延迟对象的PID控制的方波响应

%PID Controler for Square Tracking with Filtered Signal clear all; close all; ts=20; sys=tf([1],[60,1],'inputdelay',80); dsys=c2d(sys,ts,'zoh'); [num,den]=tfdata(dsys,'v'); u_1=0;u_2=0;u_3=0;u_4=0;u_5=0; y_1=0; error_1=0; ei=0; rin_1=0;rin_2=0; for k=1:1:1500 time(k)=k*ts; rin(k)=1.0*sign(sin(0.00005*2*pi*k*ts)); M=1; switch M; case 1 rin(k)=rin(k); case 2 rin(k)=0.10*rin(k)+0.80*rin_1+0.10*rin_2; end %Linear model yout(k)=-den(2)*y_1+num(2)*u_5; kp=0.80; kd=10; ki=0.002; error(k)=rin(k)-yout(k); ei=ei+error(k)*ts; u(k)=kp*error(k)+kd*(error(k)-error_1)/ts+ki*ei; %Update parameters u_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1;u_1=u(k); y_1=yout(k); error_2=error_1; error_1=error(k); rin_2=rin_1; rin_1=rin(k); end figure(1); plot(time,rin,'k',time,yout,'k'); xlabel('time(s)');ylabel('rin,yout'); figure(2); plot(time,u,'k'); xlabel('time(s)');ylabel('u');