pid控制器matlab仿真(16)

dy(1) = y(2);

dy(2) = -(B/J)*y(2) + (1/J)*u;

根据函数句柄和匿名函数的定义，程序可修改为如下形式： %Discrete PID control for continuous plant clear all; close all;

ts=0.001; %Sampling time xk=zeros(2,1); e_1=0; u_1=0;

for k=1:1:2000 time(k) = k*ts;

rin(k)=0.50*sin(1*2*pi*k*ts);

para=u_1; % D/A