gusucode.com > 先进 PID 控制及其 MATLAB 仿真 (程序) > 先进 PID 控制及其 MATLAB 仿真 (程序)\CHAPTER4\chap4_7f1.m
%chap4_7f1.m function [u]=chap4_7f1(u1,u2,u3) global s persistent errori error_1 ts=0.001; if u3==0 errori=0; error_1=0; end s=3 %Selecting Signal Type if s==1 %Step Signal kp=0.4; ki=0.0; kd=0.28; elseif s==2 %Sine Signal kp=40; ki=0.0; kd=0.28; elseif s==3 %Square Wave Signal kp=0; ki=0.0; kd=0.28; end error=u2; errord=(error-error_1)/ts; errori=errori+error*ts; u=kp*error+kd*errord+ki*errori; error_1=error;