ctrlcode.m

一个很棒的网络控制系统仿真软件

function [exectime, data] = ctrlcode(seg, data)

switch seg,
 case 1, 
  y = ttGetMsg;         % Obtain sensor value
  r = ttAnalogIn(1);    % Read reference value
  P = data.K*(r-y);
  D = data.ad*data.Dold + data.bd*(data.yold-y);
  data.u = P + D;
  data.Dold = D;
  data.yold = y;
  exectime = 0.0005;
 case 2,
  ttSendMsg(2, data.u, 10);    % Send 10 bytes to node 2 (actuator)
  exectime = -1; % finished
end