%chap4_7f1.m
function?[u]=chap4_7f1（u1u2u3）
global?s
persistent?errori?error_1

ts=0.001;
if?u3==0
???errori=0;
???error_1=0;
end???

s=3?????????????%Selecting?Signal?Type
if?s==1?????????%Step?Signal
???kp=0.4;
???ki=0.0;
???kd=0.28;
elseif?s==2?????%Sine?Signal
???kp=40;
???ki=0.0;
???kd=0.28;
elseif?s==3?????%Square?Wave?Signal
???kp=0;
???ki=0.0;
???kd=0.28;
end
error=u2;
errord=（error-error_1）/ts;
errori=errori+error*ts;

u=kp*error+kd*errord+ki*errori;
error_1=error;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2003-08-26?14:23??PID?MATLAB\
?????目錄???????????0??2003-08-26?14:23??PID?MATLAB\CHAPTER1\
?????目錄???????????0??2003-08-26?14:23??PID?MATLAB\CHAPTER10\
?????文件?????????913??2002-10-20?14:58??PID?MATLAB\CHAPTER10\CHAP10_1.M
?????文件?????????908??2002-10-20?15:18??PID?MATLAB\CHAPTER10\CHAP10_2.CPP
?????文件????????9303??2002-10-20?15:54??PID?MATLAB\CHAPTER10\CHAP10_3.CPP
?????文件????????1192??2002-10-06?17:29??PID?MATLAB\CHAPTER10\CHAP10_3.H
?????文件???????10020??2002-10-04?09:37??PID?MATLAB\CHAPTER1\CHAP1_1.MDL
?????文件?????????623??2002-10-20?21:47??PID?MATLAB\CHAPTER1\CHAP1_10.M
?????文件????????1684??2002-12-11?10:30??PID?MATLAB\CHAPTER1\CHAP1_11.M
?????文件????????1311??2002-12-11?10:30??PID?MATLAB\CHAPTER1\CHAP1_12.M
?????文件????????1188??2002-12-11?10:31??PID?MATLAB\CHAPTER1\CHAP1_13.M
?????文件????????1499??2002-12-11?10:32??PID?MATLAB\CHAPTER1\CHAP1_14.M
?????文件????????1058??2002-12-11?10:33??PID?MATLAB\CHAPTER1\CHAP1_15.M
?????文件????????1332??2002-12-11?10:33??PID?MATLAB\CHAPTER1\CHAP1_16.M
?????文件?????????663??2002-10-20?19:27??PID?MATLAB\CHAPTER1\CHAP1_2.M
?????文件?????????132??2002-10-09?21:27??PID?MATLAB\CHAPTER1\CHAP1_2F.M
?????文件????????8014??2002-10-09?21:30??PID?MATLAB\CHAPTER1\CHAP1_3.MDL
?????文件?????????266??2002-10-09?21:30??PID?MATLAB\CHAPTER1\CHAP1_3F.M
?????文件????????1210??2002-12-11?10:26??PID?MATLAB\CHAPTER1\CHAP1_4.M
?????文件????????1418??2002-12-11?10:25??PID?MATLAB\CHAPTER1\CHAP1_5.M
?????文件?????????897??2002-10-20?20:51??PID?MATLAB\CHAPTER1\CHAP1_6.M
?????文件????????1242??2002-12-11?10:27??PID?MATLAB\CHAPTER1\CHAP1_7.M
?????文件????????1441??2002-12-11?10:27??PID?MATLAB\CHAPTER1\CHAP1_8.M
?????文件????????1192??2002-12-11?10:28??PID?MATLAB\CHAPTER1\CHAP1_9.M
?????目錄???????????0??2003-08-26?14:23??PID?MATLAB\CHAPTER2\
?????文件????????1175??2002-10-18?15:21??PID?MATLAB\CHAPTER2\CHAP2_1.M
?????文件????????1143??2002-12-11?10:35??PID?MATLAB\CHAPTER2\CHAP2_2.M
?????文件???????11061??2002-12-11?10:39??PID?MATLAB\CHAPTER2\CHAP2_3.MDL
?????文件????????1577??2002-12-11?10:40??PID?MATLAB\CHAPTER2\CHAP2_4.M
?????目錄???????????0??2003-08-26?14:23??PID?MATLAB\CHAPTER3\
............此處省略61個文件信息