imc2pseudo.m

内模控制器（IMC）工具箱。包括参数整定、PID控制器参数转换等

function [f]=user2(x,y,E,sign,w,n,Mp,p,m,q,qf,qd,pds)
e=E(2);
s=eps;
kpd=eval(pds);
K=1/kpd;
if n > 0
 s=sqrt(-1)*x(n);
elseif n == 0
 s=sqrt(-1)*w;
end
model=eval(m);
if isempty(p)
   plant=model;
else
   plant=eval(p);
end
cont=eval(qf);
qd_part=eval(qd);
pd=eval(pds);
%f=sign*abs(K*pd*model*cont*qd_part/(1+(plant-model)*cont*qd_part));%for e<dist. lag time const.
%f=sign*abs((K*pd*model*cont)/(1+(plant-model)*cont));  %for e>dist. lag time const.
f=sign*abs((K*pd*plant*cont*qd_part)/(1+(plant-model)*cont*qd_part));
%f=sign*abs((K*pd)/(1+(plant-model)*cont*qd_part));
%f=sign*abs((K*pd*model*cont)/(1+(plant-model)*cont));
%f=sign*abs((pd*model*cont)/(1+(plant-model)*cont));