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')