📄 pid_cascade.m
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gh2=subplot(2,1,2);plot(t,effort,'y');
title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
grid on;
hold on
elseif plot_disturb
gh1=subplot(2,1,1);plot(t,simout,'y');
title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* Floating Integral controler');
set(h,'color','y');
y_position=y_position-y_scale;
grid on;
hold on;
else
gh1=plot(t,simout,'y');
title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* Floating Integral controler');
set(h,'color','y');
y_position=y_position-y_scale;
grid on;
hold on;
end
end
if plot_disturb
Setpoint=0;
Disturb=1;
[t]=sim('fi_diagcas2',time,options);
if plot_effort
gh1=subplot(2,1,1);plot(t,simout,'y');
title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* Floating Integral controler');
set(h,'color','y');
y_position=y_position-y_scale;
grid on;
hold on;
gh2=subplot(2,1,2);plot(t,effort,'y');
title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
grid on;
hold on
elseif plot_setpoint
gh2=subplot(2,1,2);plot(t,simout,'y');
title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
grid on;
hold on;
else
gh1=plot(t,simout,'y');
title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* Floating Integral controler');
set(h,'color','y');
y_position=y_position-y_scale;
grid on;
hold on;
end
end
end
else
FI_Enable='off';
plot_FI=0;
end
if a2>b2
if max(real(roots(PID_APXden))) < 0
if plot_PID_APX
if plot_setpoint
Setpoint=1;
Disturb=0;
[t]=sim('pid_apxcas2',time,options);
if plot_effort
gh1=subplot(2,1,1);plot(t,simout,'c');
title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* 1st order lag*PID');
set(h,'color','c');
y_position=y_position-y_scale;
grid on;
hold on;
gh2=subplot(2,1,2);plot(t,effort,'c');
title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
grid on;
hold on
elseif plot_disturb
gh1=subplot(2,1,1);plot(t,simout,'c');
title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* 1st order lag*PID');
set(h,'color','c');
y_position=y_position-y_scale;
grid on;
hold on;
else
gh1=plot(t,simout,'c');
title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* 1st order lag*PID');
set(h,'color','c');
y_position=y_position-y_scale;
grid on;
hold on;
end
end
if plot_disturb
Setpoint=0;
Disturb=1;
[t]=sim('pid_apxcas2',time,options);
if plot_effort
gh1=subplot(2,1,1);plot(t,simout,'c');
title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* 1st order lag*PID');
set(h,'color','c');
y_position=y_position-y_scale;
grid on;
hold on;
gh2=subplot(2,1,2);plot(t,effort,'c');
title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
grid on;
hold on
elseif plot_setpoint
gh2=subplot(2,1,2);plot(t,simout,'c');
title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
grid on;
hold on;
else
gh1=subplot(2,1,1);plot(t,simout,'c');
title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* 1st order lag*PID');
set(h,'color','c');
y_position=y_position-y_scale;
grid on;
hold on;
end
end
end
else
PID_APX_Enable='off';
plot_PID_APX=0;
end
else
if plot_PID_APX
plot_PID_APX=0;
end
PID_APX_Enable='off';
end
if max(real(roots(PI_lagden))) < 0
if plot_PI_lag
TauX=TauI+abs(TauD);
TauY=abs(TauD);
if plot_setpoint
Setpoint=1;
Disturb=0;
[t]=sim('pi_lagcas2',time,options);
if plot_effort
gh1=subplot(2,1,1);plot(t,simout,'k--');
title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* PI lag controller (dashed)');
set(h,'color','k');
y_position=y_position-y_scale;
grid on;
hold on;
gh2=subplot(2,1,2);plot(t,effort,'k--');
title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
grid on;
hold on
elseif plot_disturb
gh1=subplot(2,1,1);plot(t,simout,'k--');
title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* PI lag controller (dashed)');
set(h,'color','k');
y_position=y_position-y_scale;
grid on;
hold on;
else
gh1=plot(t,simout,'k--');
title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* PI lag controller (dashed)');
set(h,'color','k');
y_position=y_position-y_scale;
grid on;
hold on;
end
end
if plot_disturb
Setpoint=0;
Disturb=1;
[t]=sim('pi_lagcas2',time,options);
if plot_effort
gh1=subplot(2,1,1);plot(t,simout,'k--');
title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* PI lag controller (dashed)');
set(h,'color','k');
y_position=y_position-y_scale;
grid on;
hold on;
gh2=subplot(2,1,2);plot(t,effort,'k--');
title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
grid on;
hold on
elseif plot_setpoint
gh2=subplot(2,1,2);plot(t,simout,'k--');
title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
grid on;
hold on;
else
gh1=plot(t,simout,'k--');
title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* PI lag controller (dashed)');
set(h,'color','k');
y_position=y_position-y_scale;
grid on;
hold on;
end
end
clear TauY
end
else
PI_lag_Enable='off';
plot_PI_lag=0;
end
if max(real(roots(PI_deng))) < 0
if plot_PI
if plot_setpoint
Setpoint=1;
Disturb=0;
[t]=sim('pi_diagcas2',time,options);
if plot_effort
gh1=subplot(2,1,1);p_handle=plot(t,simout);
set(p_handle,'color',[0.78 0.78 0.78]);
title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* PI controller');
set(h,'color',[0.78 0.78 0.78]);
y_position=y_position-y_scale;
grid on;
hold on;
gh2=subplot(2,1,2);p_handle1=plot(t,effort);
set(p_handle1,'color',[0.78 0.78 0.78]);
title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
grid on;
hold on
elseif plot_disturb
gh1=subplot(2,1,1);p_handle=plot(t,simout);
set(p_handle,'color',[0.78 0.78 0.78]);
title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* PI controller');
set(h,'color',[0.78 0.78 0.78]);
y_position=y_position-y_scale;
grid on;
hold on;
else
p_handle=plot(t,simout);
set(p_handle,'color',[0.78 0.78 0.78]);
title(['Cascade system Setpoint Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* PI controller');
set(h,'color',[0.78 0.78 0.78]);
y_position=y_position-y_scale;
grid on;
hold on;
end
end
if plot_disturb
Setpoint=0;
Disturb=1;
[t]=sim('pi_diagcas2',time,options);
if plot_effort
gh1=subplot(2,1,1);p_handle=plot(t,simout);
set(p_handle,'color',[0.78 0.78 0.78]);
title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* PI controller');
set(h,'color',[0.78 0.78 0.78]);
y_position=y_position-y_scale;
grid on;
hold on;
gh2=subplot(2,1,2);p_handle1=plot(t,effort);
set(p_handle1,'color',[0.78 0.78 0.78]);
title(['Cascade system Control efforts when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
grid on;
hold on
elseif plot_setpoint
gh2=subplot(2,1,2);p_handle1=plot(t,simout);
set(p_handle1,'color',[0.78 0.78 0.78]);
title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
grid on;
hold on;
else
p_handle=plot(t,simout);
set(p_handle,'color',[0.78 0.78 0.78]);
title(['Cascade system Disturbance Step Response when Epsilon = ',num2str(temp)])
xlabel('Time'); ylabel('Output');
h=text(x_position,y_position,'* PI controller');
set(h,'color',[0.78 0.78 0.78]);
y_position=y_position-y_scale;
grid on;
hold on;
end
end
clear p_handle p_handle1
end
else
PI_Enable='off';
plot_PI=0;
end
end
clear t simout effort y_scale y_position x_position ...
PID2lagden PID_FIden PID_APXden ...
PI_lagden PI_deng PID_realden text_2df h ⌨️ 快捷键说明
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