RBF-PID的s-function实现以及Simulink的模块封装
位置式PID算法{error(k)=rin(k)−yout(k)x(1)=error(k)x(2)=x(2)+Ts∗error(k)x(3)=error(k)−error(k−1)pid=[Kp Ki Kd]u(k)=pid∗x\begin{cases}error(k)=rin(k)-yout(k) \\x(1)=error(k) \\x(2)=x(2)+Ts*error(k)\\x(3)=error(k)-error(k-1)\\pid = [K_p \:K_i\:K_d]\\u(k)=pid
