www.gusucode.com > control 案例程序 matlab源码代码 > control/DiscreteTimePIControllerExample.m
%% Discrete-Time PI Controller % Create a discrete-time PI controller with trapezoidal discretization formula. %% % To create a discrete-time PI controller, set the value of |Ts| and the % discretization formula using |Name,Value| syntax. % Copyright 2015 The MathWorks, Inc. C1 = pid(5,2.4,'Ts',0.1,'IFormula','Trapezoidal') % Ts = 0.1s %% % Alternatively, you can create the same discrete-time controller by % supplying |Ts| as the fifth input argument after all four PID parameters, |Kp|, % |Ki|, |Kd|, and |Tf|. Since you only want a PI controller, set |Kd| and % |Tf| to zero. C2 = pid(5,2.4,0,0,0.1,'IFormula','Trapezoidal') %% % The display shows that |C1| and |C2| are the same.