Create the components of the block diagram: the process modelP, the predictor modelGp, the delay modelDp, the filterF, and the PI controllerC。指定输入和输出通道的名称of each model so thatconnectcan automatically join them to build the block diagram.

s = tf('s'); P = exp(-93.9*s) * 5.6/(40.2*s+1); P.InputName = 'u'; P.OutputName = 'y'; Gp = 5.6/(40.2*s+1); Gp.InputName = 'u'; Gp.OutputName = 'yp'; Dp = exp(-93.9*s); Dp.InputName = 'yp'; Dp.OutputName = 'y1'; F = 1/(20*s+1); F.InputName = 'dy'; F.OutputName = 'dp'; C = pidstd(0.574,40.1); C.Inputname = 'e'; C.OutputName = 'u';

Create the summing junctions needed to complete the block diagram.

sum1 = sumblk('e = ysp - ym'); sum2 = sumblk('ym = yp + dp'); sum3 = sumblk('dy = y - y1');

The argument tosumblkis a formula that relates the input and output signals of the summing junction.sumblkcreates a summing junction with the input and output signal names specified in the formula. For example, insum1, the formula'e = ysp - ym'specifies an output signal namede, which is the difference between input signals namedyspandym。

Assemble the complete model fromy_sptoy。

T = connect(P,Gp,Dp,C,F,sum1,sum2,sum3,'ysp','y');

You can list the models and summing junctions in any order becauseconnectautomatically interconnects them using their input and output channel names.

The last two arguments specify the input and output signals of the multi-loop control structure. Thus,Tis assmodel with inputyspand outputy。