dcm2_init.m

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% dcm2_init.m
% Initialization of DC Motor position control
% by using discrete PID controller with 
% Plant parameters variation by 0.4--2.5 times.

% PencChen Chou, Aug. 17, 2001

K=17661.1;a1=29.73;a2=21.033;
Kp=0.01;Ki=0.0076;Kd=12.7392;
Kp=0.2128; Ki=0.0318; Kd=46.6173;
Ts=1/1000;
disp('Plant:K a1 a2');
[K a1 a2]
disp('Controller:Ts Kp Ki Kd');
[Ts Kp Ki Kd]
ERR1=0;ERR2=0;ERR3=0;ERR4=0;ERR5=0;Emin=1e6;
disp('==>dcmotor_2 initialization complete');