%Discrete?PID?control?for?continuous?plant
clear?all;
close?all;

ts=0.001;??%Sampling?time
xk=zeros（21）;
e_1=0;
u_1=0;

for?k=1:1:2000
time（k）?=?k*ts;

rin（k）=0.50*sin（1*2*pi*k*ts）;
??
para=u_1;??????????????%?D/A
tSpan=[0?ts];
[ttxx]=ode45（‘chap1_6f‘tSpanxk[]para）;
xk?=?xx（length（xx）:）;????%?A/D
yout（k）=xk（1）;?

e（k）=rin（k）-yout（k）;
de（k）=（e（k）-e_1）/ts;?

u（k）=20.0*e（k）+0.50*de（k）;
%Control?limit
if?u（k）>10.0
???u（k）=10.0;
end
if?u（k）<-10.0
???u（k）=-10.0;
end

u_1=u（k）;
e_1=e（k）;
end
figure（1）;
plot（timerin‘r‘timeyout‘b‘）;
xlabel（‘time（s）‘）ylabel（‘rinyout‘）;
figure（2）;
plot（timerin-yout‘r‘）;
xlabel（‘time（s）‘）ylabel（‘error‘）;

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

?????文件?????611249??2018-01-18?19:08??位置式數(shù)字PID仿真程序.pdf

?????文件???????1836??2004-06-13?12:08??chap1_8s.m

?????文件????????691??2004-07-03?17:19??chap1_6.m

?????文件????????132??2004-06-13?12:04??chap1_6f.m

?????文件???????8014??2004-06-13?12:06??chap1_7.mdl

?????文件????????266??2004-06-13?12:06??chap1_7f.m

?????文件???????7825??2004-06-13?12:07??chap1_8.mdl

-----------?---------??----------?-----??----

???????????????630013????????????????????7