www.gusucode.com > control 案例程序 matlab源码代码 > control/ExtractStandard2DOFPIDCoefficientsFromSystemExample.m

    %% Extract Standard-Form 2-DOF PID Coefficients from Equivalent System
% Extract coefficients from
% a two-input, one-output dynamic system that represents a valid 2-DOF
% standard-form PID controller.
%%
% The following A, B, C, and D matrices form a discrete-time state-space
% model that represents a 2-DOF PID controller in standard form.

% Copyright 2015 The MathWorks, Inc.

A = [1,0;0,0.5];
B = [0.1,-0.1;-0.25,0.5];
C = [4,400];
D = [220,-440];
sys = ss(A,B,C,D,0.1)
%%
% Extract the PID coefficients, filter divisor, and setpoint weights of the
% model.
[Kp,Ti,Td,N,b,c,Ts] = pidstddata2(sys);
%%
% For a discrete-time system, |pidstddata2| calculates the coefficient
% values using the default |ForwardEuler| discrete integrator formula for
% both |IFormula| and |DFormula|.