%PID?Controller
clear?all;
close?all;

ts=0.001;
sys=tf（5.235e005[187.351.047e0040]）;
dsys=c2d（systs‘z‘）;
[numden]=tfdata（dsys‘v‘）;

u_1=0.0;u_2=0.0;u_3=0.0;
r_1=rand;
y_1=0;y_2=0;y_3=0;

x=[000]‘;
error_1=0;

for?k=1:1:3000
time（k）=k*ts;

kp=1.0;ki=2.0;kd=0.01;
???
S=1;???
if?S==1???%Triangle?Signal
???if?mod（time（k）2）<1?????
	???rin（k）=mod（time（k）1）;
	else
	???rin（k）=1-mod（time（k）1）;
	end
	???rin（k）=rin（k）-0.5;
end
if?S==2???%Sawtooth?Signal
???rin（k）=mod（time（k）1.0）;
end
if?S==3???%Random?Signal
	rin（k）=rand;??
	vr（k）=（rin（k）-r_1）/ts;??%Max?speed?is?5.0
	while?abs（vr（k））>=5.0
???	rin（k）=rand;??
		vr（k）=abs（（rin（k）-r_1）/ts）;
	end
end

u（k）=kp*x（1）+kd*x（2）+ki*x（3）;???%PID?Controller

%Restricting?the?output?of?controller
if?u（k）>=10
???u（k）=10;
end
if?u（k）<=-10
???u（k）=-10;
end

%Linear?model
yout（k）=-den（2）*y_1-den（3）*y_2-den（4）*y_3+num（2）*u_1+num（3）*u_2+num（4）*u_3;
error（k）=rin（k）-yout（k）;

r_1=rin（k）;

u_3=u_2;u_2=u_1;u_1=u（k）;
y_3=y_2;y_2=y_1;y_1=yout（k）;
???
x（1）=error（k）;????????????????%Calculating?P
x（2）=（error（k）-error_1）/ts;???%Calculating?D
x（3）=x（3）+error（k）*ts;????????%Calculating?I
xi（k）=x（3）;

error_1=error（k）;
D=0;
if?D==1??%Dynamic?Simulation?Display
	plot（timerin‘b‘timeyout‘r‘）;
	pause（0.00000000000000000）;
end
end
plot（timerin‘r‘timeyout‘b‘）;
xlabel（‘time（s）‘）;ylabel（‘rinyout‘）;

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件??????10020??2004-06-07?07:32??PID程序\chap1\chap1_1.mdl

?????文件???????1418??2004-06-13?12:10??PID程序\chap1\chap1_10.m

?????文件??????16387??2004-06-13?12:17??PID程序\chap1\chap1_11.mdl

?????文件????????897??2004-06-13?12:19??PID程序\chap1\chap1_12.m

?????文件???????1242??2004-06-13?12:20??PID程序\chap1\chap1_13.m

?????文件??????11066??2004-06-13?12:21??PID程序\chap1\chap1_14.mdl

?????文件????????155??2004-06-13?12:21??PID程序\chap1\chap1_14f.m

?????文件???????1441??2004-06-13?12:22??PID程序\chap1\chap1_15.m

?????文件???????1192??2004-06-13?12:22??PID程序\chap1\chap1_16.m

?????文件????????623??2004-06-13?12:24??PID程序\chap1\chap1_17.m

?????文件???????1684??2004-06-13?12:25??PID程序\chap1\chap1_18.m

?????文件??????14775??2004-06-13?12:26??PID程序\chap1\chap1_19.mdl

?????文件????????248??2004-06-13?12:26??PID程序\chap1\chap1_19f.m

?????文件???????9520??2004-06-07?07:37??PID程序\chap1\chap1_2.mdl

?????文件???????1311??2004-06-13?12:27??PID程序\chap1\chap1_20.m

?????文件???????1188??2004-06-13?12:27??PID程序\chap1\chap1_21.m

?????文件???????1499??2004-06-13?12:28??PID程序\chap1\chap1_22.m

?????文件???????1058??2004-06-13?12:29??PID程序\chap1\chap1_23.m

?????文件???????1332??2004-06-13?12:29??PID程序\chap1\chap1_24.m

?????文件????????924??2004-06-13?11:35??PID程序\chap1\chap1_25.m

?????文件????????691??2004-06-13?12:31??PID程序\chap1\chap1_26.m

?????文件???????1706??2004-06-13?12:31??PID程序\chap1\chap1_27.m

?????文件?????????79??2004-06-02?09:19??PID程序\chap1\chap1_2plot.m

?????文件???????9896??2004-06-02?09:26??PID程序\chap1\chap1_3.mdl

?????文件????????908??2004-06-02?09:29??PID程序\chap1\chap1_3plant.m

?????文件????????807??2004-06-02?09:29??PID程序\chap1\chap1_3s.m

?????文件??????13183??2004-06-13?11:59??PID程序\chap1\chap1_4.mdl

?????文件???????8105??2004-06-13?11:59??PID程序\chap1\chap1_5.mdl

?????文件????????862??2004-06-02?13:17??PID程序\chap1\chap1_5s.m

?????文件????????691??2004-07-03?17:19??PID程序\chap1\chap1_6.m

............此處省略158個(gè)文件信息