%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????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-04-11?18:01??MATLAB\
?????文件?????1360103??2014-04-11?00:06??MATLAB\FILE.zip
?????目錄???????????0??2014-04-10?22:34??MATLAB\file200902212223\
?????目錄???????????0??2014-04-10?22:34??MATLAB\file200902212228\
?????目錄???????????0??2014-04-10?22:34??MATLAB\file200902221608\
?????目錄???????????0??2014-04-10?22:34??MATLAB\file200902221608\PID程序\
?????目錄???????????0??2014-04-10?22:34??MATLAB\file200902221608\PID程序\chap1\
?????目錄???????????0??2014-04-10?22:34??MATLAB\file200902221608\PID程序\chap10\
?????文件????????9807??2004-06-10?12:15??MATLAB\file200902221608\PID程序\chap10\chap10_1.mdl
?????文件?????????851??2004-06-10?12:14??MATLAB\file200902221608\PID程序\chap10\chap10_1plant.m
?????文件?????????333??2004-06-10?12:21??MATLAB\file200902221608\PID程序\chap10\chap10_1plot.m
?????文件?????????853??2004-06-10?12:14??MATLAB\file200902221608\PID程序\chap10\chap10_1s.m
?????文件????????9809??2004-06-10?12:21??MATLAB\file200902221608\PID程序\chap10\chap10_2.mdl
?????文件?????????939??2004-06-10?12:40??MATLAB\file200902221608\PID程序\chap10\chap10_2plant.m
?????文件????????9786??2004-06-10?12:29??MATLAB\file200902221608\PID程序\chap10\chap10_3.mdl
?????文件?????????870??2004-06-10?12:29??MATLAB\file200902221608\PID程序\chap10\chap10_3plant.m
?????文件?????????333??2004-06-10?12:28??MATLAB\file200902221608\PID程序\chap10\chap10_3plot.m
?????文件????????1137??2004-06-10?12:29??MATLAB\file200902221608\PID程序\chap10\chap10_3s.m
?????文件?????????726??2004-06-10?12:36??MATLAB\file200902221608\PID程序\chap10\chap10_4.m
?????文件????????1303??2004-06-10?12:36??MATLAB\file200902221608\PID程序\chap10\chap10_4eq.m
?????文件???????11156??2004-06-10?13:11??MATLAB\file200902221608\PID程序\chap10\chap10_5.mdl
?????文件????????1459??2004-06-10?13:10??MATLAB\file200902221608\PID程序\chap10\chap10_5plant.m
?????文件????????1594??2004-06-10?13:08??MATLAB\file200902221608\PID程序\chap10\chap10_5s.m
?????文件???????12927??2004-06-10?13:22??MATLAB\file200902221608\PID程序\chap10\chap10_6.mdl
?????文件????????2103??2004-06-10?13:14??MATLAB\file200902221608\PID程序\chap10\chap10_6s.m
?????目錄???????????0??2014-04-10?22:34??MATLAB\file200902221608\PID程序\chap11\
?????文件?????????913??2004-06-29?23:18??MATLAB\file200902221608\PID程序\chap11\CHAP11_1.M
?????文件?????????908??2004-06-29?23:18??MATLAB\file200902221608\PID程序\chap11\CHAP11_2.CPP
?????文件????????9303??2004-06-29?23:18??MATLAB\file200902221608\PID程序\chap11\CHAP11_3.CPP
?????文件????????1192??2004-06-29?23:18??MATLAB\file200902221608\PID程序\chap11\CHAP11_3.H
?????文件???????10020??2004-06-07?07:32??MATLAB\file200902221608\PID程序\chap1\chap1_1.mdl
............此處省略188個文件信息