function bbGUI()                          

%**************************************************************%
%This functions creates a graphical user interface which       %
%contains an animation of the ball and beam control experiment.%
%This function was created for the Control Tutorials for       %
%Matlab. It requires the functions bbFUN.m and bbFUNODE.m to   %
%be executed.                                                  %
%                                                              %
%Copyright (C) 1997 by the Regents of the University of        %
%Michigan.                                                     %
%**************************************************************%

a = figure('Color',[1 1 1], ...
	'Position',[440 124 700 700], ...
	'Tag','Fig1');
whitebg
whitebg
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[0 0 0], ...
	'Position',[0.128571 0.514286 0.228571 0.192857], ...
	'Style','frame', ...
	'Tag','Nbarframe');

b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.137143 0.522857 0.211429 0.177143], ...
	'Style','frame', ...
	'Tag','Kframe');

b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.181429 0.672857 0.115714 0.02], ...
	'String','Place Poles', ...
	'Style','text', ...
	'Tag','placetext');

b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.155714 0.627143 0.0585714 0.035], ...
	'String','-2', ...
	'Style','edit', ...
	'Tag','realtext', ...
	'Value',1);
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.25 0.627143 0.0585714 0.035], ...
	'String','5', ...
	'Style','edit', ...
	'Tag','imagtext', ...
	'Value',1);
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.225 0.64 0.017 0.020], ...
	'String','+', ...
	'Style','text', ...
	'Tag','plustext');

b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.225 0.624 0.017 0.017], ...
	'String','-', ...
	'Style','text', ...
	'Tag','minustext');

b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.311429 0.631429 0.0185714 0.0185714], ...
	'String','i', ...
	'Style','text', ...
	'Tag','itext');

b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.198571 0.58 0.0857143 0.035], ...
	'String','-20', ...
	'Style','edit', ...
	'Tag','pole3');

b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.198571 0.538571 0.0857143 0.035], ...
	'String','-80', ...
	'Style','edit', ...
	'Tag','pole4');

b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[0 0 0], ...
	'Position',[0.122857 0.365714 0.244286 0.125714], ...
	'Style','frame', ...
	'Tag','Frame1');

b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.13 0.374286 0.228571 0.108571], ...
	'Style','frame', ...
	'Tag','timeframe');

b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Callback','bbFUN(3)', ...
	'Max',0.5, ...
	'Min',-0.5, ...
	'Position',[0.187143 0.395714 0.118571 0.0242857], ...
	'Style','slider', ...
	'Tag','stepslider', ...
	'Value',0.25);
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.137143 0.398571 0.0442857 0.0185714], ...
	'String','-50', ...
	'Style','text', ...
	'Tag','slid_min');
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.307143 0.398571 0.0357143 0.0185714], ...
	'String',' 50', ...
	'Style','text', ...
	'Tag','slid_max');
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.151429 0.444286 0.0928571 0.0214286], ...
	'String','Step Input:', ...
	'Style','text', ...
	'Tag','step_text');
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.238571 0.444286 0.0842857 0.0214286], ...
	'String','25.00', ...
	'Style','text', ...
	'Tag','curtext');
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[0 0 0], ...
	'Position',[0.13 0.737143 0.224286 0.165714], ...
	'Style','frame', ...
	'Tag','ballxframe');
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.138571 0.744286 0.208571 0.15], ...
	'Style','frame', ...
	'Tag','thetaframe');
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 0 0], ...
	'Callback','bbFUN(1)', ...
	'Position',[0.188571 0.825714 0.115714 0.0442857], ...
	'String','RUN', ...
	'Tag','Runbutton', ...
	'Value',1);
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[0 1 0], ...
	'Callback','bbFUN(2)', ...
	'Position',[0.258571 0.767143 0.0728571 0.0428571], ...
	'String','RESET', ...
	'Tag','Restbutton');
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[0 1 0], ...
	'Callback','bbFUN(4)', ...
	'Position',[0.154286 0.767143 0.0728571 0.0428571], ...
	'String','REPEAT', ...
	'Tag','repbutton');
	
b = axes('Parent',a, ...
	'Box','on', ...
	'Color',[1 1 1], ...
	'NextPlot','add', ...
	'Position',[0.577977 0.581098 0.327023 0.343902], ...
	'Tag','anim_axes', ...
	'XColor',[0 0 0], ...
	'XLim',[0 6], ...
	'XLimMode','manual', ...
	'YColor',[0 0 0], ...
	'YLim',[0 50], ...
	'YLimMode','manual');

c = text('Parent',b, ...
	'Color',[0 0 0], ...
	'HorizontalAlignment','center', ...
	'Position',[2.98684 51.3542 0], ...
	'String','Step Response', ...
	'Tag','Text1', ...
	'VerticalAlignment','bottom');
set(get(c,'Parent'),'Title',c);

c = text('Parent',b, ...
	'Color',[0 0 0], ...
	'HorizontalAlignment','center', ...
	'Position',[-0.539474 25.1042 0], ...
	'Rotation',90, ...
	'String','Ball Position (cm)', ...
	'Tag','Text2', ...
	'VerticalAlignment','baseline');
set(get(c,'Parent'),'YLabel',c);

c = text('Parent',b, ...
	'Color',[0 0 0], ...
	'HorizontalAlignment','center', ...
	'Position',[2.98684 -3.64583 0], ...
	'String','Time (sec)', ...
	'Tag','Text3', ...
	'VerticalAlignment','cap');
set(get(c,'Parent'),'XLabel',c);

b = axes('Parent',a, ...
	'Box','on', ...
	'Color',[1 1 1], ...
	'Position',[0.577977 0.11 0.327023 0.343902], ...
	'Tag','step_axes', ...
	'XColor',[0 0 0], ...
	'XLim',[-55 55], ...
	'XLimMode','manual', ...
	'YColor',[0 0 0], ...
	'YLim',[-55 55], ...
	'YLimMode','manual');

c = line('Parent',b, ...
	'Color',[1 0 0], ...
	'EraseMode','xor', ...
	'LineWidth',3, ...
	'Tag','Line2', ...
	'XData',[-50 50], ...
	'YData',[0 -0]);

c = text('Parent',b, ...
	'Color',[0 0 0], ...
	'HorizontalAlignment','center', ...
	'Position',[-0.241228 57.9792 0], ...
	'String','Animation', ...
	'Tag','Text4', ...
	'VerticalAlignment','bottom');
set(get(c,'Parent'),'Title',c);

c = text('Parent',b, ...
	'Color',[0 0 0], ...
	'HorizontalAlignment','center', ...
	'Position',[-0.241228 -63.0208 0], ...
	'String','Horizontal Position (cm)', ...
	'Tag','Text5', ...
	'VerticalAlignment','cap');
set(get(c,'Parent'),'XLabel',c);

c = text('Parent',b, ...
	'Color',[0 0 0], ...
	'HorizontalAlignment','center', ...
	'Position',[-68.2675 0.229167 0], ...
	'Rotation',90, ...
	'String','Vertical Position (cm)', ...
	'Tag','Text6', ...
	'VerticalAlignment','baseline');
set(get(c,'Parent'),'YLabel',c);

b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[0 0 0], ...
	'Position',[0.118571 0.105714 0.252857 0.232857], ...
	'Style','frame', ...
	'Tag','stepframe');
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.127143 0.28 0.235714 0.0485714], ...
	'String','Manual Advance', ...
	'Style','checkbox', ...
	'Tag','Checkbox');
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.127143 0.224286 0.235714 0.0485714], ...
	'String','Plot Separately', ...
	'Style','checkbox', ...
	'Tag','Checkbox2');
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.127143 0.17 0.235714 0.0485714], ...
	'String','Reference Input', ...
	'Style','checkbox', ...
	'Tag','Checkbox3', ...
	'Value',1);
	
b = uicontrol('Parent',a, ...
	'Units','normalized', ...
	'BackgroundColor',[1 1 1], ...
	'Position',[0.127143 0.114286 0.235714 0.0485714], ...
	'String','Non-Linear System', ...
	'Style','checkbox', ...
	'Tag','syscheckbox');