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//chap10_2.cpp 
//PID Realtime Control 
#include  
int k; 
double yout,u,rin,u_1=0,u_2=0,u_3=0,yout_1=0,yout_2=0,yout_3=0; 
double Error_1=0.0,Error_2=0.0; 
double ts=0.001; 
double timek,pi=3.1415926; 
double kp=0.50,ki=0.001,kd=0.001; 
double Error,Perror,Ierror,Derror; 
 
void main() 
{ 
for (k=1;k<=5000;k++) 
{ 
	 timek=k*ts; 
	 rin=1; 
 
//Practical Position Degree Signal at time k 
yout=2.9063*yout_1-2.8227*yout_2+0.9164*yout_3+0.0853*0.001*u_1+0.3338*0.001*u_2+0.0817*0.001*u_3; 
 
	 Error=yout-rin; 
 
	 Perror=Error;                     //Getting P 
	 Ierror= Ierror+Error*ts;          //Getting I 
	 Derror=(Error-Error_1)/ts;        //Getting D 
 
	 u=kp*Perror+ki*Ierror+kd*Derror;  //PID Control 
 
//Update Parameters 
	 Error_2=Error_1; 
	 Error_1=Error; 
 
	 yout_3=yout_2; 
	 yout_2=yout_1; 
	 yout_1=yout;   //Positional Signal at k-1 
	 u_3=u_2; 
	 u_2=u_1; 
	 u_1=u; 
	 } 
	 }