（参考）PID控制算法的MATLAB仿真分析.docVIP

PID的MATLAB仿真程序： %PID Controler 不完全微分 clear all; close all; ts=20; sys=tf([1],[60,1],inputdelay,80); dsys=c2d(sys,ts,zoh); [num,den]=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],[Tf,1]); %Low Freq Signal Filter M=2; %M=1不完全微分， %M=2普通Pid控制！！ if M==1 %Using PID with Partial differ