% 設計P、PI、PID控制器
%
k=8;T=360;L=180;
n1=[k];d1=[T 1];G1=tf(n1,d1);
[np,dp]=pade(L,2);Gp=tf(np,dp);
[Gc1,Kp1]=ziegler(1,[k,L,T,1]);Gc1
[Gc2,Kp2,Ti2]=ziegler(2,[k,L,T,1]);Gc2
[Gc3,Kp3,Ti3,Td3]=ziegler(3,[k,L,T,1]);Gc3
G_c1=feedback(G1*Gc1,Gp);step(G_c1);hold on
G_c2=feedback(G1*Gc2,Gp);step(G_c2);
G_c3=feedback(G1*Gc3,Gp);step(G_c3);