www.pudn.com > pid-adjust.zip > ISE99.m, change:2010-07-15,size:235b


function ISEZZ = ISE99(x) 
syms ki kp s t xi yi; 
G = (kp*s+ki)/(s^2+(kp+1)*s+ki); 
G0 = G/s; 
y = ilaplace(G0,s,t); 
e=1-y; 
ee = e*e; 
ISE00 = int(ee,t,0,30); 
ISE01 = simple(ISE00); 
x = [xi,yi]; 
ISEZZ = subs(ISE01,[kp,ki],x); 
end