% FILE: MVV.M
% DONE BY: Reno Cipolla
% DATE: OCT/93
% VERSION 2.0
% COPYRIGHT 1995 T. Marlin and R. Cipolla
%This is a function file which calculates the MV violation.
% ***************************************************************

function violate = mvv(boundd,vpp);

% 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  

violate = 0;
l= betaa /deltat;
while l < (time/deltat)
l=l+1;
   if boundd(l) <= 0
        if (vpp(l) < boundd(l))
            violate = violate + (abs(vpp(l)) - abs(boundd(l)))^2; 
         end   
   else
         if (vpp(l) > boundd(l))
            violate= violate +(vpp(l)-boundd(l))^2;
         end
   end
end       % end while