function varargout = lagcontroller(varargin)
global nump denp numh denh
% warning('off','MATLAB:dispatcher:InexactMatch')
% LagCONTROLLER Application M-file for PController.fig
% FIG = LagCONTROLLER launch PController GUI.
% LagCONTROLLER('callback_name', ...) invoke the named callback.
% Last Modified by GUIDE v2.5 Feb-Apr-2010 10:25:34
if nargin == 0 % LAUNCH GUI
fig = openfig(mfilename,'new');
% Generate a structure of handles to pass to callbacks, and store it.
handles = guihandles(fig);
guidata(fig, handles);
if nargout > 0
varargout{1} = fig;
end
elseif ischar(varargin{1}) % INVOKE NAMED SUBFUNCTION OR CALLBACK
try
if (nargout)
[varargout{1:nargout}] = feval(varargin{:}) % FEVAL switchyard
else
feval(varargin{:}); % FEVAL switchyard
end
catch
disp(lasterr)
end
end
%| ABOUT CALLBACKS:
%| GUIDE automatically appends subfunction prototypes to this file, and
%| sets objects' callback properties to call them through the FEVAL
%| switchyard above. This comment describes that mechanism.
%|
%| Each callback subfunction declaration has the following form:
%| <SUBFUNCTION_NAME>(H, EVENTDATA, HANDLES, VARARGIN)
%|
%| The subfunction name is composed using the object's Tag and the
%| callback type separated by '_', e.g. 'slider2_Callback',
%| 'figure1_CloseRequestFcn', 'axis1_ButtondownFcn'.
%|
%| H is the callback object's handle (obtained using GCBO).
%|
%| EVENTDATA is empty, but reserved for future use.
%|
%| HANDLES is a structure containing handles of components in GUI using
%| tags as fieldnames, e.g. handles.figure1, handles.slider2. This
%| structure is created at GUI startup using GUIHANDLES and stored in
%| the figure's application data using GUIDATA. A copy of the structure
%| is passed to each callback. You can store additional information in
%| this structure at GUI startup, and you can change the structure
%| during callbacks. Call guidata(h, handles) after changing your
%| copy to replace the stored original so that subsequent callbacks see
%| the updates. Type "help guihandles" and "help guidata" for more
%| information.
%|
%| VARARGIN contains any extra arguments you have passed to the
%| callback. Specify the extra arguments by editing the callback
%| property in the inspector. By default, GUIDE sets the property to:
%| <MFILENAME>('<SUBFUNCTION_NAME>', gcbo, [], guidata(gcbo))
%| Add any extra arguments after the last argument, before the final
%| closing parenthesis.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% The function phlag(num, den, zeta) is used for the design of a phase-
% lag compensator using the approximated method k =~ K0/Kc. num & den
% are row vectors of polynomial coefficients of the uncompensated open-
% loop plant transfer function. zeta is the desired damping ratio. The
% user is prompted to enter gain K required for the steady-state error
% specification & the magnitude of the compensator zero, Z0. [Z0 <<s1].
% The function returns the open-loop and the closed-loop numerator and
% denominator of the compensated system transfer function.
%
% Hadi Saadat, 1999, Revised 2002
% --------------------------------------------------------------------
function varargout = zetaText_Callback(h, eventdata, handles, varargin)
zetahandle=findobj(gcbf, 'Tag','zetaText');
zeta=eval(get(zetahandle,'String'));
% --------------------------------------------------------------------
function varargout = KText_Callback(h, eventdata, handles, varargin)
Khandle=findobj(gcbf, 'Tag','KText');
K=eval(get(Khandle,'String'));
% --------------------------------------------------------------------
function varargout = Z0Text_Callback(h, eventdata, handles, varargin)
Z0handle=findobj(gcbf, 'Tag','Z0Text');
Z0=eval(get(Z0handle,'String'));
% --------------------------------------------------------------------
function varargout = pushbutton1_Callback(h, eventdata, handles, varargin)
global nump denp numh denh compsys
zetahandle=findobj(gcbf, 'Tag','zetaText');
zeta=eval(get(zetahandle,'String'));
Khandle=findobj(gcbf, 'Tag','KText');
K=eval(get(Khandle,'String'));
Z0handle=findobj(gcbf, 'Tag','Z0Text');
Z0=eval(get(Z0handle,'String'));
num= conv(nump, numh);
den= conv(denp, denh);
m=length(num);
n=length(den);
for p=1:m
dn(p)=(m-p)*num(p);
end
for p=1:n
dd(p)=(n-p)*den(p);
end
polyp=conv(dn, den)-conv(dd, num);
rp=roots(polyp);
xa=[rp; roots(num); roots(den)];
x=min(real(xa));
ax2=axes('Position',[0.5 .35 .415 .6],'NextPlot', 'replace');
rlocus(num, den), grid,
%axis('equal'),
xlabel(' ')
ylabel(' ')
ax=axis;
if zeta == 1
zeta = 0.999999;
else, end
if zeta <= 1 && zeta> 0
theta=acos(zeta);
y= abs(x)*tan(theta);
hold on
plot([0 x], [0 y], 'color',[0, .251, .251])
axis(ax);
else, end
[k0, s]= rlocfind(num, den);
hold off
k1=0.7*k0:k0/1000:1.3*k0;
r=rlocus(num,den,k1);
costhta=cos([pi-angle(r)]);
kk=0;
L=length(k1)-1;
for p=1:rank(r)
for x=1:L
if costhta(x,p) >= zeta && costhta(x+1, p) <=zeta
kk=(k1(x)+k1(x+1))/2;
elseif costhta(x,p) <=zeta && costhta(x+1,p) >=zeta
kk=(k1(x)+k1(x + 1))/2;
else, end
end
end
if kk ~= 0
k0=kk;
k0=round(100*k0)/100;
else, end
Kc=k0/K;
P0=Kc*Z0;
KKc=K*Kc;
numGc=KKc*[1, Z0];
denGc=[1, P0];
num1=conv(numGc, nump);
den1=conv(denGc, denp);
numo=conv(num1, numh);
deno=conv(den1, denh);
mo=length(numo); no = length(deno);
numc=conv(num1, denh);
numd=conv(num1, numh);
nm=n-m;
pad0=zeros(1,nm);
numd=[pad0, numd];
denc=deno+numd;
n=length(denc); m=length(numc);
%ax1=axes('Position',[0.0 0.4 .4 .1], 'color', [0.8 0.8 .8],...
%'NextPlot', 'replace');
axes(handles.axesh2) % Select the proper axes
hrst2=gca;
cla(hrst2)
text(0.05, 1, ['K_0 = ', num2str(k0),' (for specified \zeta )'], 'color', [0 0 0.62745])
text(0.05, .95, ['K = ', num2str(K),' (for specified e_{ss})'], 'color', [0 0 0.62745])
text(0.05, .9, ['Controller: G_c(s) = ', num2str(Kc),'(s + ', num2str(Z0), '/(s + ', num2str(P0),')'], 'color', [0 0 0.62745])
text(0.05,.85, 'Compensated Open-loop TF', 'color', [0 0 0.62745])
text(0.05, .775, 'KG_cG_pH(s) = ' , 'color', [0 0 0.62745])
if mo==1
text(.55, .8, num2str(numo(1)), 'color', [0 0 0.62745])
elseif mo==2
text(.55, .8, [num2str(numo(1)),'s + ',num2str(numo(2))], 'color', [0 0 0.62745])
elseif mo==3
text(.55, .8, [num2str(numo(1)),'s^2 + ',num2str(numo(2)),'s + ', num2str(numo(3))], 'color', [0 0 0.62745])
elseif mo==4
text(.55, .8, [num2str(numo(1)),'s^3 + ',num2str(numo(2)),'s^2 + ', num2str(numo(3)),'s + ', num2str(numo(4))], 'color', [0 0 0.62745])
elseif mo==5
text(.35, .8, [num2str(numo(1)),'s^4 + ',num2str(numo(2)),'s^3 + ', num2str(numo(3)),'s^2 + ', num2str(numo(4)),'s + ', num2str(numo(5))], 'color', [0 0 0.62745])
elseif mo==6
text(.35, .8, [num2str(numo(1)),'s^5 + ',num2str(numo(2)),'s^4 + ', num2str(numo(3)),'s^3 + ', num2str(numo(4)),'s^2 + ', num2str(numo(5)),'s + ', num2str(numo(6))], 'color', [0 0 0.62745])
elseif mo==7
text(.35, .8, [num2str(numo(1)),'s^6 + ',num2str(numo(2)),'s^5 + ', num2str(numo(3)),'s^4 + ', num2str(numo(4)),'s^3 + ', num2str(numo(5)),'s^2 + ', num2str(numo(6)),'s + ' , num2str(numo(7))], 'color', [0 0 0.62745])
elseif mo==8
text(.35, .8, [num2str(numo(1)),'s^7 + ',num2str(numo(2)),'s^6 + ', num2str(numo(3)),'s^5 + ', num2str(numo(4)),'s^4 + ', num2str(numo(5)),'s^3 + ', num2str(numo(6)),'s^2 + ' , num2str(numo(7)),'s + ', num2str(numo(8))], 'color', [0 0 0.62745])
else, end
if no==1
text(0.36, 0.795,'\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(0.36, .75, num2str(deno(1)), 'color', [0 0 0.62745])
elseif no==2
text(0.36, 0.795,'\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(0.36, .75, [num2str(deno(1)),'s + ',num2str(deno(2))], 'color', [0 0 0.62745])
elseif no==3
text(0.36, 0.795,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(0.36, .75, [num2str(deno(1)),'s^2 + ',num2str(deno(2)),'s + ', num2str(deno(3))], 'color', [0 0 0.62745])
elseif no==4
text(0.36, 0.795,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(0.36, .75, [num2str(deno(1)),'s^3 + ',num2str(deno(2)),'s^2 + ', num2str(deno(3)),'s + ', num2str(deno(4))], 'color', [0 0 0.62745])
elseif no==5
text(0.36, 0.795,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(0.36, 0.75, [num2str(deno(1)),'s^4 + ',num2str(deno(2)),'s^3 + ', num2str(deno(3)),'s^2 + ', num2str(deno(4)),'s + ', num2str(deno(5))], 'color', [0 0 0.62745])
elseif no==6
text(0.36, 0.795,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(0.36, .75, [num2str(deno(1)),'s^5 + ',num2str(deno(2)),'s^4 + ', num2str(deno(3)),'s^3 + ', num2str(deno(4)),'s^2 + ', num2str(deno(5)),'s + ', num2str(deno(6))], 'color', [0 0 0.62745])
elseif no==7
text(0.36, .795,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(0.36, .75, [num2str(deno(1)),'s^6 + ',num2str(deno(2)),'s^5 + ', num2str(deno(3)),'s^4 + ', num2str(deno(4)),'s^3 + ', num2str(deno(5)),'s^2 + ', num2str(deno(6)),'s + ', num2str(deno(7))], 'color', [0 0 0.62745])
elseif no==8
text(0.36, .795,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(0.36, .75, [num2str(deno(1)),'s^7 + ',num2str(deno(2)),'s^6 + ', num2str(deno(3)),'s^5 + ', num2str(deno(4)),'s^4 + ', num2str(deno(5)),'s^3 + ', num2str(deno(6)),'s^2 + ', num2str(deno(7)), 's + ', num2str(deno(8)), ], 'color', [0 0 0.62745])
elseif no==9
text(0.36, .795,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(0.36, .75, [num2str(deno(1)),'s^8 + ',num2str(deno(2)),'s^7 + ', num2str(deno(3)),'s^6 + ', num2str(deno(4)),'s^5 + ', num2str(deno(5)),'s^4 + ', num2str(deno(6)),'s^3 + ', num2str(deno(7)), 's^2 + ', num2str(deno(8)), 's + ', num2str(deno(9))], 'color', [0 0 0.62745])
elseif no==10
text(0.36, .795,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(.36, .75, [num2str(deno(1)),'s^9 + ',num2str(deno(2)),'s^8 + ', num2str(deno(3)),'s^7 + ', num2str(deno(4)),'s^6 + ', num2str(deno(5)),'s^5 + ', num2str(deno(6)),'s^4 + ', num2str(deno(7)), 's^3 + ', num2str(deno(8)), 's^2 + ', num2str(deno(9)), 's + ',num2str(deno(10))], 'color', [0 0 0.62745])
else, end
axis off
%ax3=axes('Position',[0.0 0.2 .4 .15],'NextPlot', 'replace', 'color', [0.8 0.8 .8],...
%'Xcolor', [0 0 0], 'Ycolor', [0 0 0]);
text(0.05, .7, 'Compensated Closed-loop TF', 'color',[0 0 0.62745])
text(0.05, .65, ' C(s)', 'color', [0 0 0.62745])
text(0.05, .647, '\_\_\_\_ ', 'color', [0 0 0.62745])
text(0.05, .625, ' = ', 'color', [0 0 0.62745])
text(0.05, .6, ' R(s)' , 'color', [0 0 0.62745])
if m==1
text(.35, .65, num2str(numc(1)), 'color', [0 0 0.62745])
elseif m==2
text(.35, .65, [num2str(numc(1)),'s + ',num2str(numc(2))], 'color', [0 0 0.62745])
elseif m==3
text(.35, .65, [num2str(numc(1)),'s^2 + ',num2str(numc(2)),'s + ', num2str(numc(3))], 'color', [0 0 0.62745])
elseif m==4
text(.35, .65, [num2str(numc(1)),'s^3 + ',num2str(numc(2)),'s^2 + ', num2str(numc(3)),'s + ', num2str(numc(4))], 'color', [0 0 0.62745])
elseif m==5
text(.35, .65, [num2str(numc(1)),'s^4 + ',num2str(numc(2)),'s^3 + ', num2str(numc(3)),'s^2 + ', num2str(numc(4)),'s + ', num2str(numc(5))], 'color', [0 0 0.62745])
elseif m==6
text(.35, .65, [num2str(numc(1)),'s^5 + ',num2str(numc(2)),'s^4 + ', num2str(numc(3)),'s^3 + ', num2str(numc(4)),'s^2 + ', num2str(numc(5)),'s + ', num2str(numc(6))], 'color', [0 0 0.62745])
elseif m==7
text(.35, .65, [num2str(numc(1)),'s^6 + ',num2str(numc(2)),'s^5 + ', num2str(numc(3)),'s^4 + ', num2str(numc(4)),'s^3 + ', num2str(numc(5)),'s^2 + ', num2str(numc(6)),'s + ' , num2str(numc(7))], 'color', [0 0 0.62745])
elseif m==8
text(.35, .65, [num2str(numc(1)),'s^7 + ',num2str(numc(2)),'s^6 + ', num2str(numc(3)),'s^5 + ', num2str(numc(4)),'s^4 + ', num2str(numc(5)),'s^3 + ', num2str(numc(6)),'s^2 + ' , num2str(numc(7)),'s + ', num2str(numc(8))], 'color', [0 0 0.62745])
else, end
if n==1
text(0.25, .645,'\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(.25, .6, num2str(denc(1)), 'color', [0 0 0.62745])
elseif n==2
text(0.25, .645,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(.25, .6, [num2str(denc(1)),'s + ',num2str(denc(2))], 'color', [0 0 0.62745])
elseif n==3
text(0.25, .645,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(.25, .6, [num2str(denc(1)),'s^2 + ',num2str(denc(2)),'s + ', num2str(denc(3))], 'color', [0 0 0.62745])
elseif n==4
text(0.25, .645,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(.25, .6, [num2str(denc(1)),'s^3 + ',num2str(denc(2)),'s^2 + ', num2str(denc(3)),'s + ', num2str(denc(4))], 'color', [0 0 0.62745])
elseif n==5
text(0.25, .645,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(.25, .6, [num2str(denc(1)),'s^4 + ',num2str(denc(2)),'s^3 + ', num2str(denc(3)),'s^2 + ', num2str(denc(4)),'s + ', num2str(denc(5))], 'color', [0 0 0.62745])
elseif n==6
text(0.25, .645,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(.25, .6, [num2str(denc(1)),'s^5 + ',num2str(denc(2)),'s^4 + ', num2str(denc(3)),'s^3 + ', num2str(denc(4)),'s^2 + ', num2str(denc(5)),'s + ', num2str(denc(6))], 'color', [0 0 0.62745])
elseif n==7
text(0.25, .645,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(.25, .6, [num2str(denc(1)),'s^6 + ',num2str(denc(2)),'s^5 + ', num2str(denc(3)),'s^4 + ', num2str(denc(4)),'s^3 + ', num2str(denc(5)),'s^2 + ', num2str(denc(6)),'s + ', num2str(denc(7))], 'color', [0 0 0.62745])
elseif n==8
text(0.25, .645,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(.25, .6, [num2str(denc(1)),'s^7 + ',num2str(denc(2)),'s^6 + ', num2str(denc(3)),'s^5 + ', num2str(denc(4)),'s^4 + ', num2str(denc(5)),'s^3 + ', num2str(denc(6)),'s^2 + ', num2str(denc(7)), 's + ', num2str(denc(8))], 'color', [0 0 0.62745])
elseif n==9
text(0.25, .645,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(.25, .6, [num2str(denc(1)),'s^8 + ',num2str(denc(2)),'s^7 + ', num2str(denc(3)),'s^6 + ', num2str(denc(4)),'s^5 + ', num2str(denc(5)),'s^4 + ', num2str(denc(6)),'s^3 + ', num2str(denc(7)), 's^2 + ', num2str(denc(8)), 's + ', num2str(denc(9))], 'color', [0 0 0.62745])
elseif n==10
text(0.25, .645,'\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_', 'color', [0 0 0.62745])
text(.25, .6, [num2str(denc(1)),'s^9 + ',num2str(denc(2)),'s^8 + ', num2str(denc(3)),'s^7 + ', num2str(denc(4)),'s^6 + ', num2str(denc(5)),'s^5 + ', num2str(denc(6)),'s^4 + ', num2str(denc(7)), 's^3 + ', num2str(denc(8)), 's^2 + ', num2str(denc(9)), 's + ',num2str(denc(10))], 'color', [0 0 0.62745])
else, end
x=roots(denc);
taus=1./abs(real(x));
x=x.';
text(0.05, 0.525, 'Roots of the Characteristic Equation:', 'color', [0 0 0.62745])
rk=length(x);
if rk <=4,
text(0.05, .475, num2str(x), 'color', [0 0 0.62745])
elseif rk>=4 && rk<=8,
text(0.05,.475, num2str(x(1:4)), 'color', [0 0 0.62745])
text(0.05, .425, num2str(x(5:rk)), 'color', [0 0 0.62745])
elseif rk>=8 && rk<=13
text(0.05, .475, num2str(x(1:4)), 'color', [0 0 0.62745])
text(0.05, .425, num2str(x(5:8)), 'color', [0 0 0.62745])
text(0.05, .375, num2str(x(9:rk)), 'color', [0 0 0.62745])
else, end
axis off
Gc=tf(Kc*[1 Z0], [1, P0]);KC=Kc;
compopen=tf([numo],[deno]);
compsys=tf([numc], [denc]);
fprintf('Compensator ')
assignin('base', 'Gc',Gc), Gc
fprintf('Compensated open loop ')
assignin('base', 'TFo',compopen), compopen
fprintf('Compensated closed loop ')
assignin('base', 'TFc',compsys), compsys
assignin('base', 'KC',KC),KC
assignin('base', 'Z0',Z0),Z0
assignin('base', 'P0',P0),P0
% --------------------------------------------------------------------
function varargout = pushbuttonResponse_Callback(h, eventdata, handles, varargin)
global nump denp numh denh compsys
ltiview('step', compsys)
% --------------------------------------------------------------------
function varargout = pushbuttonClose_Callback(h, eventdata, handles, varargin)
close
