% TITLE: MACTUNE.M
% DATE:January 1995
% VERSION: 2.0
% COPYRIGHT: 1993 - 1994, Reno Cipolla and T. Marlin
% This is the MAIN PROGRAM for MACTUNE!!!
% all MACTUNE  functions are initiated vis this M-file
% ************************************************************

clear ; clc ; clf ; axis ('auto'); clear global;
close all ;

% Set all menu variables to global which allows them to be passed from mfile
% to mfile.

global tau1 tau2 tau3 Kp set deltat dist vp time pv Dyn junk2 rho1 obj distg    
global tdist D change tset SP t usegrh maxit IAE ISE ITAE tmg boundg violates  
global cn_t scn_t bound mvtest betaa Kn A useopt td maxdev mindev rise rho chg 
global epsl p pp bdpos bdneg bd kc ti bgen Xmis vpmis bdmis Kpp ob_j op_ts lim_it  
global Qp mm theta taulead xi thetad tauleadd xid taud1 taud2 taud3 Kpd x_ ver_sion 
global c_1 c_2 c_i b_1 b_2 b_i int_kc int_ti o_func le_vel numlev 
global ss ss1  ss2 ss3 v v1 v2 v3 al_pha save_graph ct_count  
echo off        


%initialize process and disturbance vectors for model mismatch.

%Kp = zeros(1,3); Kpp=Kp; tau1=Kp; tau2=tau1; tau3=tau2; theta=tau3; thetad=theta;
%taud1=tau1; taud2=tau2; taud3=tau3; taulead=taud3; tauleadd=taulead; 

ml_ver          % Initializes version of MATLAB to be used.
init_z          % call initialization file

%if ver_sion == 0
%  lim_it =500;            % Sets maximum allowable array size.
%else
%  lim_it = 100000;
%end

while 1
  clc
  disp('************************************************************')
  disp('*      MACTUNE - THE OPTIMAL TUNING TOOL FOR ENGINEERS     *')
  disp('*                                                          *')
  disp('*                CREATED BY : RENO CIPOLLA                 *')
  disp('*                                                          *')
  disp('*                         MAIN MENU                        *')
  disp('************************************************************')
  disp('SELECT A MENU ITEM')
  disp('')
  disp('1) Load Previously Stored Case ')
  disp('2) Modify Feedback Process Parameters')
  disp('3) Modify Disturbance Parameters')
  disp('4) Modify PID Controller Tuning Constants')
  disp('5) Define Control Performance Paramaters')
  disp('6) Perform Dynamic Simulation')
  disp('7) Run Optimizer ')
  disp('8) Response Surface ')
  disp('9) Save Current Case ')
  disp('10) Plot Results')
  disp('11) Quit to Matlab')
  disp('')
  marlin = input('Please enter your selection:   ');
  
  marlin = round(marlin);
  if (marlin < 1) | (marlin>11)
      disp('')
      disp('Not a valid selection')
      disp('')
      disp('Press ENTER to continue')
      pause;
  end

  if marlin == 1        % Loads saved case filename.mat
      ld_case     

  elseif marlin == 2    % Process Parameters
      process1

  elseif marlin == 3    % Disturbance Parameters 
      disturb

  elseif marlin == 4    % Tuning Constants
      tune

  elseif marlin == 5    % Control Performance Variables
      p_meas            % previously named perform

  elseif marlin == 6    % Dynamic Simulations
      simult1

  elseif marlin == 7    % Optimization to find best tuning constants
      opt1

  elseif marlin == 8    % Response Surface
      resps

  elseif marlin == 9    % Saves current case in filename.mat
      sv_case
   
  elseif marlin == 10   % Plot of Results
      if usegrh == 2
        disp('')
        disp('Nothing to plot, run a simulation before using this option')
        disp('')
        disp('Press Enter to continue')
        pause;
      else
        save_graph = 0;
        grph2
      end

  elseif marlin == 11   % Quits main menu
      break, end

  end    

end    % end while 1