www.gusucode.com > control 案例程序 matlab源码代码 > control/DiscreteTime2DOFPIControllerExample.m

    %% Discrete-Time 2-DOF PI Controller
% Create a discrete-time 2-DOF PI controller using the trapezoidal
% discretization formula. Specify the formula using |Name,Value| syntax.

% Copyright 2015 The MathWorks, Inc.

Kp = 5;
Ki = 2.4;
Kd = 0;    
Tf = 0; 
b = 0.5;   
c = 0;      
Ts = 0.1;
C2 = pid2(Kp,Ki,Kd,Tf,b,c,Ts,'IFormula','Trapezoidal')    
%%
% Setting |Kd| = 0 specifies a PI controller with no derivative term.  As
% the display shows, the values of |Tf| and |c| are not used in this
% controller.  The display also shows that the trapezoidal formula is used
% for the integrator.
%