PID加前馈控制，matlab代码

clear all; close all; ts=0.001; sys=tf(133,[1,25,0]); dsys=c2d(sys,ts,'z'); [num,den]=tfdata(dsys,'v'); u_1=0;u_2=0; y_1=0;y_2=0; error_1=0;ei=0; for k=1:1:1000 time(k)=k*ts; A=0.5;F=3.0; rin(k)=A*sin(F*2*pi*k*ts); drin(k)=A*F*2*pi*cos(F*2*pi*k*ts); ddrin(k)=-A*F*2*pi*F*2*pi*sin(F*2*pi*k*ts); %Linear model yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2; error(k)=rin(k)-yout(k); ei=ei+error(k)*ts; up(k)=80*error(k)+20*ei+2.0*(error(k)-error_1)/ts; uf(k)=25/133*drin(k)+1/133*ddrin(k); M=1; if M==1 %Only using PID u(k)=up(k); elseif M==2 %PID+Feedforward u(k)=up(k)+uf(k); end if u(k)>=10 u(k)=10; end if u(k)<=-10 u(k)=-10; end u_2=u_1;u_1=u(k); y_2=y_1;y_1=yout(k); error_1=error(k); end figure(1); plot(time,rin,'r',time,yout,'b'); xlabel('time(s)');ylabel('rin,yout'); figure(2); plot(time,error,'r'); xlabel('time(s)');ylabel('error'); figure(3); plot(time,up,'k',time,uf,'b',time,u,'r'); legend('up','uf','u'); xlabel('time(s)');ylabel('up,uf,u');