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function [numC,denC]=pid_tf(numPs,denPs,numT,denT,numPinvs,denPinvs,denFs) %This function compute PID equivalent transfer function, q/(1-pq). %(The resulting numC, denC will be used to compute PID p

function view_pid(varargin) global pid_text pid_text1 pid_text2 if length(varargin) > 0 if varargin{1} == 1 if isempty(pid_text1) errordlg('Compute PID controller or simulate th

function [K,TauI,TauD,pid_text,err]=pid(numPs,denPs,numC,denC,numPinvs,denPinvs) % Calculates PID parameters from IMC design % PID controller from numC/denC %---------------------------------

Model { Name "pid_apx" Version 3.00 SimParamPage "Solver" SampleTimeColors off InvariantConstants off WideVectorLines off ShowLineWidths off ShowPortDataTypes

function pid_cascade(simulate,Xpnummt,Xpdenmt,Xpdeadmt,Xmnummt,Xmdenmt,Xmdeadmt,... Xpdnummt,Xpddenmt,cnummt,cdenmt,cfnummt,cfdenmt,order,orderf,x,y,Epsilon,... subs,slbs,m,qf,qd,Tcanc,d_throu

%Single Neural Adaptive PID Controller clear all; close all; x=[0,0,0]'; xiteP=0.40; xiteI=0.35; xiteD=0.40; %Initilizing kp,ki and kd wkp_1=0.10; wki_1=0.10; wkd_1=0.10; %wkp_1=rand;

%CMAC and PID Concurrent Control clear all; close all; ts=0.001; sys=tf(1770,[1,60,1770]); dsys=c2d(sys,ts,'z'); [num,den]=tfdata(dsys,'v'); alfa=0.04; N=100;C=5; w=zeros(N+C,1); w_1

;******************************************************************** ; * ; Filename: pid_main.asm