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

    %% 2-DOF PDF Controller
% Create a continuous-time 2-DOF controller with proportional and derivative
% gains and a filter on the derivative term. To do so, set the integral
% gain to zero.  Set the other gains and the filter time constant to the
% desired values.
%%

% Copyright 2015 The MathWorks, Inc.

Kp = 1;
Ki = 0;   % No integrator
Kd = 3;
Tf = 0.1;
b = 0.5;    % setpoint weight on proportional term
c = 0.5;    % setpoint weight on derivative term
C2 = pid2(Kp,Ki,Kd,Tf,b,c)
%%
% The display shows the controller type, formula, and parameter values, and
% verifies that the controller has no integrator term.