%exm09652_1.m		用于ITAE標(biāo)準(zhǔn)型系數(shù)的尋優(yōu)
clear
global a ss
a0=[3.3 6.6 8.6 7.5 3.9];			%被優(yōu)化系數(shù)的初值						<4>
Tspan=(0:500)/10;						%計(jì)算ITAE值用的時(shí)間采樣向量			<5>
options.TolFun=0.0001;				%設(shè)定優(yōu)化目標(biāo)函數(shù)的精度								
options.TolX=0.0001;					%設(shè)定被優(yōu)化參數(shù)的精度
a=fminunc('itae',a0,options);		%用擬牛頓法尋優(yōu)						<8>
coeff=[1,a,1];						%輸出完整的標(biāo)準(zhǔn)型系數(shù)				<9>	
clc
disp('新的標(biāo)準(zhǔn)型系數(shù)'),coeff
disp('相應(yīng)的ITAE性能值'),disp(ss)%輸出相應(yīng)的ITAE性能值

disp('按任意鍵，繼續(xù)！'),pause
old=tf(1,[1 3.25  6.60  8.60  7.45  3.95  1]);
new=tf(1,coeff);
[yold,told]=step(old,50);
[ynew,tnew]=step(new,50);
clf,shg
plot(told,yold,'b','LineWidth',1)
axis([3,18,0.95,1.05])
hold on,plot(tnew,ynew,'r','LineWidth',3),hold off
legend('Old','New',4),grid on
title('新老標(biāo)準(zhǔn)型階躍響應(yīng)比較圖')
disp(' '),disp('結(jié)束')