%
% SEM 5928 - Sistemas de Controle 
% Escola de Engenharia de São Carlos - USP
%
% Adriano Siqueira - 2016
%

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

uiStart = uicontrol(...
  'Style','slider',...
  'Units','normalized',...
  'Position',[0.52 0.21 0.45 0.03],...
  'Interruptible','on',...
  'Max',50,...
  'Min',0,...
    'Value',1,...
  'SliderStep',[.02 0.02],...
  'Callback','Aula3_PID_update');
uitext = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.72 0.24 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','K = ');
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','50');

lim1=200;
uiStart1 = uicontrol(...
  'Style','slider',...
  'Units','normalized',...
  'Position',[0.52 0.13 0.45 0.03],...
  'Interruptible','on',...
  'Max',lim1,...
  'Min',0,...
  'Value',0,...
  'SliderStep',[.002 0.002],...
  'Callback','Aula3_PID_update');
uitext = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.72 0.16 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','KI = ');
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));

uiStart2 = uicontrol(...
  'Style','slider',...
  'Units','normalized',...
  'Position',[0.52 0.05 0.45 0.03],...
  'Interruptible','on',...
  'Max',20,...
  'Min',0,...
  'Value',0,...
  'SliderStep',[.002 0.002],...
  'Callback','Aula3_PID_update');
uitext = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.72 0.08 0.03 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','KD = ');
uitextKD = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.75 0.08 0.1 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'HorizontalAlignment','left',...
  'String','0');
uitext2 = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.52 0.08 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','0');
uitext2 = uicontrol(...
  'Style','text',...
  'Units','normalized',...
  'Position',[0.95 0.08 0.02 0.03],...
  'BackgroundColor',[.8 .8 .8],...
  'String','20');




selecionaG1 = [...
        'if sist == 2,'...
          'sist =1;'...
          'n=10;'...
          'd=conv([1 5],[1 10]);'...
          'Gc =tf(n,d);'...
          'end;'...
          'set(uibotton1,''BackgroundColor'',[.6 .6 .6]);',...
           'set(uibotton2,''BackgroundColor'',[.8 .8 .8]);',...
          'Aula3_PID_update'];
    
    
    

uibotton1 = uicontrol(...
  'Style','push',...
  'Units','normalized',...
  'Position',[0.15 0.06 0.18 0.08],...
  'BackgroundColor',[.8 .8 .8],...
  'String','G(s) = 10/(s+5)(s+10)');

% selecionaG2 = [...
%         'if sist == 1,'...
%           'sist =2;'...
%           'n=1;'...
%           'd=conv([1 1],[1 5]);'...
%           'd=conv(d,[1 0.01]);'...
%           'Gc =tf(n,d);'...
%           'end;'...
%           'set(uibotton2,''BackgroundColor'',[.6 .6 .6]);',...
%           'set(uibotton1,''BackgroundColor'',[.8 .8 .8]);',...
%           'exemploPID'];
% 
% 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)(s+5)',...
%   'Callback',selecionaG2);


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

sist = 1;
set(uibotton1,'BackgroundColor',[.6 .6 .6]);
if sist == 1
  n=10;
  d=conv([1 5],[1 10]);
  Gc =tf(n,d);
elseif sist==2

  n=1;
  d=conv([1 1],[1 5]);
  d=conv(d,[1 0]);
end


% n=60;
%   d=[1 35 0];
Gc =tf(n,d);

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



%Leitura dos ganhos
K =  get(uiStart,'Value');
KI = get(uiStart1,'Value');
KD = get(uiStart2,'Value');

%Controlador P
nPID1 = K;
dPID1 = 1;
DPID1 = tf(nPID1,dPID1);
%Controlador I
nPID2 = KI;
dPID2 = [1 0];
DPID2 = tf(nPID2,dPID2);
%Controlador D
nPID3 = [KD 0];
dPID3 = 1;
DPID3 = tf(nPID3,dPID3);

DPID = DPID1+DPID2+DPID3; 


%sistema em malha fechada
MFc = feedback(DPID*Gc,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)
hold on
pzmap(Gc,'r')
xlabel('Parte Real');
ylabel('Parte Imaginaria');