qftdm7g.m

机器人控制仿真程序一书的所有源代码

function qftdm7g
% Seventh stage of QFTDM7
%=================================

% 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 ...
       nump2 denp2 R P2 w ...
       W1 bdb1 ...
       wl nc0 dc0 ...
       G2 nc2 dc2 ...
       nump1 denp1 nump12 denp12 P12 ...
       bdb2 W2 bdb3 W3 H P ...
       ubdb

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

% WORKING WITH THE 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','Plotting all bounds superimposed....');
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 performance 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 of bounds....');
set(info_str(2),'string','plotbnds(ubdb)');

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

% End of computations for stage 8

next_stage = 'qftdm7h';
last=2;
nxtstage