程序一%PIDControllerclearall;closeall;ts=0.001;sys=tf(5.235e005,[1,87.35,1.047e004,0]);dsys=c2d(sys,ts,'z');[num,den]=tfdata(dsys,'v');u_1=0.0;u_2=0.0;u_3=0.0;r_1=rand;y_1=0;y_2=0;y_3=0;x=[0,0,0]';error_1=0;fork=1:1:3000time(k)=k*ts;kp=1.0;ki=2.0;kd=0.01;S=1;ifS==1%TriangleSignalifmod(time(k),2)<1rin(k)=mod(time(k),1);elserin(k)=1-mod(time(k),1);endrin(k)=rin(k)-0.5;endifS==2%SawtoothSignalrin(k)=mod(time(k),1.0);endifS==3%RandomSignalrin(k)=rand;vr(k)=(rin(k)-r_1)/ts;%Maxspeedis5.0whileabs(vr(k))>=5.0rin(k)=rand;vr(k)=abs((rin(k)-r_1)/ts);endendu(k)=kp*x(1)+kd*x(2)+ki*x(3);%PIDController%Restrictingtheoutputofcontrollerifu(k)>=10u(k)=10;endifu(k)<=-10u(k)=-10;end%Linearmodelyout(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(2)*u_1+num(3)*u_2+num(4)*u_3;error(k)=rin(k)-yout(k);r_1=rin(k);u_3=u_2;u_2=u_1;u_1=u(k);y_3=y_2;y_2=y_1;y_1=yout(k);x(1)=error(k);%CalculatingPx(2)=(error(k)-error_1)/ts;%CalculatingDx(3)=x(3)+error(k)*ts;%CalculatingIxi(k)=x(3);error_1=error(k);D=0;ifD==1%DynamicSimulationDisplayplot(time,rin,'b',time,yout,'r');pause(0.00000000000000000);endendplot(time,rin,'r',time,yout,'b');xlabel('time(s)');ylabel('rin,yout');程序二%IncrementPIDControllerclearall;closeall;ts=0.001;sys=tf(400,[1,50,0]);dsys=c2d(sys,ts,'z');[num,den]=tfdata(dsys,'v');u_1=0.0;u_2=0.0;u_3=0.0;y_1=0;y_2=0;y_3=0;x=[0,0,0]';error_1=0;error_2=0;fork=1:1:1000time(k)=k*ts;rin(k)=1.0;kp=8;ki=0.10;kd=10;du(k)=kp*x(1)+kd*x(2)+ki*x(3);u(k)=u_1+du(k);ifu(k)>=10u(k)=10;endifu(k)<=-10u(k)=-10;endyout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;error=rin(k)-yout(k);u_3=u_2;u_2=u_1;u_1=u(k);y_3=y_2;y_2=y_1;y_1=yout(k);x(1)=error-error_1;%CalculatingPx(2)=error-2*error_1+error_2;%CalculatingDx(3)=error;%CalculatingIerror_2=error_1;error_1=error;endplot(time,rin,'b',time,yout,'r');xlabel('time(s)');ylabel('rin,yout');程序三%IntegrationSeparationPIDControllerclea