包含大量遗传算法程序

				function [Gc,Kp,Ti,Td]=ipdctrl(key,key1,K,L,N)
				a=[1.03,0.49,1.37,1.49,0.59; 0.96,0.45,1.36,1.66,0.53; 
				    0.9,0.45,1.34,1.83,0.49]; s=tf('s'); Ti=inf;
				if key==1
				   Kp=a(key1,1)/K/L; Td=a(key1,2)*L; Gc=Kp*(1+Td*s/(1+Td/N*s));
				else
				   Kp=a(key1,3)/K/L; Ti=a(key1,4)*L; Td=a(key1,5)*L; 
				   Gc=Kp*(1+1/Ti/s+Td*s/(1+Td/N*s));
				end