%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）>=

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

?????文件????????600??2004-06-28?08:59??PID程序\chap9\CHAP9_1.M

?????文件???????1216??2004-06-28?10:22??PID程序\chap9\CHAP9_3F.M

?????文件??????18414??2004-06-10?23:17??PID程序\chap9\Chap9_5.mdl

?????文件???????1481??2004-06-10?23:18??PID程序\chap9\Chap9_5i.m

?????文件????????270??2004-06-28?08:59??PID程序\chap9\chap9_1eq.m

?????文件??????20032??2004-06-10?22:46??PID程序\chap9\chap9_2.mdl

?????文件?????????87??2004-06-10?22:44??PID程序\chap9\chap9_2i.m

?????文件???????1007??2004-06-10?22:45??PID程序\chap9\chap9_2s.m

?????文件???????1867??2004-06-28?11:10??PID程序\chap9\chap9_3.m

?????文件??????13688??2004-06-28?14:36??PID程序\chap9\chap9_4.mdl

?????文件???????1672??2004-06-10?23:06??PID程序\chap9\chap9_4plant.m

?????文件????????292??2004-06-10?23:06??PID程序\chap9\chap9_4plot.m

?????文件??????20417??2004-06-10?23:26??PID程序\chap9\chap9_6.mdl

?????文件???????1140??2004-06-10?23:25??PID程序\chap9\chap9_6i.m

?????文件??????13726??2004-06-10?23:29??PID程序\chap9\chap9_7.mdl

?????文件????????254??2004-06-10?23:29??PID程序\chap9\chap9_7i.m

?????目錄??????????0??2006-03-17?11:44??PID程序\chap9

?????文件????????803??2004-06-10?10:42??PID程序\chap8\chap8_1.m

?????文件????????380??2004-06-10?10:42??PID程序\chap8\chap8_1eq.m

?????文件???????1310??2004-06-10?10:45??PID程序\chap8\chap8_2.m

?????文件????????420??2004-06-10?10:46??PID程序\chap8\chap8_2f.m

?????文件???????1522??2004-06-10?10:48??PID程序\chap8\chap8_3.m

?????文件???????1375??2004-06-10?10:51??PID程序\chap8\chap8_4.m

?????文件????????495??2004-06-10?10:51??PID程序\chap8\chap8_4f.m

?????文件???????1592??2004-06-10?10:53??PID程序\chap8\chap8_5.m

?????目錄??????????0??2006-03-17?11:44??PID程序\chap8

?????文件??????13709??2004-06-06?20:54??PID程序\chap7\chap7_1.mdl

?????文件???????1423??2004-06-06?23:02??PID程序\chap7\chap7_10.m

?????文件??????12951??2004-06-10?10:03??PID程序\chap7\chap7_10.mdl

?????文件????????702??2004-06-10?10:02??PID程序\chap7\chap7_10f.m

............此處省略159個文件信息