clc
clear
close all
%%%% Linear system: x(k+1)=3x(k).
% We are using the system expression as we do not have sensor data while
simulation.
% Let us see the state evolution without any controller.
xs(1)=0.05;
for k=1:10
xs(k+1)=3*xs(k);
end
%%% Now we introduce controller for the system. In this program we have Linear
system: x(k+1)=3x(k)+u(k). We are designing P, PI, and PID controllers for this
system.
%%Initial states for P, PI, and PID controllers, respectively.
x(1,1)=0.05; %% for P controller
x(1,2)=0.05; %% for PI controller
x(1,3)=0.05; %% for PID controller
%%Desired goal/poin
xd=4;
%% Gain parameters
kp=3;ki=1;kd=0.01;
%% "P" controller impementation
e(1,1)=xd-x(1,1); %% error at first instant
for k=1:10 %% iteration for time instants here
x(k,1)=xd-e(k,1); %% state at current time instant
u(k,1)=kp*e(k,1); %% "P" control input
e(k+1,1)=xd-3*x(k,1)-u(k,1); %% error at next instant 'k+1'
end
%% "PI" controller impementation
e(1,2)=xd-x(1,2); %% error at first instant
ei1(1)=e(1,2); %% introducing error variable for "I"
component
for k=1:10 %% iteration for time instants here
x(k,2)=xd-e(k,2); %% state at current time instant
if k>1
ei1(k)=ei1(k-1)+e(k,2); %% summation of error occurs here for
"I" component
end
u(k,2)=kp*e(k,2)+ki*ei1(k); %% "PI" control input
e(k+1,2)=xd-3*x(k,2)-u(k,2); %% error at next instant 'k+1'
end
%% "PID" controller impementation
e(1,3)=xd-x(1,3); %% error at first instant
ei2(1)=e(1,3); %% introducing error variable for "I"
component
ed(1)=e(1,3); %% introducing error variable for "D"
component
for k=1:10 %% iteration for time instants here
x(k,3)=xd-e(k,3); %% state at current time instant
if k>1
ei2(k)=ei2(k-1)+e(k,3); %% summation of error occurs here for
"I" component
ed(k)=e(k,3)-e(k-1,3); %% difference between errors of
consecutive instants
end
u(k,3)=kp*e(k,3)+ki*ei2(k)+kd*ed(k); %% "PID" control input
e(k+1,3)=xd-3*x(k,3)-u(k,3); %% error at next instant 'k+1'
end
%% Plot of state evolution in open-loop
figure
plot(xs(:),'red','linestyle','--','linewidth',2)
xlabel('$k$','interpreter','latex','FontName','Times New Roman','fontsize',20);
ylabel('$xs$','interpreter','latex','FontName','Times New Roman','fontsize',20);
%% Plot of "states-x" for each controller
figure
plot(x(:,1),'red','linestyle','--','linewidth',2)
hold on
plot(x(:,2),'blue','linestyle','-.','linewidth',2.5)
hold on
plot(x(:,3),'green','linestyle','-','linewidth',1)
xlabel('$k$','interpreter','latex','FontName','Times New Roman','fontsize',20);
ylabel('$x$','interpreter','latex','FontName','Times New Roman','fontsize',20);
legend('P','PI','PID','Location','northeast');
%% Plot of "control input-u" for each controller
figure
plot(u(:,1),'red','linestyle','--','linewidth',2)
hold on
plot(u(:,2),'blue','linestyle','-.','linewidth',2.5)
hold on
plot(u(:,3),'green','linestyle','-','linewidth',1)
xlabel('$k$','interpreter','latex','FontName','Times New Roman','fontsize',20);
ylabel('$u$','interpreter','latex','FontName','Times New Roman','fontsize',20);
legend('P','PI','PID','Location','northeast');
