\chapter{The graphical User Interface}

The Famimo toolbox has been equipped with a graphical user interface,
allowing a user friendly approach for the development of MIMO control systems. 
A series of windows and buttons guide the user during the specification of the 
characteristics of the model, granting the possibility of selecting different 
approaches for the solution of the control system.\\
\\
In order to start the user interface the user must type the command {\tt setup} 
at the Matlab\texttrademark  prompt from the directory where the toolbox has been installed,
then the command {\tt fmgui} starts the graphical user interface. Therefore typing
\begin{verbatim}
>> setup
>> fmgui
\end{verbatim}
the window reported in figure \ref{fig:gui_1} will appear on the screen.\\
\begin{figure*}[!h]
\centering\epsfig{figure=gui_1.eps, width=0.7\textwidth}
\caption{The initial appearance of the Famimo toolbox GUI.}
\label{fig:gui_1}
\end{figure*} 
It is possible to identify two sets of buttons of the left, the action buttons on the 
uppermost part, and the model buttons on the lower part. The model buttons allow the user 
to choose among the different models supported by the toolbox. At present the following models
are supported:
\begin{itemize}
\item Tagaki-Sugeno models
\item lazy models
\end{itemize}
Once the model has been selected the action buttons guide the
user in the process of defining the model, identifying it, designing the controller and 
verifying its stability. The data is inserted in the appropriate fields displayed in the
top frame on the right, while the bottom frame provides an up to date description of 
the model.\\
\\
{\bf Model data}\\
Once the {\em Data} button as been selected (default condition when the system is started), the 
Famimo Toolbox GUI appears as in figure \ref{fig:gui_1}, and it is possible to proceed in the 
definition of the input and output variables of the model. It is necessary to specify the
name of the file where the model data is saved and the name of the input and the output
variables; If the data is already present in the memory of Matlab\texttrademark it is possible to specify 
their names leaving out the {\em Data File} field. The {\em Apply} button updates the model 
with inputs from the user. Pushing the {\em Load Config.} button it is possible to load 
in memory configurations saved in advance.\\
\\
\begin{figure*}[!t]
\centering\epsfig{figure=gui_2.eps, width=0.7\textwidth}
\caption{The Dynamics data screenshot of the Famimo toolbox GUI.}
\label{fig:gui_2}
\end{figure*} 
{\bf Dynamics data}\\
When the {\em Dynamics} button has been selected the Famimo Toolbox will appear as in figure
\ref{fig:gui_2}. The user is prompted to insert the matrix of the inputs of the system, 
the outputs and the delays. If no information is provided the system implements a 
static mapping. When all the required information has been inserted it is possible to 
push the  {\em Apply} button for updating the model.\\
\\
\begin{figure*}[!h]
\centering\epsfig{figure=gui_3.eps, width=0.7\textwidth}
\caption{The Identification screenshot of the Famimo toolbox GUI.}
\label{fig:gui_3}
\end{figure*} 
{\bf Identification}\\
When the {\em Identification} button has been selected the use interface changes as in figure 
\ref{fig:gui_3}. At this point the user is allowed to choose the method for identifying 
the model (the range of selections depends from the model which has been chosen), inserting 
the required parameters. The {\em Apply} button starts the model identification procedure.\\
\\
\begin{figure*}[!h]
\centering\epsfig{figure=gui_4.eps,  width=0.7\textwidth}
\caption{The Visualization screenshot of the Famimo toolbox GUI.}
\label{fig:gui_4}
\end{figure*}
{\bf Visualisation}\\
Once the model has been identified it is possible to appreciate the results of the 
identification process by selecting the {\em Visualisation} button which changes the window as 
depicted in figure \ref{fig:gui_4}. The user has the option of 
validating the results of the identification with a data set different from the one used in the 
identification phase. Once the parameters have been set it is possible to  press the {\em Apply}
button.\\
\\
\begin{figure*}[!h]
\centering\epsfig{figure=gui_plot.eps,  width=0.7\textwidth}
\caption{The visualisation window.}
\label{fig:gui_plot}
\end{figure*} 
A plot of the model appears in the visualisation window (figure \ref{fig:gui_plot}) the controls at
the bottom of the the window let the user (from left to right):
\begin{itemize}
\item Choose between a mapping representation (the model is plotted into the regressors space) and a
dynamical representation (a simulation of the model is plotted through the time).
\item Choose what is being represented (Data Sli(ce) lets the user choose between seeing all the data
or only a part of them when the model is represented as a projection.
\item Choose the projection plan (if needed)
\item Choose between a two and a three dimensional visualisation.
\item Specify the axes limits, rotate and zoom the model.
\end{itemize}
In this way it is possible to select the features of the visualization according to the 
needs of the user.\\
\\
{\bf Control}\\
\\
Not yet implemented.\\
\\
{\bf Stability}\\
\\
Not yet implemented.





