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%Delay Control with Dalin Algorithm 
clear all; 
close all; 
ts=0.5; 
 
%Plant 
sys1=tf([1],[0.4,1],'inputdelay',0.76); 
dsys1=c2d(sys1,ts,'zoh'); 
[num1,den1]=tfdata(dsys1,'v'); 
 
%Ideal closed loop 
sys2=tf([1],[0.15,1],'inputdelay',0.76); 
dsys2=c2d(sys2,ts,'zoh'); 
 
%Design Dalin controller 
dsys=1/dsys1*dsys2/(1-dsys2); 
[num,den]=tfdata(dsys,'v'); 
 
u_1=0.0;u_2=0.0;u_3=0.0;u_4=0.0;u_5=0.0; 
y_1=0.0; 
 
error_1=0.0;error_2=0.0;error_3=0.0; 
ei=0; 
for k=1:1:50 
time(k)=k*ts; 
   
rin(k)=1.0;  %Tracing Step Signal 
 
yout(k)=-den1(2)*y_1+num1(2)*u_2+num1(3)*u_3; 
error(k)=rin(k)-yout(k); 
 
M=1; 
if M==1        %Using Dalin Method 
u(k)=(num(1)*error(k)+num(2)*error_1+num(3)*error_2+num(4)*error_3... 
     -den(3)*u_1-den(4)*u_2-den(5)*u_3-den(6)*u_4-den(7)*u_5)/den(2); 
elseif M==2    %Using PID Method 
ei=ei+error(k)*ts; 
u(k)=1.0*error(k)+0.10*(error(k)-error_1)/ts+0.50*ei; 
end   
%----------Return of dalin parameters------------ 
u_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1;u_1=u(k); 
y_1=yout(k); 
 
error_3=error_2;error_2=error_1;error_1=error(k); 
end 
plot(time,rin,'b',time,yout,'r'); 
xlabel('time(s)');ylabel('rin,yout');