带延迟环节系统的大林控制实现算法

syms z s; e=exp(1); Gs=e^(-s)/(1+0.5*s); Ws=Gs; %qi wang bi huan Wz=z^(-2)*(1-e^(-1))/(z-e^-1) Gz=z^(-2)*(1-e^(-1))/(z-e^-1); T0=0.5; T1=0.5; T=0.5; K=1; tao=1; n=tao/T; %n=2; Dz=(1-e^-1*z^-1)/(1-z^-1)/(1+(1-e^-1)*(z^-1+z^(-n))); Kbar=1/(1+2*(1-e^-1)); Dzbar=Kbar*(1-e^-1*z^-1)/(1-z^-1); KHz=Dzbar*Gz; %kai huan Wz=KHz/(1+KHz); %Wz=(1-e^(-1))*z^(-1)/((3-2*e^(-1))*(1-z^-1)+z^(-3)*(1-e^-1)); %qian wei biao zhun ji suan ; %xia wei hua jian ji qi simulink; [N D]=numden(Wz); Wz1=N/D; Wz2=vpa(Wz,4); Wz3=simplify(Wz); [num,den]=pade(1,1); Dlays=tf(num,den); %Gs1=Dlays/(1+0.5*s)=(-s+2)/(0.5*s^2+2*s+2);