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Controls Tutor

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Help understand the fundamentals of classical control theory.

outtowks(mode)
function [val1,val2,val3,val4] = outtowks(mode)
%
% Utility Function: OUTTOWKS
%
% This function provides a gateway from the environment to the workspace

% Author: Craig Borghesani
% Date: 9/5/94
% Revised: 11/15/94
% Copyright (c) 1999, Prentice-Hall

if mode == 0,
 f = gcf;
else
 f2 = gcf;
 f = get(f2,'userdata');
end
ui_data = get(f,'userdata');
ui_han = ui_data{1};
ui_obj = ui_data{2};
ui_han2 = get(ui_han(51),'userdata');
cur_sys = get(ui_han(30),'userdata');
stat_bar = get(ui_han(43),'userdata');
win_str = get(ui_han(48),'userdata');
if length(ui_han2),
 stat_bar2 = ui_han2(16);
end

if mode==0, % Setup

 if ~figflag(['Out to Workspace...',win_str]),
  f2 = figure('numbertitle','off','menubar','none','name',['Out to Workspace...',win_str],...
              'pos',[30,50,395,187],'color',[0.8,0.8,0.8],'resize','off',...
              'userdata',f);

% Variable Input Fields
  del=17;
  uicontrol('style','text','string','Variable Names',...
            'pos',[10,145+del,375,17],'horizontalalignment','left',...
            'backgroundcolor',[0.8,0.8,0.8]);
  ui_han2(1) = uicontrol('style','text','string','Num:',...
            'pos',[0,123+del,40,17],'horizontalalignment','right',...
            'backgroundcolor',[0.8,0.8,0.8]);
  ui_han2(2) = uicontrol('style','edit','pos',[40,123+del,55,20],'backgroundcolor','w',...
                     'callback','outtowks(1)',...
                     'horiz','left');

  ui_han2(3) = uicontrol('style','text','string','Den:',...
            'pos',[95,123+del,40,17],'horizontalalignment','right',...
            'backgroundcolor',[0.8,0.8,0.8]);
  ui_han2(4) = uicontrol('style','edit','pos',[135,123+del,55,20],'backgroundcolor','w',...
                     'callback','outtowks(1)',...
                     'horiz','left');

  ui_han2(5) = uicontrol('style','text','string','',...
            'pos',[190,123+del,40,17],'horizontalalignment','right','vis','off',...
            'backgroundcolor',[0.8,0.8,0.8]);
  ui_han2(6) = uicontrol('style','edit','pos',[230,123+del,55,20],'backgroundcolor','w',...
                     'callback','outtowks(1)','vis','off',...
                     'horiz','left');

  ui_han2(7) = uicontrol('style','text','string','',...
            'pos',[285,123+del,40,17],'horizontalalignment','right','vis','off',...
            'backgroundcolor',[0.8,0.8,0.8]);
  ui_han2(8) = uicontrol('style','edit','pos',[325,123+del,55,20],'backgroundcolor','w',...
                     'callback','outtowks(1)','vis','off',...
                     'horiz','left');

% Option Fields
  uicontrol('style','text','string','Format',...
            'pos',[10,100+del,180,17],'horizontalalignment','left',...
            'backgroundcolor',[0.8,0.8,0.8]);
  ui_han2(9) = uicontrol('style','radio','pos',[10,80+del,180,20],...
                     'string','Numerator/Denominator',...
                     'backgroundcolor',[0.8,0.8,0.8],...
                     'callback','outtowks(2)','value',1);
  ui_han2(10) = uicontrol('style','radio','pos',[10,60+del,180,20],...
                     'string','Zero/Pole/Gain',...
                     'backgroundcolor',[0.8,0.8,0.8],...
                     'callback','outtowks(2)','value',0);
  ui_han2(11) = uicontrol('style','radio','pos',[10,40+del,180,20],...
                     'string','State Space',...
                     'backgroundcolor',[0.8,0.8,0.8],...
                     'callback','outtowks(2)','value',0);

  uicontrol('style','text','string','Transfer Function',...
            'pos',[205,100+del,180,17],'horizontalalignment','left',...
            'backgroundcolor',[0.8,0.8,0.8]);
  ui_han2(12) = uicontrol('style','radio','pos',[205,80+del,180,20],...
                     'string','Plant',...
                     'backgroundcolor',[0.8,0.8,0.8],...
                     'callback','outtowks(3)','value',1);
  ui_han2(13) = uicontrol('style','radio','pos',[205,60+del,180,20],...
                     'string','Forward Controller',...
                     'backgroundcolor',[0.8,0.8,0.8],...
                     'callback','outtowks(3)','value',0);
  ui_han2(14) = uicontrol('style','radio','pos',[205,40+del,180,20],...
                     'string','Feedback Controller',...
                     'backgroundcolor',[0.8,0.8,0.8],...
                     'callback','outtowks(3)','value',0);

  for c=1:3,
   set(ui_han2(8+c),'userdata',ui_han2(:,8+[1:(c-1),(c+1):3]));
  end

  for c=1:3,
   set(ui_han2(11+c),'userdata',ui_han2(:,11+[1:(c-1),(c+1):3]));
  end

  ui_han2(15) = uicontrol('style','push','pos',[103,10+del,60,20],'string','OK');
  uicontrol('style','push','pos',[166,10+del,60,20],'string','Cancel',...
            'callback','outtowks(5)');
  uicontrol('style','push','pos',[232,10+del,60,20],'string','Help',...
            'callback','userhelp(5,3)');

  ui_han2(16) = uicontrol('style','edit','pos',[0,0,395,20],...
             'foregroundcolor','k',...
             'horizontalalignment','left');
  stat_bar2 = ui_han2(16);
  set(ui_han(51),'userdata',ui_han2);
 end

 set(stat_bar2,'string','Enter variable names into edit boxes, press OK when done');
 drawnow;

elseif mode==1, % edit fields

% build output and input strings
 output_str = [];

 for k = 2:2:8,
  var_str = get(ui_han2(k),'string');
  if length(var_str),
   output_str = [output_str,var_str,','];
  end
 end

% remove extra comma
 output_str(length(output_str))=[];

% setup callback to pass desired variables to workspace
 callback_str = ['[',output_str,']=outtowks(4);'];
 set(ui_han2(15),'callback',callback_str);

elseif mode==2, % format

 cur_obj = get(f2,'currentobject');
 data = get(cur_obj,'userdata');
 set(data,'value',0);
 set(cur_obj,'value',1);

 if cur_obj == ui_han2(9), % num/den
  set(ui_han2(5:8),'vis','off');
  set(ui_han2(1),'string','Num:');
  set(ui_han2(3),'string','Den:');

 elseif cur_obj == ui_han2(10), % z/p/k
  set(ui_han2(7:8),'vis','off');
  set(ui_han2(5:6),'vis','on');
  set(ui_han2(1),'string','Zero:');
  set(ui_han2(3),'string','Pole:');
  set(ui_han2(5),'string','Gain:');

 elseif cur_obj == ui_han2(11), % state space
  set(ui_han2(5:8),'vis','on');
  set(ui_han2(1),'string','A:');
  set(ui_han2(3),'string','B:');
  set(ui_han2(5),'string','C:');
  set(ui_han2(7),'string','D:');
 end

elseif mode==3, % plant or controller

 cur_obj = get(f2,'currentobject');
 data = get(cur_obj,'userdata');
 set(data,'value',0);
 set(cur_obj,'value',1);

elseif mode==4, % OK

 if get(ui_han2(12),'value'), sel = 3;
 elseif get(ui_han2(13),'value'), sel = 6;
 elseif get(ui_han2(14),'value'), sel = 9; end
 term_mat = get(ui_han(sel+cur_sys),'userdata');

 if get(ui_han2(9),'value'),
  [var1,var2]=termextr(term_mat);
  len = 2;
 end

 if get(ui_han2(10),'value'),
  [var1,var2,var3]=term2zpk(term_mat);
  len = 3;
 end

 if get(ui_han2(11),'value'),
  [n,d]=termextr(term_mat);
  [var1,var2,var3,var4]=tf2ss(n,d);
  len = 4;
 end

 ct=1;
 for k = 1:len,
  eval(['val',int2str(ct),'=var',int2str(k),';']);
  ct=ct+1;
 end

 set(stat_bar,'string','Variables passed to workspace');

 set(f2,'vis','off');

elseif mode==5, % Cancel

 set(f2,'vis','off');

end

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