function cnf_diagram(AxeHandle,Action)
%     
%  create the block diagram for the whole system, the plant, and the controller.
%     

% Initialise plot
ax = AxeHandle;
% delete(allchild(ax));

% check the display resolution
set(0,'Units','pixels')
sz=get(0,'Screensize');
if sz(3) <=800 % [1 1 800 600]
    smallfont=1;
else
    smallfont=0;
end        
set(0,'Units','normalized');


switch Action
    
    case 'All'
    % Display the whole system    
        
    % for the Controller
    x0 = 2.5;
    y0 = 1;  
    wire('x',x0+[0 1], 'y',y0+0.5+[0 0],'parent',ax);
    sysblock('position',[x0+1 y0-0.2  2 1.2], 'name',upper('Controller'),...
        'fontweight','bold','facecolor','w','fontsize',8-smallfont*2,'parent',ax,'ButtonDownFcn','cnf_set(''con'', gca)' );
    wire('x',x0+[4  3], 'y',y0+[0.7 0.7],'parent',ax,'arrow',0.2);
    wire('x',x0+[4  3], 'y',y0+[0.1 0.1],'parent',ax,'arrow',0.2);
    
    % for the Plant
    sysblock('position',[x0+1 y0+2  2 1.2],'name',upper('Plant'),...
        'fontweight','bold','facecolor','w','fontsize',10-smallfont*3,'parent',ax,'ButtonDownFcn','cnf_set(''sys'', gca)' );
    wire('x',x0+[0 1],'y',y0+2.9+[0 0],'parent',ax,'arrow',0.2);
    wire('x',x0+[0 1],'y',y0+2.3+[0 0],'parent',ax,'arrow',0.2);
    wire('x',x0+[0 0],'y',y0+[2.3 0.5],'parent',ax);

    wire('x',x0+[3 4],'y',y0+2.9+[0 0],'parent',ax,'arrow',0.2);
    wire('x',x0+[3 4],'y',y0+2.3+[0 0],'parent',ax);
    wire('x',x0+4+[0 0],'y',y0+[2.3 0.7],'parent',ax);
    
    % the message
    text(x0-0.2 ,y0+2.9, upper('disturbance'),'horiz','right','fontweight','normal','fontsize',8-smallfont,'parent',ax);
    text(x0-0.3 ,y0+0.5, upper('control'),'horiz','right','fontweight','normal','fontsize',8-smallfont,'parent',ax);
    text(x0+4.2 ,y0+2.9, upper('controlled output'),'horiz','left','fontweight','normal','fontsize',8-smallfont,'parent',ax);
    text(x0+4.3 ,y0+1.5, upper('measurement'),'horiz','left','fontweight','normal','fontsize',8-smallfont,'parent',ax);
    text(x0+4.2 ,y0+0.1, upper('target reference'),'horiz','left','fontweight','normal','fontsize',8-smallfont,'parent',ax);
    
    case 'Sys'
    %  Display the plant model
    
    y0 = 0.5;  x0 = 0.2;
    % for the plant block
    sysblock('position',[x0+1 y0 2 2],'name','with or without',...
        'fontweight','bold','facecolor','w','fontsize',12,'parent',ax );
    text(x0+2 ,y0+1.5, 'Nominal Plant', 'horiz','center','fontweight','bold','fontsize',12,'parent',ax);
    text(x0+2 ,y0+0.5,  'Resonance', 'horiz','center','fontweight','bold','fontsize',12,'parent',ax);
    
    wire('x',x0+[0  1],'y',y0+0.5+[0 0],'parent',ax,'arrow',0.2);
    wire('x',x0+[0  1],'y',y0+1.5+[0 0],'parent',ax,'arrow',0.2);

    wire('x',x0+[3  3.7],'y',y0+0.5+[0 0],'parent',ax,'arrow',0.2);
    wire('x',x0+[3  3.7],'y',y0+1.5+[0 0],'parent',ax,'arrow',0.2);
  
       
    text(x0+0.5 ,y0+1.7, 'w ','horiz','right','fontweight','normal','fontsize',10,'parent',ax);
    text(x0+0.5 ,y0+0.3, 'u ','horiz','right','fontweight','normal','fontsize',10,'parent',ax);
    text(x0+3.5 ,y0+1.7, 'h ','horiz','right','fontweight','normal','fontsize',10,'parent',ax);
    text(x0+3.5 ,y0+0.3, 'y ','horiz','right','fontweight','normal','fontsize',10,'parent',ax);

%     display the model equation
%     text(x0+5 ,y0+1, '{\{} ','horiz','right','fontweight','light','fontsize',30+2*isunix,'parent',ax);
%     text(x0+4.5 ,y0+1, 'Model:','horiz','right','fontweight','light','color','b','fontsize',10+2*isunix,'parent',ax);
%     text(x0+5 ,y0+1.7, '. ','horiz','right','fontweight','bold','fontsize',11+2*isunix,'parent',ax);
%     text(x0+4.8 ,y0+0.95, {'X =A X+B sat(u)+E w+N f_n(C_n X) ','y =C_1 X','h =C_2 X'}, 'horiz','left','fontweight','normal','fontsize',9+2*isunix,'parent',ax);
    
    
    case 'Con'
    % Display the Controller structure
    
    gdb=get(ax,'UserData');
    
    delete(allchild(ax));

    y0 = 0.2;  x0 = 0.5;

    wire('x',x0+[9 5.1],'y',y0+0.25+[0 0],'parent',ax,'arrow',0.2);
    
    sysblock('position',[x0+5 y0 0.5*0.1 2.6],'name','',...
        'fontweight','normal','facecolor','w','fontsize',8, 'parent',ax );
    %     sysblock('position',[x0+6 y0+0.7 0.5 1.2],...
    %         'Numerator','1',...
    %         'Denominator','s',...
    %         'fontweight','normal','facecolor','c','fontsize',8,'parent',ax,'ButtonDownFcn','cnf_set(''con'', gcf)' );
    
    
    %  CNF linear block
    sysblock('position',[x0+3 y0+1 1.5 0.6],'name',{'CNF Linear', 'Feedback'},...
        'fontweight','normal','facecolor','w','fontsize',7,'parent',ax);
    wire('x',x0+[5 4.5],'y',y0+1.3+[0 0],'parent',ax,'arrow',0.2);
    
    %  CNF nonlinear block
    CNF=gdb(2);
    if  CNF==1
        sysblock('position',[x0+3 y0 1.5 0.6],'name',{'CNF Nonlinear','Feedback'},...
            'fontweight','normal','facecolor','w','fontsize',7,'parent',ax);
        wire('x',x0+[5 4.5],'y',y0+0.25+[0 0],'parent',ax,'arrow',0.2);
        wire('x',x0+[3 2.5-0.25],'y',y0+0.25+[0 0],'parent',ax);
        wire('x',x0+2.5-0.25+[0 0],'y',y0+[0.25 1.3-0.25],'parent',ax,'arrow',0.2);
    end    

    %  Nonlinearity Compensation block
    NC=gdb(3);
    if  NC==1
        sysblock('position',[x0+3 y0+2 1.5 0.6],'name',{'Nonlinearity','Pre-compensation'},...
            'fontweight','normal','facecolor','w','fontsize',7,'parent',ax);
        wire('x',x0+[5 4.5],'y',y0+0.25+0.7*3+[0 0],'parent',ax,'arrow',0.2);
        wire('x',x0+[3 2.5-0.25],'y',y0+0.25+0.7*3+[0 0],'parent',ax);
        wire('x',x0+2.5-0.25+[0 0],'y',y0+[2.35 1.3+0.25],'parent',ax,'arrow',0.2);
    end
    
    %  Integral block
    IC=gdb(1);
    if  IC==1
        sysblock('position',[x0+6-0.25 y0+1.3-0.25 1.0 0.5], 'name','Integral',...
            'fontweight','normal','facecolor','w','fontsize',8,'parent',ax);
        sumblock('position',[x0+7.5,y0+1.3],'label',{'-320','+40'},'radius',0.25, 'Showsum',1,...
            'LabelRadius',0.4,'fontsize',12,'parent',ax);
        
        wire('x',x0+[7.25 6.5+0.25],'y',y0+1.3+[0 0],'parent',ax,'arrow',0.2);
        wire('x',x0+[6-0.25 5.1],'y',y0+1.3+[0 0],'parent',ax,'arrow',0.2);
        
        wire('x',x0+[7.5 7.5],'y',y0+[0.25+0.7*3 1.3+0.25],'parent',ax,'arrow',0.2);
        wire('x',x0+[7.5 7.5],'y',y0+[0.25 1.3-0.25],'parent',ax,'arrow',0.2);
    end

    %  Observer block
    OV=gdb(4);
    if  OV==0
        wire('x',x0+[9 6.75],'y',y0+0.25+0.7*3+[0 0],'parent',ax,'arrow',0.2);
        sysblock('position',[x0+5.75 y0+0.7*3  1.0 0.5],'name','Observer',...
            'fontweight','normal','facecolor','w','fontsize',8,'parent',ax );
        wire('x',x0+[5.75 5.1],'y',y0+0.25+0.7*3+[0 0],'parent',ax,'arrow',0.2);
    else
        wire('x',x0+[9 5.1],'y',y0+0.25+0.7*3+[0 0],'parent',ax,'arrow',0.2);
    end
    
    %  Sum block
    if  CNF==1 | NC==1
        wire('x',x0+[3 2.5],'y',y0+1.3+[0 0],'parent',ax,'arrow',0.2);
        sumblock('position',[x0+2.25,y0+1.3],'radius',0.25, 'Showsum',1,'label',{'+320','+40'}, ...
             'LabelRadius',0.4,'fontsize',10, 'parent',ax);
        wire('x',x0+[2 0],'y',y0+1.3+[0 0],'parent',ax,'arrow',0.2);
    else
        wire('x',x0+[3 0],'y',y0+1.3+[0 0],'parent',ax,'arrow',0.2);
    end    
    
    % Filter
    FT=gdb(5);
    if FT==1
        sysblock('position',[x0+0.7 y0+1 0.8 0.6],'name','Filter',...
            'fontweight','normal','facecolor','w','fontsize',8,'parent',ax );
    end
    
    text(x0+9.3, y0+0.3, 'r ','horiz','right','fontweight','normal','fontsize', 16-2*smallfont,'parent',ax);
    text(x0+9.6, y0+2.5, '(y,h) ','horiz','right','fontweight','normal','fontsize',14-smallfont,'parent',ax);
    text(x0,     y0+1.3, 'u ','horiz','right','fontweight','normal','fontsize',16-2*smallfont,'parent',ax);

    
%  end switch    
end

    
% ---------------------------------------------
function wire(varargin)
%   WIRE:  Draw a wire
%   Copyright 1986-2002 The MathWorks, Inc.

%---Default properties
p = struct(...
   'Parent',[],...
   'XData',[1 2],...
   'YData',[1 1],...
   'LineWidth',2,...
   'LineStyle','-',...
   'Color','k',...
   'FontSize',12,...
   'FontWeight','normal',...
   'Name','',...
   'ArrowSize',0,...
   'Tag','',...
   'Clipping','off');
plist = fieldnames(p);

%---Merge user-specified properties
for i=1:2:nargin-1
   Property = pnmatch(varargin{i},plist);
   Value = varargin{i+1};
   p.(Property) = Value;
end
if isempty(p.Parent), p.Parent = gca; end

%---Draw a line
h=line(...
   'Parent',p.Parent,...
   'XData',p.XData,...
   'YData',p.YData,...
   'LineWidth',p.LineWidth,...
   'LineStyle',p.LineStyle,...
   'Color',p.Color,...
   'Tag',p.Tag,...
   'Clipping',p.Clipping);

%---Draw arrow head if requested
if p.ArrowSize>0
   x = p.XData;
   y = p.YData;
   a0 = angle((x(end)-x(end-1))+j*(y(end)-y(end-1))); % angle of last line segment
   hr = p.ArrowSize; % head radius
   ha = pi+[-.5 .5]; % head angles
   patch(...
      'Parent',p.Parent,...
      'XData',x(end)+[0 hr.*cos(a0+ha) 0],...
      'YData',y(end)+[0 hr.*sin(a0+ha) 0],...
      'EdgeColor',p.Color,...
      'FaceColor',p.Color,...
      'Tag',p.Tag,...
      'Clipping',p.Clipping);
   %---Adjust last segment of line so that it ends inside the arrowhead
   lr = sqrt((x(end)-x(end-1))^2 + (y(end)-y(end-1))^2);
   x(end) = x(end)-hr/2*cos(a0);
   y(end) = y(end)-hr/2*sin(a0);
   set(h,'XData',x,'YData',y);
end


% ---------------------------------------------
function sysblock(varargin)
%   SYSBLOCK: Draw a system block
%   Copyright 1986-2002 The MathWorks, Inc.

%---Default properties
p = struct(...
   'Parent',[],...
   'Position',[1 1 3 2],...
   'LineStyle','-',...
   'LineWidth',2,...
   'EdgeColor','k',...
   'FaceColor','w',...
   'Curvature',[0 0],...
   'FontName','',...
   'FontSize',12,...
   'FontWeight','normal',...
   'NameFontName','',...
   'NameFontSize',[],...
   'NameFontWeight','',...
   'Name','',...
   'Gain','',...
   'Numerator','',...
   'Denominator','',...
   'Bracket',0,...
   'Sigma',0,...
   'SigmaBounds',{{'',''}},...
   'Interpreter','tex',...
   'Tag','',...
   'Clipping','off',...
   'ButtonDownFcn','');
plist = fieldnames(p);

%---Merge user-specified properties
for i=1:2:nargin-1
   Property = pnmatch(varargin{i},plist);
   Value = varargin{i+1};
   p.(Property) = Value;
end
if isempty(p.Parent), p.Parent = gca; end
if isempty(p.FontName), p.FontName = get(p.Parent,'DefaultTextFontName'); end
if isempty(p.NameFontName), p.NameFontName = p.FontName; end
if isempty(p.NameFontSize), p.NameFontSize = p.FontSize; end
if isempty(p.NameFontWeight), p.NameFontWeight = p.FontWeight; end

%---System box
rectangle(...
   'Parent',p.Parent,...
   'Position',p.Position,...
   'LineStyle',p.LineStyle,...
   'LineWidth',p.LineWidth,...
   'Curvature',p.Curvature,...
   'EdgeColor',p.EdgeColor,...
   'FaceColor',p.FaceColor,...
   'Tag',p.Tag,...
   'Clipping',p.Clipping,...
   'ButtonDownFcn',p.ButtonDownFcn);

%---Add text
x = p.Position(1)+p.Position(3)/2;
y = p.Position(2)+p.Position(4)/2;
if isempty(p.Numerator)
   %---System name only
   ty = y;
   tv = 'middle';
else
   %---Put system name below block
   ty = p.Position(2);
   tv = 'top';
   %---System equation
   %    equation(...
   %       'Parent',p.Parent,...
   %       'Position',[x y],...
   %       'LineWidth',0.5,...
   %       'Color',p.EdgeColor,...
   %       'FontName',p.FontName,...
   %       'FontSize',p.FontSize,...
   %       'FontWeight',p.FontWeight,...
   %       'Gain',p.Gain,...
   %       'Numerator',p.Numerator,...
   %       'Denominator',p.Denominator,...
   %       'Anchor','center',...
   %       'Bracket',p.Bracket,...
   %       'Sigma',p.Sigma,...
   %       'SigmaBounds',p.SigmaBounds,...
   %       'Interpreter',p.Interpreter,...
   %       'Tag',p.Tag,...
   %       'Clipping',p.Clipping);
end
%---System name
t = text(...
   'Parent',p.Parent,...
   'Position',[x ty],...
   'String',p.Name,...
   'Color',p.EdgeColor,...
   'FontName',p.NameFontName,...
   'FontSize',p.NameFontSize,...
   'FontWeight',p.NameFontWeight,...
   'HorizontalAlignment','center',...
   'VerticalAlignment',tv,...
   'Interpreter',p.Interpreter,...
   'Tag',p.Tag,...
   'Clipping',p.Clipping,...
   'ButtonDownFcn',p.ButtonDownFcn);
if ~isempty(p.Numerator)
   ext = get(t,'Extent');
   set(t,'Position',[x ty-ext(4)*.3]);
end


% ---------------------------------------------
function sumblock(varargin)
%  SUMBLOCK: Draw a sum block
%   Copyright 1986-2002 The MathWorks, Inc.

%---Default properties
p = struct(...
   'Parent',[],...
   'Position',[1 1],...
   'Radius',1,...
   'LineWidth',2,...
   'EdgeColor','k',...
   'FaceColor','none',...
   'FontSize',12,...
   'FontWeight','normal',...
   'Label',{{'+145','-235'}},...
   'LabelRadius',[],...
   'Showsum',0,...
   'Tag','',...
   'Clipping','off');
plist = fieldnames(p);

%---Merge user-specified properties
for i=1:2:nargin-1
   Property = pnmatch(varargin{i},plist);
   Value = varargin{i+1};
   p.(Property) = Value;
end
if isempty(p.LabelRadius), p.LabelRadius = 2*p.Radius; end
if isempty(p.Parent), p.Parent = gca; end

%---Draw a circle
a = 0:2*pi/100:2*pi;
patch(...
   'Parent',p.Parent,...
   'XData',p.Position(1)+p.Radius*cos(a),...
   'YData',p.Position(2)+p.Radius*sin(a),...
   'LineWidth',p.LineWidth,...
   'EdgeColor',p.EdgeColor,...
   'FaceColor',p.FaceColor,...
   'Tag',p.Tag,...
   'Clipping',p.Clipping);
%---Draw summation sign if requested
if p.Showsum
   r = 0.66*p.Radius*[.8 1 1 0 1 1 .8];
   a = pi*[.2 .25 .75 0 1.25 1.75 1.8];
   line(...
      'Parent',p.Parent,...
      'XData',p.Position(1)+r.*cos(a),...
      'YData',p.Position(2)+r.*sin(a),...
      'LineWidth',p.LineWidth,...
      'Color',p.EdgeColor,...
      'Tag',p.Tag,...
      'Clipping',p.Clipping);
end
%---Add labels (for +/-)
if ~iscell(p.Label), p.Label={p.Label}; end
for n=1:length(p.Label)
   L = p.Label{n};
   str = L(1);
   ang = str2num(L(2:end))*pi/180;
   text(...
      'Parent',p.Parent,...
      'Position',p.Position + p.LabelRadius*[cos(ang) sin(ang)],...
      'String',str,...
      'FontSize',p.FontSize,...
      'FontWeight',p.FontWeight,...
      'HorizontalAlignment','center',...
      'VerticalAlignment','middle',...
      'Tag',p.Tag,...
      'Clipping',p.Clipping);
end