c语言 阶跃检测程序,C语言S-Function实现离散数字PID时，系统直接阶跃输出

使用Simulink中的S-Function模块，用C语言编写位置式离散数字PID时，函数处理只是做了Ki=1的积分计算，说白了PID中只有I项积分项。系统直接阶跃输出

//c语言 S-Function文件如下

/*

* sfuntmpl_basic.c: Basic 'C' template for a level 2 S-function.

*

* Copyright 1990-2013 The MathWorks, Inc.

*/

/*

* You must specify the S_FUNCTION_NAME as the name of your S-function

* (i.e. replace sfuntmpl_basic with the name of your S-function).

*/

#define S_FUNCTION_NAME  Discrete_Position_PID_SFunc

#define S_FUNCTION_LEVEL 2

/*

* Need to include simstruc.h for the definition of the SimStruct and

* its associated macro definitions.

*/

#include "simstruc.h"

int OutputRef,OutputReal;

static int IntegrateSum;

/* Error handling

* --------------

*

* You should use the following technique to report errors encountered within

* an S-function:

*

*       ssSetErrorStatus(S,"Error encountered due to ...");

*       return;

*

* Note that the 2nd argument to ssSetErrorStatus must be persistent memory.

* It cannot be a local variable. For example the following will cause

* unpredictable errors:

*

*      mdlOutputs()

*      {

*         char msg[256];         {ILLEGAL: to fix use "static char msg[256];"}

*         sprintf(msg,"Error due to %s", string);

*         ssSetErrorStatus(S,msg);

*         return;

*      }

*

*/

/*====================*

* S-function methods *

*====================*/

/* Function: mdlInitializeSizes ===============================================

* Abstract:

*    The sizes information is used by Simulink to determine the S-function

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