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function z=PSO_PID(x)
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assignin('base','Kp',x(1));
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assignin('base','Ki',x(2));
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assignin('base','Kd',x(3));
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[~,~,y_out]=sim('thetapid',[0,50]);
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z=y_out(end,1); %%表示 取这个矩阵的第一列最后一行的数据。
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