# Simulink Difference Equation Implementation

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Sezer Memis 2020-12-15

I have a homework(a). My professor ask me for implement a discrete pid controller in difference equation form to matlab function. This function block should run as a discrete pid controller block in simulink model(b). When simulation began, the Matlab function block is executed once. Because of for loop an array occurs. Then that array signal goes the plant. And this is not usefull. During the simulation what i want is every iteration of for loop gives a value and that value must go to plant. But i could not do this. The same issue happened previous homework(c). I don't even know whether this way is proper or not.
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Paul 2020-12-20
Hard to say how to make the two equivalent without knowing exactly what's inside the block C(s)1.

### 采纳的回答

Paul 2020-12-20
Maybe this example will help, which essentially illustrates the comment made by Alvery.
Consider a plant P(s) = 1/(s + 5) that is controlled via PI compensation with Ki = Kp = 1. The sample time of the discrete control is Ts = 0.01, with Ts defined as such in the base workspace. This system is modeled in the top half of this diagram, where the sample time parameter for the Zero Order Hold and Discrete Time Integrator blocks is set to Ts.
Now we wish to implement the PI control in a Matlab Function block as in the boltom half of the diagram. We have the following equation for the control input:
u[k] = x[k] + Kp*e[k] % Kp = 1
The difference equation for x[k] is determined from the z-transform of the integrator:
X(z)/E(z) = Ki*Ts/(z-1) % Ki = 1
(z-1)*X(z) = Ki*Ts*E(z)
x[k+1] - x[k] = Ki*Ts*e[k]
x[k+1] = Ki*Ts*e[k] + x[k]
so the PI function needs to impement the equations for u[k] and x[k]. Here's the function
function u = PI(e)
persistent x
% initialize the integrator output
if isempty(x)
x = 0;
end
Kp = 1;
Ki = 1;
Ts = 0.01; % needs to be same value as Ts defined in the workspace
% control at the current time step
u = Kp*e + x;
% update the integrator for the next time step
x = Ki*Ts*e + x;
end
And here is the scope from the model showing that the implementation works as expected:
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Sezer Memis 2020-12-22
Thank you so much. It works well. You are great!

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