graph.m

第一步：采用PID控制

%PID控制
b=load('D:\mathematical model\greyModel\greyPIDcontrol\greyPIDcontrol\error1.txt');
a=load('D:\mathematical model\greyModel\greyPIDcontrol\greyPIDcontrol\error2.txt');

 %控制器位置跟踪效果比较曲线
figure(1)
plot(a(:,1),a(:,2),'-r',b(:,1),b(:,3),'-b',a(:,1),a(:,3),'-g');
xlabel('time(s)');ylabel('r,x');grid on;
%控制器位置跟踪误差曲线
figure(2)
plot(b(:,1),b(:,4),'-r',a(:,1),a(:,4),'-b');
xlabel('time(s)');ylabel('error');grid on;
figure(3);
plot(b(:,1),b(:,5),'-r',a(:,1),a(:,5),'-b');
xlabel('time(s)');ylabel('u');grid on;
% % %灰色PID控制器跟踪误差曲线
%  a=load('D:\mathematical model\greyModel\greyPIDcontrol\greyPIDcontrol\error.txt');
% figure(4);
% plot(a(:,1),a(:,2),'r',a(:,1),a(:,3),'b');grid on;
% xlabel('time(s)');ylabel('r,y');
% % %灰色PID控制器跟踪误差变化率曲线
% figure(5);
% plot(a(:,1),a(:,4));ylabel('derror');grid on;
% xlabel('time(s)');ylabel('derror');grid on;
% %控制器控制量
% figure(6);
% plot(a(:,1),a(:,5));
% xlabel('time(s)');ylabel('u');grid on;