%PID?Controler?with?Partial?differential
clear?all;
close?all;

ts=20;
sys=tf（[1][601]‘inputdelay‘80）;
dsys=c2d（systs‘zoh‘）;
[numden]=tfdata（dsys‘v‘）;

u_1=0;u_2=0;u_3=0;u_4=0;u_5=0;
ud_1=0;
y_1=0;y_2=0;y_3=0;
error_1=0;
ei=0;

for?k=1:1:100
time（k）=k*ts;

rin（k）=1.0;

%Linear?model
yout（k）=-den（2）*y_1+num（2）*u_5;

D（k）=0.01*rands（1）;
yout（k）=yout（k）+D（k）;

error（k）=rin（k）-yout（k）;

%PID?Controller?with?partly?differential
ei=ei+error（k）*ts;
kc=0.30;
ki=0.0055;
TD=140;

kd=kc*TD/ts;

Tf=180;
Q=tf（[1][Tf1]）;???%Low?Freq?Signal?Filter

M=2;
if?M==1??????%Using?PID?with?Partial?differential
	alfa=Tf/