matlab 滞后一期,关于滞后时间的问题

看了一下，修正了一系列问题得到如下结果；

%Integration Separation PID Controller

clear all;

close all;

ts=15;

%Delay plant

sys=tf([1],[50,1],'inputdelay',45);

d=45/ts+1;%d:delay

dsys=c2d(sys,ts,'zoh');

[num,den]=tfdata(dsys,'v')

nb=length(num)-1;

na=length(den)-1;

u_1=0;u_2=0;u_3=0;u_4=0;u_5=1;

y_1=0;y_2=0;y_3=0;

error_1=0;error_2=0;

ei=0;

L=100;

y=zeros(1,L);

u=zeros(1,L);

yd=16*[ones(1,L)];

for k=7:1:100

time(k)=k*ts;

%Delay plant

%y(k)=-den(2)*y_1+num(2)*u_5;

y(k)=num*u(k-d:-1:k-d-nb)'-den(1,2:na+1)*y(k-1:-1:k-na)';

%I separation

%yd(k)=16;

error(k)=yd(k)-y(k);