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PID 的代码
chap2_8.m
%PID Controler (2001/9/6)
close all;
ts=0.25;
sys=tf(1,[10,2,0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');
u_1=0;u_2=0;
y_1=0;y_2=0;
x=[0,0,0]';
error_1=0;
for k=1:1:1000
setting.ini
[DEVICE_ID]
VID=0x071B
PID=0x3201
[SYSTEM_MSC_ID]
VID=0x071B
PID=0x3203
[LOADER_MSC_ID]
VID=0x071B
PID=0x3203
[SYSTEM]
;FIRMWARE=Firmware\RK27SDK.RKW
BOOTCODE=Rock27Boot.bin
SWITCHTO
chap7_15m.m
function [u]=pid_aw1f1(u1,u2,u3,u4)
e=u2;
un=u3;
us=u4;
M=2;
switch M
case 1 %PID
u=e;
case 2 %Anti-windup PID
umin=0;
umax=10;
ua=(umin+umax)/2;
if
chap2_8.m
%PID Controler (2001/9/6)
close all;
ts=0.25;
sys=tf(1,[10,2,0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');
u_1=0;u_2=0;
y_1=0;y_2=0;
x=[0,0,0]';
error_1=0;
for k=1:1:1000
chap1_20.m
%PID Controler with Partial differential
clear all;
close all;
ts=20;
sys=tf([1],[60,1],'inputdelay',80);
dsys=c2d(sys,ts,'zoh');
[num,den]=tfdata(dsys,'v');
u_1=0;u_2=0;u_3=0;u_4=0;u_5=0;
daemoninit.c
#include
#include
#include
#include "ourhdr.h"
int
daemon_init(void)
{
pid_t pid;
if ( (pid = fork()) < 0)
return(-1);
else if (pid != 0)
exit(0); /* pare
daemoninit.c
#include
#include
#include
#include "ourhdr.h"
int
daemon_init(void)
{
pid_t pid;
if ( (pid = fork()) < 0)
return(-1);
else if (pid != 0)
exit(0); /* pare
sigchld.c
#include "calld.h"
#include
/* SIGCHLD handler, invoked when a child terminates. */
void
sig_chld(int signo)
{
int stat, errno_save;
pid_t pid;
errno_save = errno; /* log_msg() mi
request.c
#include "calld.h"
int /* return 0 if OK, -1 on error */
request(Client *cliptr)
{
pid_t pid;
errmsg[0] = 0;
/* position where this client left off last (or rewind) */
sys_posn(cliptr->sy
lock.c
#include "calld.h"
typedef struct {
char *line; /* points to malloc()ed area */
/* we lock by line (device name) */
pid_t pid; /* but unlock by process ID */
/* pid of 0 means available