%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;
yd_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=3;???
if?S==1???%Triangle?Signal
???if?mod（time（k）2）<1?????
	???yd（k）=mod（time（k）1）;
	else
	???yd（k）=1-mod（time（k）1）;
	end
	???yd（k）=yd（k）-0.5;
end
if?S==2???%Sawtooth?Signal
???yd（k）=mod（time（k）1.0）;
end
if?S==3???%Random?Signal
	yd（k）=rand;??
	dyd（k）=（yd（k）-yd_1）/ts;??%Max?speed?is?5.0
	while?abs（dyd（k））>=5.0
???	yd（k）=rand;??
		dyd（k）=abs（（yd（k）-yd_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
y（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）=yd（k）-y（k）;

yd_1=yd（k）;

u_3=u_2;u_2=u_1;u_1=u（k）;
y_3=y_2;y_2=y_1;y_1=y（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（timeyd‘b‘timey‘r‘）;
	pause（0.00000000000000000）;
end
end
figure（1）;
plot（timeyd‘r‘timey‘k:‘‘linewidth‘2）;
xlabel（‘time（s）‘）;ylabel（‘ydy‘）;
legend（‘Ideal?position?signal‘‘Position?tracking‘）;

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

?????文件??????23229??2010-07-19?19:50??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_1.mdl

?????文件???????1474??2010-07-26?11:58??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_10.m

?????文件??????26000??2010-07-21?21:18??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_11.mdl

?????文件????????150??2010-07-26?12:06??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_11plot.m

?????文件????????959??2010-07-26?12:08??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_12.m

?????文件???????1300??2016-05-03?08:08??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_13.m

?????文件??????24121??2010-07-26?12:27??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_14.mdl

?????文件????????155??2004-06-13?12:21??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_14int.m

?????文件????????150??2010-07-26?12:27??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_14plot.m

?????文件???????1507??2010-07-26?12:46??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_15.m

?????文件???????1257??2010-07-26?12:47??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_16.asv

?????文件???????1250??2010-07-26?12:49??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_16.m

?????文件????????681??2011-07-09?16:25??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_17.m

?????文件???????1600??2011-07-09?16:28??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_18.asv

?????文件???????1599??2011-07-09?16:31??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_18.m

?????文件??????29883??2010-07-26?13:56??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_19.mdl

?????文件????????248??2004-06-13?12:26??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_19int.m

?????文件????????150??2010-07-26?13:43??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_19plot.m

?????文件??????24308??2010-07-26?11:45??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_2.mdl

?????文件???????1258??2010-07-20?10:56??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_20.asv

?????文件???????1295??2010-07-26?13:45??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_20.m

?????文件???????1247??2010-07-26?13:48??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_21.m

?????文件???????1560??2010-07-26?13:50??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_22.m

?????文件???????1150??2010-07-26?13:55??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_23.m

?????文件???????1376??2010-07-20?12:11??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_24.asv

?????文件???????1371??2010-07-26?13:59??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_24.m

?????文件???????1006??2010-07-26?14:01??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_25.m

?????文件???????1483??2010-07-26?14:03??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_26.m

?????文件??????24770??2010-07-21?21:55??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_27.mdl

?????文件????????744??2010-07-20?13:18??先進(jìn)PID控制Matlab仿真第4版-仿真程序-上交\chap1\chap1_27f.m

............此處省略382個(gè)文件信息