matlab中truetime toolbox

				function data = pidcalc(data, r, y)								P = data.K*(data.beta*r-y);				I = data.Iold;				D = data.Td/(data.N*data.h+data.Td)*data.Dold+data.N*data.K*data.Td/(data.N*data.h+data.Td)*(data.yold-y); 								data.u = P + I + D;				data.Iold = data.Iold + data.K*data.h/data.Ti*(r-y);				data.Dold = D;				data.yold = y;