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PID 的代码
pid-init.c
void PIDinit(void)
{
PID.P=EEPROM_read(0xc0);//初始化PID比例值
if（PID.P>99）
{PID.P=50;
EEPROM_write(0xc0,50);
EEPROM_write(0xc1,50);
EEPROM_write(0xc2,50);
}
PID.I=EEPROM_write(0xc1);
PID.D=EEPROM
pid_controller.m
function varargout = PID_Controller(varargin)
global sys_tf sys_ss sys_fd_P sys_fd_PD sys_fd_PI sys_fd_PID
global a_dou b_dou c_dou d_dou
global sys_final_P sys_final_PI sys_final_PD sys_final_PI
pid2.m
% ------ pid2.m ------
% 小车位置PID控制
% 输入倒立摆传递函数 G1(s)=num1/den1,G2(s)=num2/den2
M = 0.5;
m = 0.2;
b = 0.1;
I = 0.006;
g = 9.8;
l = 0.3;
q = (M+m)*(I+m*l^2) -(m*l)^2;
num1 = [m*l/q 0 0];
pid1.m
% ------ pid1.m ------
% 摆杆角度PID控制
% 输入倒立摆传递函数 G1(S)=num1/den1
M = 0.5;
m = 0.2;
b = 0.1;
I = 0.006;
g = 9.8;
l = 0.3;
q = (M+m)*(I+m*l^2)-(m*l)^2;
num1 = [m*l/q 0 0];
den1 = [1 b*(I+m*
pid算法程序.txt
;********增量式PID控制算法程序***********
;T、TD、TI、KP依次从30H，33H，36H，39H开始。
;A，B，C的值依次存在BLOCK1，BLOCK2，BLOCK3的地址里
; 这里R(k)给的是定值
ORG 0000H
BLOCK1 EQU 43H ;A,B ,C
BLOCK2 EQU 46H
BLOCK3 EQU 49H