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% ===============================================================================
% optiPIDctrl Lukas Reichlin February 2012
% ===============================================================================
% Return PID controller with roll-off for given parameters Kp, Ti and Td.
% ===============================================================================
function C = optiPIDctrl (Kp, Ti, Td)
tau = Td / 10; % roll-off
num = Kp * [Ti*Td, Ti, 1];
den = conv ([Ti, 0], [tau^2, 2*tau, 1]);
C = tf (num, den);
end
% ===============================================================================
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