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给一个锅炉设计一个 PID 液位控制器

计算一个二自由度 PID 控制器可以保持一个汽包锅炉的要求液位.

输入模型：
Wolfram Language code: {valve, boiler} = {TransferFunctionModel[Unevaluated[{{(1.2/(0.8s + 1))}}], s, SamplingPeriod -> None, SystemsModelLabels -> {{None}, {None}}], TransferFunctionModel[Unevaluated[{{(0.1(1 - 2s)/s(5s + 1))}}], s, SamplingPeriod -> None, SystemsModelLabels -> {{None}, {None}}]};
得到二自由度控制器：
Wolfram Language code: pid2dof = PIDTune[SystemsModelSeriesConnect[valve, boiler], "PID", "PIDData", PIDFeedforward -> 0.5];
闭环系统对于设定值5的变化反应：
Wolfram Language code: level = OutputResponse[pid2dof["ReferenceOutput"], 5UnitStep[t], {t, 0, 65}];
Wolfram Language code: Plot[{level, 5UnitStep[t]}, {t, 0, 65}, PlotRange -> All]