%%* 怠速系統(tǒng)MATLAB仿真，練習(xí)版
clear all
close all
clc

ts=0.001;

%G12(z)
sys12=tf([-7.72,193/3],[1,25/3]);
dsys12=c2d(sys12,ts,'z');
[num12,den12]=tfdata(dsys12,'v');

%G3(z)
sys3=tf([1,25],[0.31,8.4320,-4.2191]);
dsys3=c2d(sys3,ts,'z');
[num3,den3]=tfdata(dsys3,'v');

%C(z)
sys4=tf([0.1162,0.0911],[1,0]);
dsys4=c2d(sys4,ts,'z');
[num4,den4]=tfdata(dsys4,'v');

error_1=0;
for k=1:1:500
    time(k)=k*ts;

kp=0.5;
ki=0.001;
kd=0.001;
rin(k)=1