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PID 的代码
chap2_7f.m
%PID Controler Based on Ziegler-Nichols
clear all;
close all;
sys=tf(400,[1,30,200,0]);
figure(1);
rlocus(sys);
[km,pole]=rlocfind(sys)
wm=imag(pole(2));
kp=0.6*km
kd=kp*pi/(4*wm)
ki=k
chap2_7f.m
%PID Controler Based on Ziegler-Nichols
clear all;
close all;
sys=tf(400,[1,30,200,0]);
figure(1);
rlocus(sys);
[km,pole]=rlocfind(sys)
wm=imag(pole(2));
kp=0.6*km
kd=kp*pi/(4*wm)
ki=k
wait.c
#define __LIBRARY__
#include
#include
_syscall3(pid_t,waitpid,pid_t,pid,int *,wait_stat,int,options)
pid_t wait(int * wait_stat)
{
return waitpid(-1,wait_stat,0);
}
wait.c
/*
* linux/lib/wait.c
*
* Copyright (C) 1991, 1992 Linus Torvalds
*/
#define __LIBRARY__
#include
#include
_syscall3(pid_t,waitpid,pid_t,pid,int *,w
chap2_7f.m
%PID Controler Based on Ziegler-Nichols
clear all;
close all;
sys=tf(400,[1,30,200,0]);
figure(1);
rlocus(sys);
[km,pole]=rlocfind(sys)
wm=imag(pole(2));
kp=0.6*km
kd=kp*pi/(4*wm)
ki=k
fig14.7
#include "apue.h"
#include
static void
lockabyte(const char *name, int fd, off_t offset)
{
if (writew_lock(fd, offset, SEEK_SET, 1) < 0)
err_sys("%s: writew_lock error", name);
printf("
fig13.1
#include "apue.h"
#include
#include
#include
void
daemonize(const char *cmd)
{
int i, fd0, fd1, fd2;
pid_t pid;
struct rlimit rl;
struct sigaction sa
fig9.11
#include "apue.h"
#include
static void
sig_hup(int signo)
{
printf("SIGHUP received, pid = %d\n", getpid());
}
static void
pr_ids(char *name)
{
printf("%s: pid = %d, ppid = %d, pgrp = %d