模糊pid控制 网上下的 一会还会更新

				%Big Delay PID Control with Smith Algorithm
				clear all;close all;
				Ts=20;
				
				%Delay plant
				kp=1;
				Tp=60;
				tol=80;
				sys=tf([kp],[Tp,1],'inputdelay',tol);
				dsys=c2d(sys,Ts,'zoh');
				[num,den]=tfdata(dsys,'v');
				
				M=2;
				%Prediction model
				if M==1  %No Precise Model: PI+Smith
				   kp1=kp*1.10;
				   Tp1=Tp*1.10;
				   tol1=tol*1.0;
				elseif M==2|M==3  %Precise Model: PI+Smith
				   kp1=kp;
				   Tp1=Tp;
				   tol1=tol;
				end
				
				sys1=tf([kp1],[Tp1,1],'inputdelay',tol1);
				dsys1=c2d(sys1,Ts,'zoh');
				[num1,den1]=tfdata(dsys1,'v');
				
				u_1=0.0;u_2=0.0;u_3=0.0;u_4=0.0;u_5=0.0;
				e1_1=0;
				e2=0.0;
				e2_1=0.0;
				ei=0;
				
				xm_1=0.0;
				ym_1=0.0;
				y_1=0.0;
				
				for k=1:1:600
				    time(k)=k*Ts;
				   
				S=2;
				if S==1
				   rin(k)=1.0;     %Tracing Step Signal
				end
				if S==2
				   rin(k)=sign(sin(0.0002*2*pi*k*Ts));  %Tracing Square Wave Signal
				end
				
				%Prediction model
				xm(k)=-den1(2)*xm_1+num1(2)*u_1;
				ym(k)=-den1(2)*ym_1+num1(2)*u_5;  %With Delay 
				
				yout(k)=-den(2)*y_1+num(2)*u_5;
				
				if M==1       %No Precise Model: PI+Smith
				   e1(k)=rin(k)-yout(k);
				   e2(k)=e1(k)-xm(k)+ym(k);
					ei=ei+Ts*e2(k);
					u(k)=0.50*e2(k)+0.010*ei;
				   e1_1=e1(k);
				elseif M==2   %Precise Model: PI+Smith
				   e2(k)=rin(k)-xm(k);
					ei=ei+Ts*e2(k);
					u(k)=0.50*e2(k)+0.010*ei;    
					e2_1=e2(k);
				elseif M==3  %Only PI
				   e1(k)=rin(k)-yout(k);
					ei=ei+Ts*e1(k);
					u(k)=0.50*e1(k)+0.010*ei;   
				   e1_1=e1(k);
				end
				
				%----------Return of smith parameters------------
				xm_1=xm(k);
				ym_1=ym(k);
				
				u_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1;u_1=u(k);
				y_1=yout(k);
				end
				plot(time,rin,'b',time,yout,'r');
				xlabel('time(s)');ylabel('rin,yout');