扰动观察法matlab代码

Sure! Here's an example of disturbance observer-based control implemented in MATLAB:

% Plant transfer function
G = tf([1],[1 3 2]);

% Define disturbance observer parameters
Td = 0.01; % Sampling time
L = 0.5; % Disturbance observer gain

% Create the disturbance observer transfer function
DOB = tf([L*Td 1],[Td 1]);

% Define controller parameters
Kp = 1; % Proportional gain
Ki = 1; % Integral gain
Kd = 1; % Derivative gain

% Create the PID controller transfer function
PID = tf([Kd Kp Ki],[1 0]);

% Combine plant, disturbance observer, and controller
systemTF = series(PID, G);
closedLoopTF = feedback(systemTF, DOB);

% Set simulation parameters
tFinal = 10;
dt = 0.001;
t = 0:dt:tFinal;

% Step input
input = ones(size(t));

% Simulate the closed-loop system response
[y, t] = lsim(closedLoopTF, input, t);

% Plot the step response
plot(t, y);
xlabel('Time');
ylabel('Output');
title('Step Response');

Please note that this is just a basic example and may need further modifications based on your specific requirements.