function varargout = ejerap4(varargin)
% EJERAP4 M-file for ejerap4.fig
%      EJERAP4, by itself, creates a new EJERAP4 or raises the existing
%      singleton*.
%
%      H = EJERAP4 returns the handle to a new EJERAP4 or the handle to
%      the existing singleton*.
%
%      EJERAP4('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in EJERAP4.M with the given input arguments.
%
%      EJERAP4('Property','Value',...) creates a new EJERAP4 or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before ejerap4_OpeningFcn gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to ejerap4_OpeningFcn via varargin.
%
%      *See GUI Options on GUIDE's Tools menu.  Choose "GUI allows only one
%      instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES

% Edit the above text to modify the response to help ejerap4

% Last Modified by GUIDE v2.5 21-Nov-2011 20:56:27

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @ejerap4_OpeningFcn, ...
                   'gui_OutputFcn',  @ejerap4_OutputFcn, ...
                   'gui_LayoutFcn',  [] , ...
                   'gui_Callback',   []);
if nargin && ischar(varargin{1})
    gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
    gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT


% --- Executes just before ejerap4 is made visible.
function ejerap4_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% varargin   command line arguments to ejerap4 (see VARARGIN)

%find_system('Name','cuarto');
%open_system('cuarto');

%set_param('cuarto/Ganancia integral','Gain','1');
%set_param('cuarto/Ganancia proporcional','Gain','1');
%set_param('cuarto/Ganancia derivativa','Gain','1');

%set_param(gcs,'SimulationCommand','Start');


% Choose default command line output for ejerap4
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

% UIWAIT makes ejerap4 wait for user response (see UIRESUME)
% uiwait(handles.figure1);


% --- Outputs from this function are returned to the command line.
function varargout = ejerap4_OutputFcn(hObject, eventdata, handles) 
% varargout  cell array for returning output args (see VARARGOUT);
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Get default command line output from handles structure
varargout{1} = handles.output;


% --- Executes on button press in pushbutton1.
function pushbutton1_Callback(hObject, eventdata, handles)
% hObject    handle to pushbutton1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

GI=str2num(get(handles.gi,'String')); %Obtenemos la ganancia integral
GP=str2num(get(handles.gp,'String')); %Obtenemos la ganancia proporcional
GD=str2num(get(handles.gd,'String')); %Obtenemos la ganancia derivativa
tiem=str2num(get(handles.tiem,'String')); %Obtenemos el tiempo de simulación

fi=tf(1,[1 0]); %Definimos el bloque integral
fp=tf(1);       %Definimos el bloque de ganancia
fd=tf([1 0],1); %Definimos el bloque derivativo

fct=GI*fi+GP*fp+GD*fd    %función transferencia de control

ft=tf(25,[1 4 25]);      %función transferencia del sistema a controlar

ftt=fct*ft;              %función transferencia directa equivalente   

fte=ftt/(1+ftt)          %función transferencia con realimentación unitaria  

axes(handles.axes1);    %se graficará en la misma ventana

if (tiem<15)            %Se establecen el mínimo intervalos entres dos puntos
    inte=0.01           %calculados según el tiempo total de la simulación
else
    inte=0.05
end

t=0:inte:tiem;          %se definen los puntos a graficar
lon=length(t);          %se obitene la función escalón a graficar 
escalon=ones([1,lon])

y=step(fte,t)           %se obtiene la respuesta al escalón unitario

plot(t,y,'-',t,escalon,'-');    %se grafica la respuesta y la exitación
legend('Salida','Entrada');     %Se establecen las referencias en el gráfico
grid;
title('Respuesta al escalón unitario'); %se coloca el título
xlabel('t (s)');                           % Se etiquetan los ejes
ylabel('Amplitud');



function gi_Callback(hObject, eventdata, handles)
% hObject    handle to gi (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of gi as text
%        str2double(get(hObject,'String')) returns contents of gi as a double


% --- Executes during object creation, after setting all properties.
function gi_CreateFcn(hObject, eventdata, handles)
% hObject    handle to gi (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function gp_Callback(hObject, eventdata, handles)
% hObject    handle to gp (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of gp as text
%        str2double(get(hObject,'String')) returns contents of gp as a double


% --- Executes during object creation, after setting all properties.
function gp_CreateFcn(hObject, eventdata, handles)
% hObject    handle to gp (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function gd_Callback(hObject, eventdata, handles)
% hObject    handle to gd (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of gd as text
%        str2double(get(hObject,'String')) returns contents of gd as a double


% --- Executes during object creation, after setting all properties.
function gd_CreateFcn(hObject, eventdata, handles)
% hObject    handle to gd (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function tiem_Callback(hObject, eventdata, handles)
% hObject    handle to tiem (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of tiem as text
%        str2double(get(hObject,'String')) returns contents of tiem as a double


% --- Executes during object creation, after setting all properties.
function tiem_CreateFcn(hObject, eventdata, handles)
% hObject    handle to tiem (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end