參考網址http://ctms.engin.umich.edu/CTMS/index.php?example=Introduction§ion=ControlPID
Introduction: PID Controller Design
In this tutorial we will introduce a simple yet versatile feedback compensator structure, the Proportional-Integral-Derivative (PID) controller. We will discuss the effect of each of the pid parameters on the closed-loop dynamics and demonstrate how to use a PID controller to improve the system performance.
Key MATLAB commands used in this tutorial are: tf , step , pid , feedback , pidtool , pidtune
