init

FOTF Toolbox/fopid.m

@@ -0,0 +1,16 @@
+function Gc=fopid(Kp,Ki,Kd,lam,mu0,T) 
+% fopid - construct FOPID controller from given parameters
+%
+%   Gc=fopid(Kp,Ki,Kd,lam,mu0)
+%   
+%   Kp,Ki,Kd,lam,mu0 - the FOPID parameters
+%   Gc - the composed FOPID controller
+
+% Copyright (c) Dingyu Xue, Northeastern University, China
+% Last modified 28 March, 2017 
+% Last modified 18 May, 2022 
+   s=fotf('s');
+   if length(Kp)~=1, Kp=[Kp,0]; else, if nargin==5, T=0; end, end  
+   if length(Kp)==1, Gc=Kp+Ki*s^(-lam)+Kd*s^mu0/(T*s+1);
+   else, x=Kp; Gc=x(1)+x(2)*s^(-x(4))+x(3)*s^(x(5))/(x(6)*s+1); end
+end