function?[sysx0strts]?=?dPID（txuflagkpkikd）
%SFUNTMPL?General?M-file?S-function?template

switch?flag
??%%%%%%%%%%%%%%%%%%
??%?Initialization?%
??%%%%%%%%%%%%%%%%%%
??case?0
????[sysx0strts]=mdlInitializeSizes;
??%%%%%%%%%%%%%%%
??%?Derivatives?%
??%%%%%%%%%%%%%%%
??case?1
????sys=mdlDerivatives（txu）;
??%%%%%%%%%%
??%?Update?%
??%%%%%%%%%%
??case?2
????sys=mdlUpdate（txu）;
??%%%%%%%%%%%
??%?Outputs?%
??%%%%%%%%%%%
??case?3
????sys=mdlOutputs（txukpkikd）;
??%%%%%%%%%%%%%%%%%%%%%%%
??%?GetTimeOfNextVarHit?%
??%%%%%%%%%%%%%%%%%%%%%%%
??case?4
????sys=mdlGetTimeOfNextVarHit（txu）;
??%%%%%%%%%%%%%
??%?Terminate?%
??%%%%%%%%%%%%%
??case?9
????sys=mdlTerminate（txu）;

??%%%%%%%%%%%%%%%%%%%%
??%?Unexpected?flags?%
??%%%%%%%%%%%%%%%%%%%%
??otherwise
????DAStudio.error（‘Simulink:blocks:unhandledFlag‘?num2str（flag））;

end

%?end?sfuntmpl

%
%=============================================================================
%?mdlInitializeSizes
%?Return?the?sizes?initial?conditions?and?sample?times?for?the?S-function.
%=============================================================================
%
function?[sysx0strts]=mdlInitializeSizes

sizes?=?simsizes;

sizes.NumContStates??=?0;
sizes.NumDiscStates??=?4;
sizes.NumOutputs?????=?1;
sizes.NumInputs??????=?1;
sizes.DirFeedthrough?=?0;
sizes.NumSampleTimes?=?1;???%?at?least?one?sample?time?is?needed

sys?=?simsizes（sizes）;

%
%?initialize?the?initial?conditions
%
x0??=?[0;0;0;0];

str?=?[];

ts??=?[-2?0];

%?end?mdlInitializeSizes

function?sys=mdlDerivatives（txu）

sys?=?[];

%?end?mdlDerivatives

%=============================================================================
%?mdlUpdate
%?Handle?discrete?state?updates?sample?time?hits?and?major?time?step
%?requirements.
%=============================================================================
%
function?sys=mdlUpdate（txu）
x（3）=x（2）;
x（2）=x（1）;
x（1）=u;
x（4）=u+x（4）;
sys?=x;

%?end?mdlUpdate

%=============================================================================
%?mdlOutputs
%?Return?the?block?outputs.
%=============================================================================
%
function?sys=mdlOutputs（txukpkikd）
sys=kp*x（1）+ki*0.01*x（4）+kd*（x（2）-x（3））/0.01;


%?end?mdlOutputs
%
%=============================================================================
%?mdlGetTimeOfNextVarHit
%?Return?the?time?of?the?next?hit?for?this?block.??Note?that?the?result?is
%?absolute?time.??Note?that?this?function?is?only?used?when?you?specify?a
%?variable?discrete-time?sample?time?[-2?0]?in?the?sample?time?array?in
%?mdlInitializeSizes.
%=============================================================================
%
function?sys=mdlGetTimeOfNextVarHit（txu）

sampleTime?=?0.01;%??Example?set?the?next?hit?to?be?one?second?later.
sys?=?t?+?sampleTime;

%?end?mdlGetTimeOfNextVarHit

%=============================================================================
%?mdlTerminate
%?Perform?any?end?of?simulation?tasks.
%============

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????20563??2012-11-05?16:52??untitled.mdl

?????文件???????3132??2012-11-05?16:49??dPID.m

-----------?---------??----------?-----??----

????????????????23695????????????????????2