www.gusucode.com > control 案例程序 matlab源码代码 > control/Convert2DOFPIDControllerFromParallelToStandardFormExample.m

    %% Convert 2-DOF PID Controller from Parallel to Standard Form
% Convert a parallel-form |pid2| controller to standard form. 
%%
% Parallel PID form expresses the controller actions in terms of
% proportional, integral, and derivative gains |Kp|, |Ki|, and |Kd|, and
% filter time constant |Tf|.  You can convert a parallel-form |pid2|
% controller to standard form using the |pidstd2| command, provided that
% both of the following are true:
% 
% 
% * The |pid2| controller can be expressed in valid standard form.
% * The gains |Kp|, |Ki|, and |Kd| of the |pid2| controller all have the same sign.
% 
% For example, consider the
% following parallel-form controller.

% Copyright 2015 The MathWorks, Inc.

Kp = 2;
Ki = 3;
Kd = 4;
Tf = 2;
b = 0.1;
c = 0.5;
C2_par = pid2(Kp,Ki,Kd,Tf,b,c)
%%
% Convert this controller to parallel form using |pidstd2|.
C2_std = pidstd2(C2_par) 
%%
% The display confirms the new standard form.  A response plot confirms that the two forms are equivalent.
bodeplot(C2_par,'b-',C2_std,'r--')
legend('Parallel','Standard','Location','Southeast')