17 lines
554 B
Matlab
17 lines
554 B
Matlab
function Gc=fopid(Kp,Ki,Kd,lam,mu0,T)
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% fopid - construct FOPID controller from given parameters
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%
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% Gc=fopid(Kp,Ki,Kd,lam,mu0)
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%
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% Kp,Ki,Kd,lam,mu0 - the FOPID parameters
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% Gc - the composed FOPID controller
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% Copyright (c) Dingyu Xue, Northeastern University, China
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% Last modified 28 March, 2017
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% Last modified 18 May, 2022
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s=fotf('s');
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if length(Kp)~=1, Kp=[Kp,0]; else, if nargin==5, T=0; end, end
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if length(Kp)==1, Gc=Kp+Ki*s^(-lam)+Kd*s^mu0/(T*s+1);
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else, x=Kp; Gc=x(1)+x(2)*s^(-x(4))+x(3)*s^(x(5))/(x(6)*s+1); end
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end
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