function fig = exaktmimo()
% This is the machine-generated representation of a Handle Graphics object
% and its children.  Note that handle values may change when these objects
% are re-created. This may cause problems with any callbacks written to
% depend on the value of the handle at the time the object was saved.
%
% To reopen this object, just type the name of the M-file at the MATLAB
% prompt. The M-file and its associated MAT-file must be on your path.

load exaktmimo

h0 = figure('Units','points', ...
	'Color',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'Colormap',mat0, ...
	'MenuBar','none', ...
	'Name','Exact linearization for MIMO systems', ...
	'NumberTitle','off', ...
	'PointerShapeCData',mat1, ...
	'Position',[105 33.75 444 396], ...
	'Resize','off', ...
	'Tag','OknoM2Ch');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'FontAngle','oblique', ...
	'FontName','Arial', ...
	'FontSize',24, ...
	'ForegroundColor',[0 0 1], ...
	'ListboxTop',0, ...
	'Position',[8.25 362.25 426.75 30], ...
	'String','Exact linearization for MIMO systems', ...
	'Style','text', ...
	'Tag','HlavnyTitulok');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'FontAngle','italic', ...
	'FontSize',12, ...
	'ListboxTop',0, ...
	'Position',[37.5 348 364.5 16.5], ...
	'String','(control design: computation of state transformation and nonlinear feedback)', ...
	'Style','text', ...
	'Tag','Podnadpis');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[27.75 261 392.25 72.75], ...
	'Style','frame', ...
	'Tag','Ram1');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[36 327.75 147.75 11.25], ...
	'String','Nonlinear system state-space equations', ...
	'Style','text', ...
	'Tag','TitulokStavopis');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[27.75 175.5 393 44.25], ...
	'Style','frame', ...
	'Tag','Ram2');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[37.5 212.25 92.25 12.75], ...
	'String','Controllability evaluation', ...
	'Style','text', ...
	'Tag','TitulokRiaditelnost');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'Callback','exaktmimo_code;', ...
	'ListboxTop',0, ...
	'Position',[72 233.25 52.5 20.25], ...
	'String','Evaluation', ...
	'Tag','BtnVypocet');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'Callback','close_system(''exakt_mimo'');close(gcf);', ...
	'ListboxTop',0, ...
	'Position',[261.75 233.25 52.5 20.25], ...
	'String','Exit', ...
	'Tag','BtnKoniec');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'Callback','web(fullfile(cd,''help'',''exaktmimo.html''));', ...
	'ListboxTop',0, ...
	'Position',[325.5 233.25 52.5 20.25], ...
	'String','Help', ...
	'Tag','BtnPomocnik');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[48 306 23.25 15.75], ...
	'String','f(x) = ', ...
	'Style','text', ...
	'Tag','TextF');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[47.25 288 23.25 15.75], ...
	'String','g(x) = ', ...
	'Style','text', ...
	'Tag','TextG');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[47.25 271.5 24 13.5], ...
	'String','h(x) = ', ...
	'Style','text', ...
	'Tag','TextH');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[1 1 1], ...
	'Callback',mat2, ...
	'ListboxTop',0, ...
	'Position',[72.75 308.25 211.5 15], ...
	'Style','edit', ...
	'Tag','EditF');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[1 1 1], ...
	'Callback',mat3, ...
	'ListboxTop',0, ...
	'Position',[72.75 291 211.5 15], ...
	'Style','edit', ...
	'Tag','EditG');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[1 1 1], ...
	'Callback',mat4, ...
	'ListboxTop',0, ...
	'Position',[72.75 273.75 211.5 15], ...
	'Style','edit', ...
	'Tag','EditH');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'FontAngle','oblique', ...
	'FontName','Arial', ...
	'FontSize',16, ...
	'ListboxTop',0, ...
	'Position',[296.25 296.25 111.75 19.5], ...
	'String','x = f(x) + g(x) u', ...
	'Style','text', ...
	'Tag','ObrFG');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'FontAngle','oblique', ...
	'FontName','Arial', ...
	'FontSize',16, ...
	'ListboxTop',0, ...
	'Position',[294.75 277.5 60.75 19.5], ...
	'String','y = h(x)', ...
	'Style','text', ...
	'Tag','ObrH');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'FontAngle','oblique', ...
	'FontName','Arial', ...
	'FontSize',16, ...
	'ListboxTop',0, ...
	'Position',[297 309.75 11.25 18], ...
	'String','.', ...
	'Style','text', ...
	'Tag','ObrBodka');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[33.75 189 204 12.75], ...
	'String','System is controllable if following expression is nonzero:', ...
	'Style','text', ...
	'Tag','TextRiaditelnost');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[1 1 1], ...
	'ListboxTop',0, ...
	'Position',[240.75 188.25 80.25 15], ...
	'Style','edit', ...
	'Tag','EditRiaditelnost');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[27.75 105.75 393 62.25], ...
	'Style','frame', ...
	'Tag','Ram3');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'FontAngle','oblique', ...
	'FontName','Arial', ...
	'FontSize',16, ...
	'ListboxTop',0, ...
	'Position',[36.75 127.5 60.75 19.5], ...
	'String','q = q(x)', ...
	'Style','text', ...
	'Tag','ObrTransf');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[1 1 1], ...
	'Callback','set(gco,''Value'',1);', ...
	'Position',[120 113.25 202.5 44.25], ...
	'Style','listbox', ...
	'Tag','ListboxTransf', ...
	'Value',1);
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[37.5 162 95.25 10.5], ...
	'String','Transformation equations', ...
	'Style','text', ...
	'Tag','TitulokTransf');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[27.75 53.25 393 45], ...
	'Style','frame', ...
	'Tag','Ram4');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'FontAngle','oblique', ...
	'FontName','Arial', ...
	'FontSize',16, ...
	'ListboxTop',0, ...
	'Position',[29.25 63.75 87.75 19.5], ...
	'String','u = u(x,v)', ...
	'Style','text', ...
	'Tag','ObrLinVztah');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[39 92.25 160.5 10.5], ...
	'String','Linearizing control law (nonlinear feedback)', ...
	'Style','text', ...
	'Tag','TitulokLinVztah');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[1 1 1], ...
	'ListboxTop',0, ...
	'Position',[119.25 66 200.25 15], ...
	'Style','edit', ...
	'Tag','EditLinVztah');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[27.75 11.25 393 32.25], ...
	'Style','frame', ...
	'Tag','Ram5');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[39 35.25 107.25 13.5], ...
	'String','Internal dynamics evaluation', ...
	'Style','text', ...
	'Tag','TitulokVnutDyn');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'BackgroundColor',[0.752941176470588 0.752941176470588 0.752941176470588], ...
	'ListboxTop',0, ...
	'Position',[39.75 18.75 363.75 12], ...
	'Style','text', ...
	'Tag','TextVnutDyn');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'Callback','open_system(''exakt_mimo'');', ...
	'Enable','off', ...
	'ListboxTop',0, ...
	'Position',[198.75 233.25 52.5 20.25], ...
	'String','Simulation...', ...
	'Tag','BtnSimulacia');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'Callback',mat5, ...
	'Enable','off', ...
	'ListboxTop',0, ...
	'Position',[333.75 126 73.5 21.75], ...
	'String','pretty', ...
	'Tag','BtnVystup1');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'Callback','disp('' '');disp(''Linearizing control law (nonlinear feedback):'');pretty(u);', ...
	'Enable','off', ...
	'ListboxTop',0, ...
	'Position',[333.75 63 73.5 21.75], ...
	'String','pretty', ...
	'Tag','BtnVystup2');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'Callback',mat6, ...
	'ListboxTop',0, ...
	'Position',[135 233.25 52.5 20.25], ...
	'String','Clear', ...
	'Tag','BtnReset');
h1 = uicontrol('Parent',h0, ...
	'Units','points', ...
	'Callback',mat7, ...
	'Enable','off', ...
	'ListboxTop',0, ...
	'Position',[333.75 186 73.5 21.75], ...
	'String','pretty', ...
	'Tag','BtnVystupR');
if nargout > 0, fig = h0; end
