greypidcontrol.h

第一步：采用PID控制

#pragma once

#include "resource.h"
#include "resource.h"
#include "matrix.h"
#include "math.h"


#define pi 3.14159265359
#define nNumRow 2
#define nNumColoumn 200
#define nSize nNumRow*nNumColoumn
#define NSize nNumColoumn*nNumColoumn
class greyPIDcontrol
{
  public:
	  double x[nNumRow];
//	  double x[nNumRows];
	  int nNumRows;
	  int nNumCols;
	  int simStep;
	  int step;
     double r[2000];
	 double dr[2000];
	  double D[nNumColoumn];
	  double D1[nNumColoumn];
	  double V[nNumRow+1];
	  double u;
	  int M;
	  CMatrix data;
	  greyPIDcontrol(int nRows,int nCols);
	 // void dataSource();
	 // virtual ~greyPIDcontrol();
	  CMatrix initDataMatrix(double ts);
	 void selectControllerType(int type);
	  CMatrix AGOmatrix(CMatrix mat);
	  CMatrix dataMatrixB(CMatrix mat);
	  void data_Dk(CMatrix mat,double ts);
	  void AGO_D1k(double value[]);
	  void paramaterVectorEstimation(CMatrix mat);
	  void greyCompensationControl(double ts,int step);
	  void dynamicModel(double dx[],double x[],double h,int step);
	  void rungeKutta4(double x[],int k,double h,int step);
};