DATA STRUCTURE
All the Matlab variables necessary to MIMOtool are stored in a single global structure array [7] "stack" that in turn contains four structures: "general", "evaluation", "simulation" and "temp"; through their names, it's therefore simple from the Matlab command line to access and to handle every variable or export data to other applications.
Without to explain in details the meaning and the relative position inside the global structure "stack" of all the variables used in MIMOtool, the variables in which the user could be interested in are:
|
Variable |
Position |
|
|
|
|
Model (or plant) name |
stack.general.model |
|
Plant matrix A |
stack.general.A |
|
Plant matrix B |
stack.general.B |
|
Plant matrix C |
stack.general.C |
|
Plant matrix D |
stack.general.D |
|
Numerator of the transfer matrix |
stack.general.tfNUM |
|
Denominator of the transfer matrix |
stack.general.tfDEN |
|
Advanced flag * |
stack.general.adv_flag |
|
Kind of controller |
stack.evaluation.kind |
|
Controller system matrix ** |
stack.evaluation.K |
|
Plant system matrix ** |
stack.evaluation.plant |
|
Controller matrix Ak |
stack.simulation.Ak |
|
Controller matrix Bk |
stack.simulation.Bk |
|
Controller matrix Ck |
stack.simulation.Ck |
|
Controller matrix Dk |
stack.simulation.Dk |
|
Complementary Sensitivity matrix Po ** |
stack.evaluation.grafici.Po |
|
Control Sensitivity matrix Pi ** |
stack.evaluation.grafici.Pi |
|
|
|
|
(*) The setting (or
resetting) of the advanced flag allows the user to activate (or deactivate)
the two commands All Sensitivities and Both
Sensitivities of the evaluation menu. Each time the user exits from MIMOtool, the value of
this flag is saved and it will be reloaded at the next activation of the
program. |
|
(**) These system matrices
represent a packed form of the corresponding state space matrices that can be
extracted by using the Matlab command "unpck" (for more details,
type help unpck at the Matlab prompt). |
When the user closes the program MIMOtool, the global structure "stack" is deleted; at the same time, the workspace and the working directory previous to the calling of MIMOtool, which have been before saved, are restored.
Note: the only variable that the user can (and must) directly
modify from the Matlab command line is the advanced flag
stack.general.adv_flag.
After a controller has been computed in the last window of a Synthesis or Optimization section, all the variables needed for the evaluation and the simulation of the closed loop system, are stored in the two structures stack.evaluation and stack.simulation.
When the user saves the controller by means of the command Save Controller as …, these structures are copied respectively into the two variables evaluation_var and simulation_var and then they are saved in a .mat file so that it's possible, in another session, to reload the data relative to the current model and to start the evaluation and simulation sections directly from the Modeling main window.
In order to
extract the matrices of the controller to the Matlab workspace, it's necessary to
load the “.mat” file containing the controller by typing load file_path /
file_name.mat, and then to retrieve the four matrices with the
unpck command: [Ak,Bk,Ck,Dk] = unpck(evaluation_var.K);
Alternatively,
if the MIMOtool window is still active, one can simply type [Ak,Bk,Ck,Dk] = unpck(stack.evaluation.K);