fuz_pid.m

控制系统计算机辅助设计——MATLAB语言与应用(源代码）

function [sys,x0,str,ts]=fuz_pid(t,x,u,flag,T,aFuz,fx0,gam)
switch flag,
   case 0, [sys,x0,str,ts] = mdlInitializeSizes(T);
   case 2, sys = mdlUpdates(x,u);
   case 3, sys = mdlOutputs(x,u,T,aFuz,fx0,gam);
   case {1, 4, 9}, sys = [];
   otherwise, error(['Unhandled flag = ',num2str(flag)]);
end;
% --- 模块初始化函数  mdlInitializeSizes
function [sys,x0,str,ts] = mdlInitializeSizes(T)
sizes = simsizes; % 读入系统变量的默认值
sizes.NumContStates = 0; sizes.NumDiscStates = 3;
sizes.NumOutputs = 4; sizes.NumInputs = 2;
sizes.DirFeedthrough = 0; sizes.NumSampleTimes = 1;
sys = simsizes(sizes); x0 = zeros(3,1);
str = []; ts = [T 0]; % 继承输入信号的采样周期
% --- 离散状态更新函数  mdlUpdate
function sys = mdlUpdates(x,u)
sys=[u(1);  x(2)+u(1); u(1)-u(2)];  % PID
% --- 输出量计算函数  mdlOutputs
function sys = mdlOutputs(x,u,T,aFuz,fx0,gam)
Kpid=fx0+gam(:).*evalfis(x([1,3]),aFuz)';
sys=[Kpid'*x; Kpid];