function[Kpidi,BsJ]=pid_gaf(Kpidi,BsJ)
global rin yout timef
ts=0.001;
sys=tf(400,[1,50,0]);%創建傳遞函數對象
dsys=c2d(sys,ts,'z');%離散化
[num,den]=tfdata(dsys,'v');%返回相量化的分子分母
rin=1.0;
u_1=0.0;u_2=0.0;
y_1=0.0;y_2=0.0;
x=[0,0,0]';
B=0;
error_1=0;
tu=1;
s=0;
P=100;
for k=1:1:P
     timef(k)=k*ts;%一維相量
     r(k)=rin;%輸入
     u(k)=Kpidi(1)*x(1)+Kpidi(2)*x(2)+Kpidi(3)*x(3);%初次賦值為零
     if u(k)>=10
         u(k)=10;
     end
     if u(k)<=-10
         u(k)=-10;
     end
     
     yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
     error(k)=r(k)-yout(k);
%-----------------------------------return of pid parameters------------------------------------------- 
u_2=u_1;u_1=u(k);
y_2=y_1;y_1=yout(k);
x(1)=error(k);
x(2)=(error(k)-error_1)/ts;
x(3)=x(3)+error(k)*ts;
error_2=error_1;
error_1=error(k);
if s==0
    if yout(k)>0.95&yout(k)<1.05
        tu=timef(k);
        s=1;
    end
end
end

for i=1:1:P
    Ji(i)=0.999*abs(error(i))+0.01*u(i)^2*0.1;
    B=B+Ji(i);
    if i>1
        erry(i)=yout(i)-yout(i-1);
        if erry(i)<0
            B=B+100*abs(erry(i));
        end
    end
end
BsJ=B+0.2*tu*10