%clear all
close all
%create graphic interface
graph_interface = figure(...
  'Unit','normalized',...
  'NextPlot','add',...
  'Visible','on',...
  'NumberTitle','off',...
  'Position',[0.01 0.1  0.95 0.8]);

set(0,'Current',graph_interface);

% the axis named 'movie' shows the motion of the manipulator
movie_axis = axes(...
  'Units','normalized',...
  'Position',[.07 .25 0.4 .7],...
  'XGrid','on',...
  'YGrid','on');
xlabel('Tempos (s)');
ylabel('y(t)');


movie_axis2 = axes(...
  'Units','normalized',...
  'Position',[.54 .35 0.4 .6],...
  'XGrid','on',...
  'YGrid','on');
xlabel('Parte Real');
ylabel('parte Imaginaria');

% button to start the simulation
limKp = 20;
uiStart = uicontrol(...
  'Style','slider',...
  'Units','normalized',...
  'Position',[0.52 0.21 0.45 0.03],...
  'Interruptible','on',...
  'Max',limKp,...
  'Min',0,...
    'Value',1,...
  'SliderStep',[.05 0.05],...
  'Callback','exemploPV');
uitext = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.72 0.24 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','Kp = ');
uitextK = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.74 0.24 0.1 0.03],...
  'HorizontalAlignment','left',...
  'BackgroundColor',[.8 .8 .8],...
  'String','1');

uitext = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.52 0.24 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','0');
uitext = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.95 0.24 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String',num2str(limKp));

lim1=10;
uiStart1 = uicontrol(...
  'Style','slider',...
  'Units','normalized',...
  'Position',[0.52 0.13 0.45 0.03],...
  'Interruptible','on',...
  'Max',lim1,...
  'Min',0,...
  'Value',0,...
  'SliderStep',[.025 0.025],...
  'Callback','exemploPV');
uitext = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.72 0.16 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','Kv = ');
uitextKI = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.74 0.16 0.1 0.03],...
  'HorizontalAlignment','left',...
  'BackgroundColor',[.8 .8 .8],...
  'String','0');

uitext1 = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.52 0.16 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','0');
uitext1 = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.95 0.16 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String',num2str(lim1));




uibotton2 = uicontrol(...
  'Style','push',...
  'Units','normalized',...
  'FontSize',12,...
  'Position',[0.25 0.06 0.18 0.08],...
  'BackgroundColor',[.8 .8 .8],...
  'String','G(s) = 1/s(s+1)',...
  'Callback','');


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Sistema a ser controlado 

  n=1;
  d=[1 1 0];
  Gc =tf(n,d);


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



%Leitura dos ganhos
Kp =  get(uiStart,'Value');
Kv = get(uiStart1,'Value');


D1 = tf([Kv 0],1)
G1 = feedback(Gc,D1)
MFc = feedback(Kp*G1,1)
[y,t] = step(MFc,5);


set(graph_interface,'CurrentAxes',movie_axis);

plot(t,y)
%axis([0 .1 0 max(y)])
grid
xlabel('Tempos (s)');
ylabel('y(t)');


set(graph_interface,'CurrentAxes',movie_axis2);

pzmap(MFc)
[p,z] =pzmap(MFc);

p_ant = p;
hold on
pzmap(Gc,'r')
xlabel('Parte Real');
ylabel('Parte Imaginaria');
axis equal
grid