main.m

来自「非常有用的自抗扰pid控制器程序。搞控制的可以看看。」· M 代码 · 共 34 行

%main.m
num1=[2];
den1=[1 1.6 0.8];
[num2,den2]=pade(15,3);
[num,den]=series(num1,den1,num2,den2);
[A,B,C,D]=tf2ss(num,den);
[n0,m0]=size(C);
x0=zeros(1,m0);

z1=0;
z2=0;
z3=0;
v1(1)=0;
v2(1)=0;
v=2;
y01=[0 0];
y1=[];
u0=0;
u=0;
y=0;
n=5000;
for k=1:n
[u,v1,v2,z1,z2,z3]=pidfa(y,v1,v2,z1,z2,z3,v,u);
[y01,x01]=lsim(A,B,C,D,[u0 u],[0:1],x0);
%y01=lsim(num,den,[u0,u],[0:1]);
y1(k)=y01(2);
x0=x01(2,:);
y=y01(2);
u0=u;
v0(k)=v1;
end
[n,m]=size(y1);
t=[1:m];
plot(t,y1,t,v0);