pid_ri_tune.m

包含大量遗传算法程序

function [Kp,Ti,Td,key,lb]=pid_ri_tune(lambda,key1,key2,vars)  
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3); id=vars(4);
switch key1
    case 1
        switch key2
            case 5
                switch id
                    case 1
                        
                            Kp=T/(lambda*K);Ti=T;
                            key=1;
                       
                    case 2
                         
                            Kp=(2*T+L)/(2*lambda*K);Ti=T+0.5*L;
                            key=1;
                        
                 end
          end
    case 2
        switch key2
            case 5
                
                  Kp=(T+0.5*L)/(K*(lambda+0.5*L));Ti=5*L;Td=T*L/(2*T+L);
                  key=1;
    end
end