exa02.m

PID性能分析

clear all;
ng0=[10];
dg0=[1,5,0];
g0=tf(ng0,dg0);
KK=10;
Pm=70;
w=logspace(-2,2);
t=[0:0.01:3];
[ngc,dgc]=lag2(ng0,dg0,w,KK,Pm);
gc=tf(ngc,dgc);
g0c=tf(KK*g0*gc);
b1=feedback(KK*g0,1);
b2=feedback(g0c,1);
step(b1,t);
grid on;
hold on;
step(b2,t);
hold off;
figure;
bode(KK*g0,w);
grid on;
hold on;
bode(g0c,w);
hold off;
[gm,pm,wcg,wcp]=margin(g0c);