PID的MATLAB程序(2)

一个完整的PID程序,希望对大家有帮助

elseif M==2 %Using Simple PID

u(k)=kc*error(k)+kd*(error(k)-error_1)+ki*ei; end

%Restricting the output of controller

if u(k)>=10

u(k)=10;

end

if u(k)<=-10

u(k)=-10;

end

u_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1;u_1=u(k); y_3=y_2;y_2=y_1;y_1=yout(k);

error_1=error(k);

end

figure(1);

plot(time,rin,'b',time,yout,'r');

xlabel('time(s)');ylabel('rin,yout');

title('PID仿真结果图');