PID控制是工程实际运用最多的控制器

				
				
				
				% %%%%%%%%%%%%%%%%%%%%%%%PID 控制中的比例控制器设计
				
				
				
				G=tf(10，[1 6 11 6])；P=[0.1：0.1：1]；%% %%%%%%%%%%%%%%%%%%%%%%%传递函数，Kp变化范围
				for i=1：length(P)
				G_c=feedback(P(i)*G，1)；             %% %%%%%%%%%%%%%%%%%%%%%%%系统反馈
				step(G_c)，hold on                    %% %%%%%%%%%%%%%%%%%%%%%%%单位阶跃输入
				end
				% %%%%%%%%%%%%%%%%%%%%%%%PID 控制中的比例、积分控制器设计
				
				
				
				G=tf(10，[1 6 11 6])                  %% %%%%%%%%%%%%%%%%%%%%%%%系统传递函数
				Kp=1；Ti=[0.8：0.2：1.6]；            %% %%%%%%%%%%%%%%%%%%%%%%%Kp一定，不同Ti的输入
				for i=1：length(Ti)
				    Gc=tf(Kp*[1，1/Ti(i)]，[1，0])；  %% %%%%%%%%%%%%%%%%%%%%%%%分别计算不同Ti的系统参数
				    G_c=feedback(G*Gc，1)；        
				step(G_c)，hold on                    %% %%%%%%%%%%%%%%%%%%%%%%%阶跃响应曲线
				
				% %%%%%%%%%%%%%%%%%%%%%%%PID 控制中的比例、积分、微分控制控制器设计
				G=tf(10，[1 6 11 6])                             %% %%%%%%%%%%%%%%%%%%%%%%%系统传递函数
				Kp=1；Ti=0．6；Td=[0.1：0.2：2]；                %% %%%%%%%%%%%%%%%%%%%%%%%Kp、Ti一定，不同Td的输入
				for i=1：length(Td)
				    Gc=tf(Kp*[Ti*Td(i)，Ti，1]/Ti，[1，0])；     %% %%%%%%%%%%%%%%%%%%%%%%%分别计算不同Td的系统参数
				    G_c=feedback(G*Gc，1)；step(G_c)，hold on    %% %%%%%%%%%%%%%%%%%%%%%%%阶跃响应曲线
				end