s =特遣部队(“年代”p= 500*pi/1.5;
R = 4; L = 2.75 e-6; K = 0.0274; J = 3.2284 e-6; f = 3.5077 e-6;
x = [1; 1; 1; 1; 1; 1];
g = (p * K) /(2 *π* ((R + L * s) * (f + J * s) + K ^ 2));
双(H = (jac_direct (x))) * g * 1 e-16;
H.InputName = {‘u1’,“u2”,u3的,“愉快”,“u5”,“u6”};
H.OutputName =“y”;
D = tunableGain (“脱钩”、眼(6));
D.u =“e”; D。y ={“p1”,“p2”,“p3”,“p4”,“p5”,“p6”};
C1 = tunablePID (“C1”,“pid”);
C1。u =“p1”;C1。y =‘u1’;
C2 = tunablePID (C2的,“pid”);
C2。u =“p2”;C2。y =“u2”;
C3 = tunablePID (“C3”,“pid”);
C3。u =“p3”;C3。y =u3的;
C4 = tunablePID (“C4”,“pid”);
C4。u =“p4”;C4。y =“愉快”;
C5 = tunablePID (“C5”,“pid”);
C5。u =“p5”;C5。y =“u5”;
C6 = tunablePID (“C6”,“pid”);
C6。u =“p6”;C6。y =“u6”;
和= sumblk ('e = r - y'6);
C0 =连接(C1, C2, C3, C4、C5、C6, D,和,{“r”,“y”},{‘u1’,“u2”,u3的,“愉快”,“u5”,“u6”});
wc = 0.1;
TK = TuningGoal。跟踪(“r”,“y”, 0.05);
操作系统= TuningGoal。过度({“r”},{“y”5)};
[H, C, gam,信息]= looptune (H, C0, wc,操作系统,TK);
T =连接(H, C,“r”,“y”);
t = 0:1/100:100;
U1 = 1 * (t > = 0);
U=[u1 ' u1 ' u1 '];
Sys = lsim (T, U, T);
人物,情节(系统)