myfun.m

基于单纯形无约束方法的PID参数整定。在myfun.m中输入目标函数和控制对象的传递函数

function [y,Y,U] = myfun(U,Y,R,error,N,X_point,rou)
%rou = 1;
y = error(1)^2+error(2)^2+rou*U(1)^2+rou*U(2)^2;
for k=3:N
    Y(k)=1.9048*Y(k-1)-0.9048*Y(k-2)+0.048*U(k-1)+0.0472*U(k-2);
    error(k) = R(k)-Y(k);
    U(k) = U(k-1)+X_point(1)*error(k)+X_point(2)*error(k-1)+X_point(3)*error(k-2);
    y = y + error(k)^2+rou*U(k)^2;
end