chap2_71f.m

这是偶近几年来研究的多种PID控制程序

%PID Controler Based on Ziegler-Nichols
clear all;
close all;

sys=tf(3,[2.8,1]);

figure(1);
rlocus(sys);
[km,pole]=rlocfind(sys)

wm=imag(pole(1));
kp=0.6*km
kd=kp*pi/(4*wm)
ki=kp*wm/pi