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PID 的代码
pid_ro_tune.m
function [Kp,Ti,Td,key,lb]=pid_ro_tune(key1,key2,vars)
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3); id=vars(4);
switch key1
case 1
switch key2
ca
pid_ww_tune.m
function [Kp,Ti,Td,key,lb]=pid_ww_tune(key1,key2,vars)
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3);id=vars(4);
switch key1
case 3
switch key2
case
pid_th_tune.m
function [Kp,Ti,Td,key,lb]=pid_th_tune(lambda,key1,key2,vars)
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3); id=vars(4);
switch key1
cas
pid_hwf_tune.m
function [Kp,Ti,Td,key,lb]=pid_hwf_tune(G,key1,key2,vars)
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3); id=vars(4);
[Gm,Pm,Wcg,Wcp]=margin(G);
Ku=1/abs(Gm);
Tu=2*3.1416/Wcg
pid_wf_tune.m
function [Kp,Ti,Td,key,lb]=pid_wf_tune(key1,key2,vars)
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3); id=vars(4);
switch key1
case 1
switch key2
pid_mca_tune.m
function [Kp,Ti,Td,key,lb]=pid_mca_tune(key1,key2,vars)
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3); id=vars(4);
switch key1
case 1
switch key2
c
pid_chi_tune.m
function [Kp,Ti,Td,key,lb]=pid_chi_tune(lambda,key1,key2,vars)
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1);L=vars(2);T=vars(3);id=vars(4);
switch key1
case 1
pid_ah_tune.m
function [Kp,Ti,Td,key,lb]=pid_ah_tune(key1,key2,vars)
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3);id=vars(4);
switch key1
case 1
switch key2
case
pid_hw_tune.m
function [Kp,Ti,Td,key,lb]=pid_hw_tune(G,key1,key2,vars)
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3); id=vars(4);
[Gm,Pm,Wcg,Wcp]=margin(G);
Ku=1/abs(Gm);
Tu=2*3.1416/Wcg
pid_wa_tune.m
function [Kp,Ti,Td,key,lb]=pid_wa_tune(key1,key2,vars)
key=0; Kp=[]; Ti=[]; Td=[]; lb=[];
K=vars(1); L=vars(2); T=vars(3);id=vars(4);
switch key1
case 2
switch key2
cas