qftdm1c.m

机器人控制仿真程序一书的所有源代码

function qftdm1c
% Third stage of QFTDM1
%=================================

% Copyright (c) 1995-98 by The MathWorks, Inc.
%       $Revision: 1.4 $

global win1_loc win2_loc win3_loc win4_loc ...
       info_win info_str info_btn nompt ...
       nump denp w P bdb1 bdb2 bdb3 W1 W2 W3 ...
       ubdb

% close all windows from last stage and clear strings in information window
close(findobj('tag','qft'));
set(info_str,'string','');

% WORKING WITH COMPUTED BOUNDS
%=================================

% display info in information window
set(info_str(1),'string','Grouping bounds...');
set(info_str(2),'string','bdb=grpbnds(bdb1,bdb2,bdb3);');

% grouping bounds
bdb=grpbnds(bdb1,bdb2,bdb3);
pause(2);

% display info in information window
set(info_str(1),'string','Show all bounds...');
set(info_str(2),'string','plotbnds(bdb)');

% plot all bounds
plotbnds(bdb,[],[],win1_loc);
title('All Bounds');
drawnow;

% display info in information window
set(info_str(1),'string','Intersecting bounds...');
set(info_str(2),'string','ubdb=sectbnds(bdb);');
pause(2);

% unionize performance specifications
ubdb=sectbnds(bdb);

% display info in information window
set(info_str(1),'string','Plotting intersection...');
set(info_str(2),'string','plotbnds(ubdb)');

% plotting intersected bounds
plotbnds(ubdb,[],[],win3_loc);
title('Intersection of Bounds');

% End of computations for stage 3
next_stage = 'qftdm1d';
last=2;
nxtstage