%編寫返回差值的.m文件
function F = tracklsq(pid,a1,a2)
% 設(shè)置PID參數(shù)
Kp = pid(1);
Ki = pid(2);
Kd = pid(3);
% 返回輸出值
opt = simset('solver','ode5','SrcWorkspace','Current');
[tout,xout,yout] = sim('optsim',[0 100],opt);
%返回差值
F = yout-1;

%調(diào)用優(yōu)化函數(shù)
%調(diào)入閉環(huán)系統(tǒng)模型
optsim
%設(shè)置PID參數(shù)初值
pid0=[0.63,0.0503,1.9688];
%初始化非線性處理單元的變量
a1=3;
a2=33;
options=optimset('largescale','off','display',...
   'iter','tolx', 0.001,'tolfun',0.001);
pid=lsqnonlin('tracklsq',pid0,[],[],options,a1,a2)