbar(count/total_count,h_wait);
            end
         end
      end
   end
 %  close(h_wait)
   
   for i=1:n
      for j=1:n
         bg_color=get(handle(n*(i-1)+j),'Backgroundcolor');
         if ~all(bg_color==[1 1 1])
            freq=Xwc_lb_w{i,j}(:,2)';
            for k=1:length(freq)
               if any(Xwc_lb_w{i,j}(k,3:end)~=0)
                  x=Xwc_lb_w{i,j}(k,3:end);
               end
               [x,fval]=fmincon(fun,x,[],[],[],[],vlb,vub,[],option,...
                  y,Epsilon,1,freq(k),ps,ms,qs,order,i,j,input_delay,pds,qds);
                  Xwc_lb_w{i,j}(k,3:end)=x;
                  Xwc_lb_w{i,j}(k,1)=fval;
               count=count+1;
               waitbar(count/total_count,h_wait);
            end
         end
      end
   end
   close(h_wait)
   figure(f);
   for i=1:n
      for j=1:n
         bg_color=get(handle(n*(i-1)+j),'Backgroundcolor');
         if ~all(bg_color==[1 1 1])
            g=loglog(Xwc_ub_w{i,j}(:,2),Xwc_ub_w{i,j}(:,1),'-');
            set(g,'color',bg_color);
            hold on
            disp(' ');
            disp(' ');
            disp(['Upper bound results for the (' num2str(i) ' , ' num2str(j) ')  component :']); 
            disp('Mag    Freq   | ---> Uncertain parameters x(i) ');
            print_result(Xwc_ub_w{i,j});
            h=loglog(Xwc_lb_w{i,j}(:,2),Xwc_lb_w{i,j}(:,1),'--');
            set(h,'color',bg_color);
            disp(' ');
            disp(' ');
            disp(['Lower bound results for the (' num2str(i) ' , ' num2str(j) ')  component :']); 
            disp('Mag    Freq   | ---> Uncertain parameters x(i) ');
            print_result(Xwc_lb_w{i,j});
         end
      end
   end
	axis auto
   temp=axis;
   set(L_handle(2),'string',num2str(temp(3)));
   set(L_handle(1),'string',num2str(temp(4)));
   title('Upper & lower bound of the frequency response');
   xlabel('Frequency');
	ylabel('Magnitude');

end
toc
function print_result(X)
[m,n]=size(X);
for i=1:m
   fprintf('%g ',X(i,:));
   fprintf('\n');
end