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. %