function [sys,x0,str,ts] = autogui(t,x,u,flag,RefBlock)
%AUTOGUI S-function for making a simple PID GUI.
%
% When the model autotunerPID.mdl is run, this S-function create a panel
% which closer resemble the layout of a typical real industrial autotuner
% (at least in the control options).
% The upper part of the GUI is used to interact with the control system,
% by changing the set-point value and by reading the value of the process
% value and the control variable. Moreover when used in MANUAL mode the
% control variable is under the direct control of the user. The
% parameters area shows the parameter of the PID which can be changed
% online (except for the derivative weight c which is fixed to 0.
% The last two areas allow to select the operating mode (AUTO/MANUAL) and
% the autotuning method, split in the selection of the identification
% method, the selection of the tuning method and the selection of the
% regulator structure.
%
% Everything started looking at PENDAN, an S-function for making pendulum
% animation
%
% Author: William Spinelli (wspinell@elet.polimi.it)
% Copyright 2004 W.Spinelli
% $Revision: 1.0 $ $Date: 2004/02/27 12:00:00 $
% Plots every major integration step, but has no states of its own
switch flag,
% Initialization
case 0,
[sys,x0,str,ts] = mdlInitializeSizes(RefBlock);
% Update
case 2,
sys = mdlUpdate(t,x,u);
% Unused flags
case { 1, 3, 4, 9 },
sys = [];
% DeleteBlock
case 'DeleteBlock',
LocalDeleteBlock
% DeleteFigure
case 'DeleteFigure',
LocalDeleteFigure
% SliderSP
case 'SliderSP',
LocalSliderSP
% EditSP
case 'EditSP',
LocalEditSP
% SliderCV
case 'SliderCV',
LocalSliderCV
% EditCV
case 'EditCV',
LocalEditCV
% Close
case 'Close',
LocalClose
% Autotune
case 'Autotune',
LocalAutotune
% Manual
case 'Man',
LocalMan
% Auto
case 'Auto',
LocalAuto
% EditK
case 'EditK',
LocalEditK
% EditTi
case 'EditTi',
LocalEditTi
% EditTd
case 'EditTd',
LocalEditTd
% EditN
case 'EditN',
LocalEditN
% Editb
case 'Editb',
LocalEditb
% IdentMethod
case 'Identification',
LocalIdentification
% TuningMethpd
case 'Tuning',
LocalTuning
% Structure
case 'Structure',
LocalStructure
% EditParam
case 'EditParam',
LocalEditParam
% Unexpected flags
otherwise
error(['Unhandled flag = ',num2str(flag)]);
end
% end autogui
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
function [sys,x0,str,ts] = mdlInitializeSizes(RefBlock)
% initialize parameters (setpoint)
set_param(get_param([get_param(gcs,'Parent') '/' RefBlock],'Handle'),...
'Value','0');
% set up S-function
sizes = simsizes;
sizes.NumContStates = 0;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 0;
sizes.NumInputs = 2;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;
sys = simsizes(sizes);
x0 = [];
str = [];
ts = [0.1 0];
LocalPIDInit(RefBlock);
% end mdlInitializeSizes
%=============================================================================
% mdlUpdate
% Update the PID GUI animation.
%=============================================================================
function sys = mdlUpdate(t,x,u)
fig = get_param(gcbh,'UserData');
if ishandle(fig),
if strcmp(get(fig,'Visible'),'on'),
ud = get(fig,'UserData');
LocalPIDSets(t,ud,u);
end
end
sys = [];
% end mdlUpdate
%=============================================================================
% LocalDeleteBlock
% The animation block is being deleted, delete the associated figure.
%=============================================================================
function LocalDeleteBlock
fig = get_param(gcbh,'UserData');
if ishandle(fig),
delete(fig);
set_param(gcbh,'UserData',-1)
end
% end LocalDeleteBlock
%=============================================================================
% LocalDeleteFigure
% The animation figure is being deleted, set the S-function UserData to -1.
%=============================================================================
function LocalDeleteFigure
ud = get(gcbf,'UserData');
set_param(ud.Block,'UserData',-1);
% end LocalDeleteFigure
%=============================================================================
% LocalSliderSP
% The callback function for the animation window slider SP control
%=============================================================================
function LocalSliderSP
ud = get(gcbf,'UserData');
set_param(ud.RefBlock,'Value',num2str(get(gcbo,'Value')));
% end LocalSliderSP
%=============================================================================
% LocalSliderCV
% The callback function for the animation window slider CV control
%=============================================================================
function LocalSliderCV
global CVVALUE
ud = get(gcbf,'UserData');
CVVALUE = get(gcbo,'Value');
set(ud.EditCV,'String',num2str(CVVALUE));
% end LocalSliderCV
%=============================================================================
% LocalEditCV
% The callback function for the edit field of parameter CV
%=============================================================================
function LocalEditCV
global CVVALUE
ud = get(gcbf,'UserData');
CVVALUE = str2num(get(ud.EditCV,'String'));
set(ud.SlideCV,'Value',CVVALUE);
% end LocalEditCV
%=============================================================================
% LocalClose
% The callback function for the animation window close button. Delete
% the animation figure window.
%=============================================================================
function LocalClose
delete(gcbf)
% end LocalClose
%=============================================================================
% LocalAutotune
% The callback function for the autotune button. Start autotuning
%=============================================================================
function LocalAutotune
global AUTOTUNE
global INACTIVE
AUTOTUNE = 1;
INACTIVE = 1;
ud = get(gcbf,'UserData');
set(ud.SlideSP,'Enable','inactive');
set(ud.EditSP,'Enable','off');
set(ud.SlideCV,'Enable','inactive');
set(ud.EditCV,'Enable','off');
set(ud.Man,'Enable','off');
set(ud.Auto,'Enable','off');
set(ud.EditK,'Enable','inactive');
set(ud.EditTi,'Enable','inactive');
set(ud.EditTd,'Enable','inactive');
set(ud.Editb,'Enable','inactive');
set(ud.EditN,'Enable','inactive');
set(ud.Ident,'Enable','off');
set(ud.Tuning,'Enable','off');
set(ud.TuningParam,'Enable','off');
set(ud.Structure,'Enable','off');
% end LocalAutotune
%=============================================================================
% LocalMan
% The callback function for the manual selector button
%=============================================================================
function LocalMan
global AUTOMAN
ud = get(gcbf,'UserData');
set(ud.Auto,'Value',0);
set(ud.Man,'Value',1);
set(ud.EditCV,'Enable','on');
set(ud.SlideCV,'Enable','on');
AUTOMAN = 0;
% end LocalMan
%=============================================================================
% LocalAuto
% The callback function for the automatic selector button
%=============================================================================
function LocalAuto
global AUTOMAN
ud = get(gcbf,'UserData');
set(ud.Man,'Value',0);
set(ud.Auto,'Value',1);
set(ud.EditCV,'Enable','off');
set(ud.SlideCV,'Enable','inactive');
AUTOMAN = 1;
% end LocalAuto
%=============================================================================
% LocalEditK
% The callback function for the edit field of parameter K
%=============================================================================
function LocalEditK
global PIDPARAMETERS
ud = get(gcbf,'UserData');
PIDPARAMETERS = [str2num(get(ud.EditK,'String')) PIDPARAMETERS(2:5)];
% end LocalEditK
%=============================================================================
% LocalEditTi
% The callback function for the edit field of parameter Ti
%=============================================================================
function LocalEditTi
global PIDPARAMETERS
ud = get(gcbf,'UserData');
PIDPARAMETERS = [PIDPARAMETERS(1)...
str2num(get(ud.EditTi,'String')) PIDPARAMETERS(3:5)];
% end LocalEditTi
%=============================================================================
% LocalEditTd
% The callback function for the edit field of parameter Td
%=============================================================================
function LocalEditTd
global PIDPARAMETERS
ud = get(gcbf,'UserData');
PIDPARAMETERS = [PIDPARAMETERS(1:2)...
str2num(get(ud.EditTd,'String')) PIDPARAMETERS(4:5)];
% end LocalEditTd
%=============================================================================
% LocalEditN
% The callback function for the edit field of parameter N
%=============================================================================
function LocalEditN
global PIDPARAMETERS
ud = get(gcbf,'UserData');
PIDPARAMETERS = [PIDPARAMETERS(1:3)...
str2num(get(ud.EditN,'String')) PIDPARAMETERS(5)];
% end LocalEditN
%=============================================================================
% LocalEditb
% The callback function for the edit field of parameter b
%=============================================================================
function LocalEditb
global PIDPARAMETERS
ud = get(gcbf,'UserData');
PIDPARAMETERS = [PIDPARAMETERS(1:4) str2num(get(ud.Editb,'String'))];
% end LocalEditb
%=============================================================================
% LocalEditSP
% The callback function for the edit field of parameter SP
%=============================================================================
function LocalEditSP
ud = get(gcbf,'UserData');
set_param(ud.RefBlock,'Value',get(ud.EditSP,'String'));
% end LocalEditSP
%=============================================================================
% LocalIdentification
% The callback function for the selection of the identification method
%=============================================================================
function LocalIdentification
global TUNING_PARAM
global IDENTIFICATION_METHOD
global TUNING_METHOD
ud = get(gcbf,'UserData');
str = get(ud.Ident,'String');
IDENTIFICATION_METHOD = deblank(upper(str(get(ud.Ident,'Value'),:)));
if strcmp(IDENTIFICATION_METHOD,'STEP')
TUNING_PARAM = [];
TUNING_METHOD = 'ZN (OL)';
set(ud.TunParText,'String','');
set(ud.TuningParam,'Style','edit');
set(ud.TuningParam,'Visible','off');
set(ud.Tuning,'Value',3);
elseif strcmp(IDENTIFICATION_METHOD,'RELAY')
TUNING_PARAM = [];
TUNING_METHOD = 'ZN (CL)';
set(ud.TunParText,'String','');
set(ud.TuningParam,'Style','edit');
set(ud.TuningParam,'Visible','off');
set(ud.Tuning,'Value',4);
end
% end LocalIdentification
%=============================================================================
% LocalTuning
% The callback function for the selection of the tuning method
%=============================================================================
function LocalTuning
global TUNING_PARAM
global TUNING_METHOD
global IDENTIFICATION_METHOD
ud = get(gcbf,'UserData');
str = get(ud.Tuning,'String');
TUNING_METHOD = deblank(upper(str(get(ud.Tuning,'Value'),:)));
if strcmp(TUNING_METHOD,'ZN (OL)')
set(ud.TunParText,'String','');
set(ud.TuningParam,'Style','edit');
set(ud.TuningParam,'Visible','off');
set(ud.TuningParam,'String','');
TUNING_PARAM = [];
IDENTIFICATION_METHOD = 'STEP';
set(ud.Ident,'Value',1);
elseif strcmp(TUNING_METHOD,'ZN (CL)')
set(ud.TunParText,'String','');
set(ud.TuningParam,'Style','edit',...
'Visible','off',...
'String','');
TUNING_PARAM = [];
IDENTIFICATION_METHOD = 'RELAY';
set(ud.Ident,'Value',2);
elseif strcmp(TUNING_METHOD,'KT')
set(ud.TunParText,'String','Ms ');
set(ud.TuningParam,'Style','popupmenu',...
'String',['1.4';'2.0'],...
'Value',1,...
'Visible','on');
TUNING_PARAM = 1.4;
IDENTIFICATION_METHOD = 'STEP';
set(ud.Ident,'Value',1);
elseif strcmp(TUNING_METHOD,'IMC')
set(ud.TunParText,'String','lambda ');
set(ud.TuningParam,'Style','edit',...
'String','1',...
'Visible','on');
TUNING_PARAM = 1;
IDENTIFICATION_METHOD = 'STEP';
set(ud.Ident,'Value',1);
end
% end LocalTuning
%=============================================================================
% LocalEditParam
% The callback function for the edit field of the method of the parameter
%=============================================================================
function LocalEditParam
global TUNING_PARAM
global TUNING_METHOD
ud = get(gcbf,'UserData');
if strcmp(TUNING_METHOD,'KT')
if get(ud.TuningParam,'Value')==1;
TUNING_PARAM = 1.4;
elseif get(ud.TuningParam,'Value')==2;
TUNING_PARAM = 2.0;
end
elseif strcmp(TUNING_METHOD,'IMC')
TUNING_PARAM = str2num(get(ud.TuningParam,'String'));
end
% end LocalEditParam
%=============================================================================
% LocalStructure
% The callback function for the selection of the regulator structure
%=============================================================================
function LocalStructure
global TUNING_STRUCTURE
ud = get(gcbf,'UserData');
str = get(ud.Structure,'String');
TUNING_STRUCTURE = deblank(upper(str(get(ud.Structure,'Value'),:)));
% end LocalStructure
%=============================================================================
% LocalPIDSets
% Local function to set the position of the graphics objects in the PID GUI
% animation window.
%=============================================================================
function LocalPIDSets(time,ud,u)
global AUTOMAN
global AUTOTUNE
global PIDPARAMETERS
global INACTIVE
PVValue = u(1);
SPValue = str2num(get_param(ud.RefBlock,'Value'));
CVValue = u(2);
% time field
set(ud.TimeField,...
'String',num2str(time));
% process value & setpoint
set(ud.PV,...
'YData',[0 PVValue PVValue 0]);
set(ud.PVField,...
'String',num2str(PVValue,'%1.4f'));
set(ud.RefMark,...
'YData',[SPValue+0.25 SPValue SPValue-0.25]);
set(ud.SlideSP,...
'Value',SPValue);
set(ud.EditSP,...
'String',num2str(SPValue,'%1.4f'));
% process value & setpoint
set(ud.CV,...
'YData',[0 CVValue CVValue 0]);
if ~AUTOTUNE
set(ud.SlideCV,...
'Value',CVValue);
set(ud.EditCV,...
'String',num2str(CVValue,'%1.4f'));
end
if ~AUTOTUNE & INACTIVE
% Autotuning process completed (update parameters and set the GUI
% active)
% PID parameters
set(ud.SlideSP,'Enable','on');
set(ud.EditSP,'Enable','on');
if ~AUTOMAN
set(ud.SlideCV,'Enable','on');
set(ud.EditCV,'Enable','on');
end
set(ud.Man,'Enable','on');
set(ud.Auto,'Enable','on');
set(ud.EditK,'Enable','on');
set(ud.EditTi,'Enable','on');
set(ud.EditTd,'Enable','on');
set(ud.Editb,'Enable','on');
set(ud.EditN,'Enable','on');
set(ud.Ident,'Enable','on');
set(ud.Tuning,'Enable','on');
set(ud.TuningParam,'Enable','on');
set(ud.Structure,'Enable','on');
set(ud.EditK,...
'String',num2str(PIDPARAMETERS(1)));
set(ud.EditTi,...
'String',num2str(PIDPARAMETERS(2)));
set(ud.EditTd,...
'String',num2str(PIDPARAMETERS(3)));
set(ud.EditN,...
'String',num2str(PIDPARAMETERS(4)));
set(ud.Editb,...
'String',num2str(PIDPARAMETERS(5)));
INACTIVE = 0;
end
% Force plot to be drawn
pause(0), drawnow
% end LocalPIDSets
%=============================================================================
% LocalPIDInit
% Local function to initialize the PID GUI animation. If the animation
% window already exists, it is brought to the front. Otherwise, a new
% figure window is created.
%=============================================================================
function LocalPIDInit(RefBlock)
% The name of the reference is derived from the name of the
% subsystem block that owns the PID animation S-function block.
% This subsystem is the current system and is assumed to be the same
% layer at which the reference block resides.
sys = get_param(gcs,'Parent');
global AUTOTUNE
global AUTOMAN
global PIDPARAMETERS
global IDENTIFICATION_METHOD
global TUNING_METHOD
global TUNING_PARAM
global TUNING_STRUCTURE
global INACTIVE
INACTIVE = 1;
IDENTIFICATION_METHOD = 'STEP';
TUNING_METHOD = 'KT';
TUNING_PARAM = 1.4;
TUNING_STRUCTURE ='PID';
AUTOTUNE = 0;
AUTOMAN = 1;
TimeClock = 0;
PVValue = 0;
SPValue = str2num(get_param([sys '/' RefBlock],'Value'));
CVValue = 0;
% The animation figure handle is stored in the PID block's UserData.
% If it exists, initialize all the fields
Fig = get_param(gcbh,'UserData');
if ishandle(Fig),
FigUD = get(Fig,'UserData');
% time field
set(FigUD.TimeField,...
'String',num2str(TimeClock));
% process value & set point
set(FigUD.PV,...
'YData',[0 PVValue PVValue 0]);
set(FigUD.PVField,...
'String',num2str(PVValue));
set(FigUD.RefMark,...
'YData',[SPValue+0.25 SPValue SPValue-0.25]);
set(FigUD.SlideSP,...
'Value',0);
set(FigUD.EditSP,...
'String',num2str(PVValue));
% control variable
set(FigUD.CV,...
'YData',[0 CVValue CVValue 0]);
set(FigUD.EditCV,...
'String',num2str(CVValue),...
'Enable','off');
set(FigUD.SlideCV,...
'Value',CVValue,...
'Enable','inactive');
% auto/man selector
set(FigUD.Man,...
'Value',0);
set(FigUD.Auto,...
'Value',1);
% PID parameters
set(FigUD.EditK,...
'String',num2str(PIDPARAMETERS(1)),...
'Enable','on');
set(FigUD.EditTi,...
'String',num2str(PIDPARAMETERS(2)),...
'Enable','on');
set(FigUD.EditTd,...
'String',num2str(PIDPARAMETERS(3)),...
'Enable','on');
set(FigUD.EditN,...
'String',num2str(PIDPARAMETERS(4)),...
'Enable','on');
set(FigUD.Editb,...
'String',num2str(PIDPARAMETERS(5)),...
'Enable','on');
% autotuning
set(FigUD.Ident,...
'Value',1,...
'Enable','on');
set(FigUD.Tuning,...
'Value',2,...
'Enable','on');
set(FigUD.Structure,...
'Value',1,...
'Enable','on');
set(FigUD.TunParText,...
'String','Ms ');
set(FigUD.TuningParam,...
'Style','popupmenu',...
'String',['1.4';'2.0'],...
'Value',1,...
'Enable','on',...
'Visible','on');
% bring it to the front
figure(Fig);
return
end
% the animation figure doesn't exist, create a new one and store its
% handle in the animation block's UserData
FigureName = 'PID Control Panel';
% Figure
FigH = 610; % figure height
FigW = 272; % figure width
Fig = figure(...
'Units', 'pixel',...
'Position', [740 740-FigH FigW FigH],...
'Name', FigureName,...
'NumberTitle', 'off',...
'IntegerHandle', 'off',...
'HandleVisibility', 'callback',...
'MenuBar', 'none',...
'Resize', 'off',...
'DoubleBuffer', 'on',...
'DeleteFcn', 'autogui([],[],[],''DeleteFigure'')',...
'CloseRequestFcn', 'autogui([],[],[],''Close'');');
% Setpoint slider
SlideControlSP = uicontrol(...
'Parent', Fig,...
'Style', 'slider',...
'Units', 'pixel', ...
'Position', [25 FigH-325 22 300],...
'Min', -9,...
'Max', 9,...
'Value', 0,...
'BackgroundColor', [1 1 0],...
'Callback', 'autogui([],[],[],''SliderSP'');');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [25 FigH-20 22 12], ...
'HorizontalAlignment','center',...
'String', 'SP',...
'Backgroundcolor', [0.8 0.8 0.8],...
'Foregroundcolor', [1 1 0],...
'Fontweight', 'bold');
% Process value
AxesPV = axes(...
'Parent', Fig,...
'Units', 'pixel',...
'Position', [75 FigH-325 22 300],...
'CLim', [1 64], ...
'Xlim', [-1 1],...
'Ylim', [-10 10],...
'Visible', 'on',...
'XTick', [],...
'XTickLabel', [],...
'FontSize', 8,...
'Box', 'on');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [75 FigH-20 22 12], ...
'HorizontalAlignment','center',...
'String', 'PV',...
'Backgroundcolor', [0.8 0.8 0.8],...
'Foregroundcolor', [1 0 1],...
'Fontweight', 'bold');
PV = patch(...
'Parent', AxesPV,...
'XData', [-1 -1 1 1],...
'YData', [0 PVValue PVValue 0],...
'FaceColor', [1 0 1]);
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [106 FigH-175 50 14], ...
'Backgroundcolor', [0.8 0.8 0.8],...
'Foregroundcolor', [1 0 1],...
'HorizontalAlignment','center',...
'Fontweight', 'bold',...
'String', 'PV');
PVField = uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [106 FigH-191 50 14], ...
'Backgroundcolor', [1 1 1],...
'Foregroundcolor', [0 0 0],...
'HorizontalAlignment','center',...
'String', num2str(PVValue));
RefMark = patch(...
'Parent', AxesPV,...
'XData', [-1 -0 -1],...
'YData', [SPValue+0.25 SPValue SPValue-0.25],...
'FaceColor', [1 1 0]);
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [106 FigH-100 50 14], ...
'Backgroundcolor', [0.8 0.8 0.8],...
'Foregroundcolor', [1 1 0],...
'HorizontalAlignment','center',...
'Fontweight', 'bold',...
'String', 'SP');
EditSP = uicontrol(...
'Parent', Fig,...
'Style', 'edit',...
'Units', 'pixel',...
'Position', [106 FigH-118 50 18], ...
'HorizontalAlignment','center',...
'String', num2str(SPValue),...
'Foregroundcolor', [0 0 0],...
'Backgroundcolor', [1 1 1],...
'Callback', 'autogui([],[],[],''EditSP'');');
% Control variable
AxesCV = axes(...
'Parent', Fig,...
'Units', 'pixel',...
'Position', [175 FigH-325 22 300],...
'CLim', [1 64], ...
'Xlim', [-1 1],...
'Ylim', [-10 10],...
'Visible', 'on',...
'XTick', [],...
'XTickLabel', [],...
'FontSize', 8,...
'Box', 'on');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [175 FigH-20 22 12], ...
'HorizontalAlignment','center',...
'String', 'CV',...
'Backgroundcolor', [0.8 0.8 0.8],...
'Foregroundcolor', [0 1 1],...
'Fontweight', 'bold');
CV = patch(...
'Parent', AxesCV,...
'XData', [-1 -1 1 1],...
'YData', [0 CVValue CVValue 0],...
'FaceColor', [0 1 1]);
% Control variable - Manual
SlideControlCV = uicontrol(...
'Parent', Fig,...
'Style', 'slider',...
'Units', 'pixel', ...
'Position', [225 FigH-325 22 300],...
'Min', -9,...
'Max', 9,...
'Value', 0,...
'BackgroundColor', [0 1 1],...
'Callback', 'autogui([],[],[],''SliderCV'');',...
'Enable', 'inactive');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [200 FigH-20 72 12], ...
'HorizontalAlignment','center',...
'String', 'CV - MAN',...
'Backgroundcolor', [0.8 0.8 0.8],...
'Foregroundcolor', [0 1 1],...
'Fontweight', 'bold');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [106 FigH-250 50 14], ...
'Backgroundcolor', [0.8 0.8 0.8],...
'Foregroundcolor', [0 1 1],...
'HorizontalAlignment','center',...
'Fontweight', 'bold',...
'String', 'CV');
EditCV = uicontrol(...
'Parent', Fig,...
'Style', 'edit',...
'Units', 'pixel',...
'Position', [106 FigH-268 50 18], ...
'HorizontalAlignment','center',...
'String', num2str(CVValue),...
'Foregroundcolor', [0 0 0],...
'Backgroundcolor', [1 1 1],...
'Callback', 'autogui([],[],[],''EditCV'');',...
'Enable', 'inactive');
% time field
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [100 FigH-348 36 12], ...
'HorizontalAlignment','right',...
'Backgroundcolor', [0.8 0.8 0.8],...
'Fontweight', 'bold',...
'String', 'Time: ');
TimeField = uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel', ...
'Position', [136 FigH-348 36 12],...
'HorizontalAlignment','left',...
'Backgroundcolor', [0.8 0.8 0.8],...
'String', num2str(TimeClock));
% PID parameters
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [12 FigH-371 140 14], ...
'HorizontalAlignment','left',...
'Fontweight', 'bold',...
'Backgroundcolor', [0.8 0.8 0.8],...
'String', 'Parameters');
uicontrol(...
'Parent', Fig,...
'Style', 'frame',...
'Units', 'pixel',...
'Position', [12 FigH-417 248 46]);
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [16 FigH-393 20 14], ...
'HorizontalAlignment','right',...
'Fontweight', 'bold',...
'String', 'K ');
EditK = uicontrol(...
'Parent', Fig,...
'Style', 'edit',...
'Units', 'pixel',...
'Position', [36 FigH-393 60 18], ...
'HorizontalAlignment','center',...
'String', '',...
'Backgroundcolor', [1 1 1],...
'Callback', 'autogui([],[],[],''EditK'');');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [96 FigH-393 20 14], ...
'HorizontalAlignment','right',...
'Fontweight', 'bold',...
'String', 'Ti ');
EditTi = uicontrol(...
'Parent', Fig,...
'Style', 'edit',...
'Units', 'pixel',...
'Position', [116 FigH-393 60 18], ...
'HorizontalAlignment','center',...
'String', '',...
'Backgroundcolor', [1 1 1],...
'Callback', 'autogui([],[],[],''EditTi'');');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [176 FigH-393 20 14], ...
'HorizontalAlignment','right',...
'Fontweight', 'bold',...
'String', 'Td ');
EditTd = uicontrol(...
'Parent', Fig,...
'Style', 'edit',...
'Units', 'pixel',...
'Position', [196 FigH-393 60 18], ...
'HorizontalAlignment','center',...
'String', '',...
'Backgroundcolor', [1 1 1],...
'Callback', 'autogui([],[],[],''EditTd'');');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [16 FigH-413 20 14], ...
'HorizontalAlignment','right',...
'Fontweight', 'bold',...
'String', 'N ');
EditN = uicontrol(...
'Parent', Fig,...
'Style', 'edit',...
'Units', 'pixel',...
'Position', [36 FigH-413 60 18], ...
'HorizontalAlignment','center',...
'String', '',...
'Backgroundcolor', [1 1 1],...
'Callback', 'autogui([],[],[],''EditN'');');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [96 FigH-413 20 14], ...
'HorizontalAlignment','right',...
'Fontweight', 'bold',...
'String', 'b ');
Editb = uicontrol(...
'Parent', Fig,...
'Style', 'edit',...
'Units', 'pixel',...
'Position', [116 FigH-413 60 18], ...
'HorizontalAlignment','center',...
'String', '',...
'Backgroundcolor', [1 1 1],...
'Callback', 'autogui([],[],[],''Editb'');');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [176 FigH-413 20 14], ...
'HorizontalAlignment','right',...
'Fontweight', 'bold',...
'String', 'c ');
Editc = uicontrol(...
'Parent', Fig,...
'Style', 'edit',...
'Units', 'pixel',...
'Position', [196 FigH-413 60 18], ...
'HorizontalAlignment','center',...
'String', '0',...
'Backgroundcolor', [1 1 1],...
'Callback', 'autogui([],[],[],''Editc'');',...
'Enable', 'off');
% auto/man selector
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [12 FigH-441 140 14], ...
'HorizontalAlignment','left',...
'Fontweight', 'bold',...
'Backgroundcolor', [0.8 0.8 0.8],...
'String', 'Operating Mode');
uicontrol(...
'Parent', Fig,...
'Style', 'frame',...
'Units', 'pixel',...
'Position', [12 FigH-467 248 24]);
Man = uicontrol(...
'Parent', Fig,...
'Style', 'radiobutton',...
'Position', [16 FigH-465 70 20],...
'String', 'Manual', ...
'Fontweight', 'bold',...
'Value', 0,...
'Callback', 'autogui([],[],[],''Man'');');
Auto = uicontrol(...
'Parent', Fig,...
'Style', 'radiobutton',...
'Position', [136 FigH-465 50 20],...
'String', 'Auto', ...
'Fontweight', 'bold',...
'Value', 1,...
'Callback', 'autogui([],[],[],''Auto'');');
% autotuning
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [12 FigH-491 140 14], ...
'HorizontalAlignment','left',...
'Fontweight', 'bold',...
'Backgroundcolor', [0.8 0.8 0.8],...
'String', 'Autotuner');
uicontrol(...
'Parent', Fig,...
'Style', 'frame',...
'Units', 'pixel',...
'Position', [12 FigH-604 248 112]);
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [16 FigH-516 140 14], ...
'HorizontalAlignment','left',...
'Fontweight', 'bold',...
'String', 'Identification method');
IdentMethod = uicontrol(...
'Parent', Fig,...
'Style', 'popupmenu',...
'Position', [156 FigH-516 100 18],...
'String', ['step ';'relay'],...
'Backgroundcolor', [1 1 1],...
'Fontweight', 'bold',...
'Value', 1,...
'Callback', 'autogui([],[],[],''Identification'');');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [16 FigH-536 140 14], ...
'HorizontalAlignment','left',...
'Fontweight', 'bold',...
'String', 'Tuning method');
TuningMethod = uicontrol(...
'Parent', Fig,...
'Style', 'popupmenu',...
'Position', [156 FigH-536 100 18],...
'String', ['IMC ';'KT ';'ZN (OL)';'ZN (CL)'], ...
'Backgroundcolor', [1 1 1],...
'Fontweight', 'bold',...
'Value', 2,...
'Callback', 'autogui([],[],[],''Tuning'');');
TuningParText = uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [16 FigH-556 180 14], ...
'HorizontalAlignment','right',...
'Fontweight', 'bold',...
'String', 'Ms ');
TuningParam = uicontrol(...
'Parent', Fig,...
'Style', 'popupmenu',...
'Units', 'pixel',...
'Position', [196 FigH-556 60 18], ...
'HorizontalAlignment','center',...
'String', ['1.4';'2.0'],...
'Value', 1,...
'Backgroundcolor', [1 1 1],...
'Callback', 'autogui([],[],[],''EditParam'');');
uicontrol(...
'Parent', Fig,...
'Style', 'text',...
'Units', 'pixel',...
'Position', [16 FigH-576 140 14], ...
'HorizontalAlignment','left',...
'Fontweight', 'bold',...
'String', 'Structure');
RegStruct = uicontrol(...
'Parent', Fig,...
'Style', 'popupmenu',...
'Position', [156 FigH-576 100 18],...
'String', ['PID ';'PI ';'auto'], ...
'Backgroundcolor', [1 1 1],...
'Fontweight', 'bold',...
'Value', 1,...
'Callback', 'autogui([],[],[],''Structure'');');
uicontrol(...
'Parent', Fig,...
'Style', 'pushbutton',...
'Position', [100 FigH-601 72 20],...
'String', 'Autotune', ...
'Fontweight', 'bold',...
'Callback', 'autogui([],[],[],''Autotune'');');
% all the HG objects are created, store them into the Figure's UserData
% time field
FigUD.TimeField = TimeField;
% process value & setpoint
FigUD.PV = PV;
FigUD.SlideSP = SlideControlSP;
FigUD.RefMark = RefMark;
FigUD.EditSP = EditSP;
FigUD.PVField = PVField;
% control variable
FigUD.CV = CV;
FigUD.SlideCV = SlideControlCV;
FigUD.EditCV = EditCV;
% radiobox button
FigUD.Man = Man;
FigUD.Auto = Auto;
% edit field (PID parameters)
FigUD.EditK = EditK;
FigUD.EditTi = EditTi;
FigUD.EditTd = EditTd;
FigUD.EditN = EditN;
FigUD.Editb = Editb;
% autotuning
FigUD.Ident = IdentMethod;
FigUD.Tuning = TuningMethod;
FigUD.TunParText = TuningParText;
FigUD.TuningParam = TuningParam;
FigUD.Structure = RegStruct;
% Simulink Block Interaction
FigUD.Block = get_param(gcbh,'Handle');
FigUD.RefBlock = get_param([sys '/' RefBlock],'Handle');
set(Fig,'UserData',FigUD);
drawnow
% store the figure handle in the animation block's UserData
set_param(gcbh,'UserData',Fig);
% end LocalPIDInit
