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PID 的代码
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_control.mdl
Model {
Name "chap1_4"
Version 3.00
SimParamPage "Solver"
SampleTimeColors off
InvariantConstants off
WideVectorLines off
ShowLineWidths off
ShowPortDataTypes
dieukhiennhietdo_pid.mdl
Model {
Name "dieukhiennhietdo_PID"
Version 6.0
GraphicalInterface {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
ComputedModelVersion "