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PID 的代码
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;
说明.txt
被控对象
y(k)=0.368y(k-1)+0.26y(k-2)+0.10u(k-1)+0.632u(k-2)
输入指令为一方波信号:rin(k)=0.5sgn(sin(4πt)),采样时间为1ms,分别采用4种控制律进行单神经元PID控制,即无监督的Hebb学习规则、有监督的Delta学习规则、有监督的Hebb学习规则、改进的Hebb学习规则，跟踪结果见图形。
说明.txt
被控对象为
G(s)=523500/(s^3+87.35s^2+10470s)
采样时间为1ms,采用模糊PID控制进行阶跃响应,在第300个采样时间时控制器输出加1.0的干扰.
pid.cpp
#include
#include
void main()
{
double tao; //系统纯延时参数，一般为采样时间的整数倍
double ts; //采样时间
int n; //n=tao/ts
double kp,ki,kd; //PID控制器参数
double err
pipe.c
#include
#include
#include
#include
int main(int argc, char *argv[])
{
int pfd[2];
int rtn, rtn_1, flag;
pid_t pid, pid_1;
long v;
ssize_t nread;
char
daemonize.c
#include "apue.h"
#include
#include
#ifdef BSD
#include
#endif
#include
void
daemonize(const char *cmd)
{
int i, fd0, fd1, fd2;
pid_t pid;
struct
threadid.c
#include "apue.h"
#include
pthread_t ntid;
void
printids(const char *s)
{
pid_t pid;
pthread_t tid;
pid = getpid();
tid = pthread_self();
printf("%s pid %u tid %u (0x%x)\n", s, (u
request.c
#include "calld.h"
int /* return 0 if OK, -1 on error */
request(Client *cliptr)
{
pid_t pid;
/*
* Position where this client left off last (or rewind).
*/
errmsg[0] = 0;
sys_posn(clip