X-Git-Url: https://git.creatis.insa-lyon.fr/pubgit/?p=CreaPhase.git;a=blobdiff_plain;f=octave_packages%2Fcontrol-2.3.52%2FoptiPID.m;fp=octave_packages%2Fcontrol-2.3.52%2FoptiPID.m;h=77733d59f3b1bbfa6cfea52bb89a84caaa7d3600;hp=0000000000000000000000000000000000000000;hb=c880e8788dfc484bf23ce13fa2787f2c6bca4863;hpb=1705066eceaaea976f010f669ce8e972f3734b05

diff --git a/octave_packages/control-2.3.52/optiPID.m b/octave_packages/control-2.3.52/optiPID.m
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+%% -*- texinfo -*-
+%% Numerical optimization of a PID controller using an objective function.
+%% The objective function is located in the file @command{optiPIDfun}.
+%% Type @code{which optiPID} to locate, @code{edit optiPID} to open
+%% and simply @code{optiPID} to run the example file.
+
+% ===============================================================================
+% optiPID                          Lukas Reichlin                       July 2009
+% ===============================================================================
+% Numerical Optimization of an A/H PID Controller
+% Reference: Guzzella, L. (2007) Analysis and Synthesis of SISO Control Systems.
+%            vdf Hochschulverlag, Zurich
+% Required OCTAVE Packages: control, optim (and its dependencies)
+% Required MATLAB Toolboxes: Control, Optimization
+% ===============================================================================
+
+% Tabula Rasa
+clear all, close all, clc;
+
+% Global Variables
+global P t dt mu_1 mu_2 mu_3
+
+% Plant
+numP = [1];
+denP = conv ([1, 1, 1], [1, 4, 6, 4, 1]);
+P = tf (numP, denP);
+
+% Relative Weighting Factors: PLAY AROUND WITH THESE!
+mu_1 = 1;               % Minimize ITAE Criterion
+mu_2 = 10;              % Minimize Max Overshoot
+mu_3 = 20;              % Minimize Sensitivity Ms
+
+% Simulation Settings: PLANT-DEPENDENT!
+t_sim = 30;             % Simulation Time [s]
+dt = 0.05;              % Sampling Time [s]
+t = 0 : dt : t_sim;     % Time Vector [s]
+
+% A/H PID Controller: Ms = 2.0
+[gamma, phi, w_gamma, w_phi] = margin (P);
+
+ku = gamma;
+Tu = 2*pi / w_gamma;
+kappa = inv (dcgain (P));
+
+disp ('optiPID: Astrom/Hagglund PID controller parameters:');
+kp_AH = ku * 0.72 * exp ( -1.60 * kappa  +  1.20 * kappa^2 )
+Ti_AH = Tu * 0.59 * exp ( -1.30 * kappa  +  0.38 * kappa^2 )
+Td_AH = Tu * 0.15 * exp ( -1.40 * kappa  +  0.56 * kappa^2 )
+
+C_AH = optiPIDctrl (kp_AH, Ti_AH, Td_AH);
+
+% Initial Values
+C_par_0 = [kp_AH; Ti_AH; Td_AH];
+
+% Optimization
+if (exist ('fminsearch'))
+  warning ('optiPID: optimization starts, please be patient ...');
+else
+  error ('optiPID: please load/install optim package to proceed');
+end
+
+C_par_opt = fminsearch (@optiPIDfun, C_par_0);
+
+% Optimized Controller
+disp ('optiPID: optimized PID controller parameters:');
+kp_opt = C_par_opt(1)
+Ti_opt = C_par_opt(2)
+Td_opt = C_par_opt(3)
+
+C_opt = optiPIDctrl (kp_opt, Ti_opt, Td_opt);
+
+% Open Loop
+L_AH = P * C_AH;
+L_opt = P * C_opt;
+
+% Closed Loop
+T_AH = feedback (L_AH, 1);
+T_opt = feedback (L_opt, 1);
+
+% A Posteriori Stability Check
+disp ('optiPID: closed-loop stability check:');
+st_AH = isstable (T_AH)
+st_opt = isstable (T_opt)
+
+% Stability Margins
+disp ('optiPID: gain margin gamma [-] and phase margin phi [deg]:');
+[gamma_AH, phi_AH] = margin (L_AH)
+[gamma_opt, phi_opt] = margin (L_opt)
+
+% Plot Step Response
+[y_AH, t_AH] = step (T_AH, t);
+[y_opt, t_opt] = step (T_opt, t);
+
+figure (1)
+plot (t_AH, y_AH, 'b', t_opt, y_opt, 'r')
+grid ('on')
+title ('Step Response')
+xlabel ('Time [s]')
+ylabel ('Output [-]')
+legend ('A/H', 'Optimized', 'Location', 'SouthEast')
+
+% ===============================================================================