This is 2 dof (PI- inverse feedforward pid feedback), pure pid feedback, pure PI inverse model feed-forward corresponding simulation results. In front of the system model using models based on PI and n4sid algorithm combined with integrated model.

pi-逆前馈加pid反馈\control_2dof.m
..................\control_2dof_k.m
..................\control_2dof_k4.m
..................\control_pid.m
..................\control_piinv.m
..................\control_plot.m
pi-逆前馈加pid反馈

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