http://www.codebf.com/read/160500/5570307
http://www.codebf.com/read/160327/5571976
http://www.codebf.com/read/160327/5572016
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http://www.codebf.com/read/160316/5572065
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function data = pidcalc(data, r, y) P = data.K*(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; d
http://www.codebf.com/read/160156/5576568
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