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function y=optfpid_fun(x)
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assignin('base','Kp',x(1)); assignin('base','Ki',x(2));
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assignin('base','Kd',x(3)); assignin('base','lam',x(4));
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assignin('base','mu0',x(5));
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try
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[~,~,y_out]=sim('c9mfpidd',[0,20.000000]);
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catch, y_out=1e10; end
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y=y_out(end,1);
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