zn01

代码说明：

  用Ziegler--Nichols整定公式来求P,PI,PID的个参数，其中Gc是校正器的传递函数,kp为比例系数， Ti为积分时间常数，Td为微分时间常数，输入参量vars为带迟滞--惯性环节模型的KT τ(With Ziegler- Nichols tuning formula to seek P, PI, PID' s parameters, which Gc is the corrector transfer function, kp is proportional coefficient, Ti the integral time constant, Td for the differential time constant, input parameters vars as with hysteresis- inertia model of the KT τ)