零阶保持器处理方法：

四、实验参考程序

clear all; %Çå³ýµôËùÓÐÎļþ

close all; %¹Ø±ÕËùÓÐÎļþ

Ts=20; %¶¨Òåʱ¼ä

%Delay plant ¶¨ÒåÑÓ³Ùº¯Êý

K=1;

Tp=60;

tol=80; %¸³Öµ

sys=tf((K),[Tp,1],'inputdelay',tol); %¶¨Òåϵͳ´«µÝº¯Êý

dsys=c2d(sys,Ts,'zoh'); %ת»¯³Édzº¯Êý

[num,den]=tfdata(dsys,'v'); %»ñµÃZ´«µÝº¯ÊýµÄ·Ö×Ó·Öĸ

u_1=0.0;u_2=0.0;u_3=0.0;u_4=0.0;u_5=0.0; %Çå0£¬Ê¹ÏµÍ³³õʼ»¯

e_1=0;

ei=0;

y_1=0.0;

for k=1:1:300 %²ÉÑù±È£¬ÔÚ1¡ª300£¬ÇÒ¿ç·ùΪ1Ö®¼ä²ÉÑù

time(k)=k*Ts; %¶¨Òåtime(k)º¯Êý

yd(k)=1.0; %Tracting Step Signal ×·×Ù½×Ô¾ÐźÅ

y(k)=-den(2)*y_1+num(2)*u_5; %Êä³öº¯Êý

e(k)=yd(k)-y(k); %²î·Ö·½³Ì

de(k)=(e(k)-e_1)/Ts;

ei=ei+Ts*e(k);

delta=0.885; %Æ«²îµþ¼Ó

TI=160;

TD=40; %¸³Öµ

u(k)=delta*(e(K)+1/TI*ei+TD*de(k)); %¶¨ÒåÆ«²îu(k)º¯Êý

e_1=e(k);

u_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1;u_1=u(k); %ÖØж¨ÒåвÎÊý

y_1=y(k);

end

figure(1); %ͼ1

plot(time,yd,'r',time,y,'k:','linewidth',2); %»-ͼ

xlabel('time(s)');ylabel('yd and y'); %xÖá±íʾtime(s)£¬yÖá±íʾyd and y legend('ideal position signal','position

tracking'); %ʵÏß±íʾtime(s)£¬ÐéÏß±íʾyd and y