author | Puneeth Chaganti <punchagan@fossee.in> |
Fri, 27 May 2011 14:24:59 +0530 | |
changeset 0 | 0efde00f9229 |
permissions | -rw-r--r-- |
#!/usr/bin/env python # 11.15 # GMVC PID tuning of example given by Miller et al. import os, sys sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"] import pylab as pl from ch_pol import ch_pol from gmvc_pid import gmvc_pid # Model A = pl.array([1, -1.95, 0.935]) B = -0.015 k = 1 Ts = 1 # Transient specifications N = 15 epsilon = 0.1 T = ch_pol(N, epsilon)[:1] # Controller Design Kc, tau_i, tau_d, L = gmvc_pid(A, B, k, T, Ts) # L1 = filtval(L,1); # zk = zpowk(k);