pid_controller.m

This software is developed to provide ease with controller design. For PID control, options are give

        set(handles.PTS_text,'String','Approximation Not Valid');
        set(handles.STS_text,'String','Approximation Not Valid');
    end
%==========================================================================

function num_edit_Callback(hObject, eventdata, handles)
% hObject    handle to num_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of num_edit as text
%        str2double(get(hObject,'String')) returns contents of num_edit as a double


% --- Executes during object creation, after setting all properties.
function num_edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to num_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function den_edit_Callback(hObject, eventdata, handles)
% hObject    handle to den_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of den_edit as text
%        str2double(get(hObject,'String')) returns contents of den_edit as a double


% --- Executes during object creation, after setting all properties.
function den_edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to den_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end


% --- Executes on selection change in PID_popupmenu.
function PID_popupmenu_Callback(hObject, eventdata, handles)
% hObject    handle to PID_popupmenu (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: contents = get(hObject,'String') returns PID_popupmenu contents as cell array
%        contents{get(hObject,'Value')} returns selected item from PID_popupmenu


% --- Executes during object creation, after setting all properties.
function PID_popupmenu_CreateFcn(hObject, eventdata, handles)
% hObject    handle to PID_popupmenu (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: popupmenu controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function Kp_edit_Callback(hObject, eventdata, handles)
% hObject    handle to Kp_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Kp_edit as text
%        str2double(get(hObject,'String')) returns contents of Kp_edit as a double


% --- Executes during object creation, after setting all properties.
function Kp_edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Kp_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function Ki_edit_Callback(hObject, eventdata, handles)
% hObject    handle to Ki_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Ki_edit as text
%        str2double(get(hObject,'String')) returns contents of Ki_edit as a double


% --- Executes during object creation, after setting all properties.
function Ki_edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Ki_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function Kd_edit_Callback(hObject, eventdata, handles)
% hObject    handle to Kd_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Kd_edit as text
%        str2double(get(hObject,'String')) returns contents of Kd_edit as a double


% --- Executes during object creation, after setting all properties.
function Kd_edit_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Kd_edit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end


% --- Executes on button press in PID_pushb.
function PID_pushb_Callback(hObject, eventdata, handles)
% hObject    handle to PID_pushb (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

%===== Values from Controller popup menu and Responses menu ===============

value = get(handles.PID_popupmenu,'Value');


%====================== Values from Radio Button ======================

ss_pushbutton = get (handles.ss_radiob,'Value');
tf_pushbutton = get (handles.tf_radiob,'Value');

%==================== Selecting Only Proportional Controller %===============

if value == 1
    value_str = get(handles.Kp_edit,'String');
    value_dou = str2num (value_str);
    
    if tf_pushbutton == get(handles.tf_radiob,'Max');

        global sys_tf
        sys_final_P = sys_tf * value_dou;
        global sys_fd_P
        sys_fd_P = feedback(sys_final_P,1);    

    end
    
    if ss_pushbutton == get(handles.ss_radiob,'Max')
        
        %================= Error If Either A,B,C or D is empty ================
    global a_dou b_dou c_dou d_dou
    if isempty(a_dou) || isempty(b_dou) || isempty(c_dou) || isempty(d_dou)
        errordlg('Please enter all A,B,C and D in correct format');
    end
    
    %======= Error If the State Space Model is not correct ================
    [r1 c1] = size(a_dou);
    [r2 c2] = size(c_dou);
    [r3 c3] = size(b_dou);
    [r4 c4] = size(d_dou);
        if c1 ~= c2
            errordlg('Please Enter Valid State Space Model');
        end
        if r1 ~= r3
            errordlg('Please Enter Valid State Space Model');
        end
        if c3 ~= c4
            errordlg('Please Enter Valid State Space Model');
        end
        %==================================================================
        global a_dou b_dou c_dou d_dou
        [num den] = ss2tf(a_dou, b_dou ,c_dou ,d_dou);
        sys_tf_ss = tf(num,den);
        sys_final_P = sys_tf_ss * value_dou;
        global sys_fd_P
        sys_fd_P = feedback(sys_final_P,1);
        
    end
        
        [s t]= step(sys_final_P);
        axes(handles.axes5)
        plot(t,s),grid on
        set(handles.OLSR_text,'String','P Controller');
        
        global sys_fd_P
        [s t]= step(sys_fd_P);
        axes(handles.axes6)
        plot(t,s),grid on
        set(handles.CLSR_text,'String','P Controller');

end
    
    
%==================== Selecting Proportional Integral Controller ===============

if value == 2 
    value_str = get(handles.Kp_edit,'String');
    value_dou = str2num (value_str);
    
    value_strPi = get(handles.Ki_edit,'String');
    value_douPi = str2num (value_strPi);
    value_tfpi = tf(value_douPi,[1 0]);
    
    if tf_pushbutton == get(handles.tf_radiob,'Max')

        global sys_tf
        PI = value_dou + value_tfpi;
        sys_final_PI = sys_tf * PI;
        global sys_fd_PI
        sys_fd_PI = feedback(sys_final_PI,1);
             
    end
    
    if ss_pushbutton == get(handles.ss_radiob,'Max')
        
         %================= Error If Either A,B,C or D is empty ================
    global a_dou b_dou c_dou d_dou
    if isempty(a_dou) || isempty(b_dou) || isempty(c_dou) || isempty(d_dou)
        errordlg('Please enter all A,B,C and D in correct format');
    end
    
    %======= Error If the State Space Model is not correct ================
    [r1 c1] = size(a_dou);
    [r2 c2] = size(c_dou);
    [r3 c3] = size(b_dou);
    [r4 c4] = size(d_dou);
        if c1 ~= c2
            errordlg('Please Enter Valid State Space Model');
        end
        if r1 ~= r3
            errordlg('Please Enter Valid State Space Model');
        end
        if c3 ~= c4
            errordlg('Please Enter Valid State Space Model');
        end
        %==================================================================
        global a_dou b_dou c_dou d_dou
        [num den] = ss2tf(a_dou, b_dou ,c_dou ,d_dou);
        sys_tf_ss = tf(num,den);
        PI = value_dou + value_tfpi;
        sys_final_PI = sys_tf_ss * PI;
        global sys_fd_PI
        sys_fd_PI = feedback(sys_final_PI,1);    
    end
    
     [s t]= step(sys_fd_PI);
     axes(handles.axes6)
     plot(t,s),grid on
     set(handles.CLSR_text,'String','PI Controller');
     
     [s t]= step(sys_final_PI);
     axes(handles.axes5)
     plot(t,s),grid on
     set(handles.OLSR_text,'String','PI Controller');
   
 
end
    
%==================== Selecting Proportional Derivative Controller ===============    

if value == 3 
    value_str = get(handles.Kp_edit,'String');
    value_dou = str2num (value_str);
    
    value_strPd = get(handles.Kd_edit,'String');
    value_douPd = str2num (value_strPd);
    value_tfpd = tf([value_douPd 0],1);
    
    if tf_pushbutton == get(handles.tf_radiob,'Max')
   
        global sys_tf
        PD = value_dou + value_tfpd;
        sys_final_PD = sys_tf * PD;
        global sys_fd_PD
        sys_fd_PD = feedback(sys_final_PD,1);
    end
    
    if ss_pushbutton == get(handles.ss_radiob,'Max')
        
         %================= Error If Either A,B,C or D is empty ================
    global a_dou b_dou c_dou d_dou
    if isempty(a_dou) || isempty(b_dou) || isempty(c_dou) || isempty(d_dou)
        errordlg('Please enter all A,B,C and D in correct format');
    end
    
    %======= Error If the State Space Model is not correct ================
    [r1 c1] = size(a_dou);
    [r2 c2] = size(c_dou);
    [r3 c3] = size(b_dou);
    [r4 c4] = size(d_dou);
        if c1 ~= c2
            errordlg('Please Enter Valid State Space Model');
        end
        if r1 ~= r3
            errordlg('Please Enter Valid State Space Model');
        end
        if c3 ~= c4
            errordlg('Please Enter Valid State Space Model');
        end
        %==================================================================
        global a_dou b_dou c_dou d_dou
        [num den] = ss2tf(a_dou, b_dou ,c_dou ,d_dou);
        sys_tf_ss = tf(num,den);
        PD = value_dou + value_tfpd;
        sys_final_PD = sys_tf_ss * PD;
        global sys_fd_PD
        sys_fd_PD = feedback(sys_final_PD,1);    
    end
    
    [s t]= step(sys_fd_PD);
    axes(handles.axes6)
    plot(t,s),grid on
    set(handles.CLSR_text,'String','PD Controller');
    
    [s t]= step(sys_final_PD);
    axes(handles.axes5)
    plot(t,s),grid on
    set(handles.OLSR_text,'String','PD Controller');
end
    
%==================== Selecting PID Controller ===============   

if value == 4
    value_str = get(handles.Kp_edit,'String');
    value_dou = str2num (value_str);
 
    value_strPd = get(handles.Kd_edit,'String');
    value_douPd = str2num (value_strPd);
    value_tfpd = tf([value_douPd 0],1);
        
    value_strPi = get(handles.Ki_edit,'String');
    value_douPi = str2num (value_strPi);
    value_tfpi = tf(value_douPi,[1 0]);