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设计一个 PID 房间温度控制器

设计一个 PID 控制器，即使有室外温度波动的模拟干扰，也可将房间温度保持接近于 22 °C，.

输入模型：
Wolfram Language code: {valve, burner, thermres, room} = {TransferFunctionModel[Unevaluated[{{(1/(1 + 4s))}}], s, SamplingPeriod -> None, SystemsModelLabels -> {{None}, {None}}], TransferFunctionModel[Unevaluated[{{5}}], s, SamplingPeriod -> None, SystemsModelLabels -> {{None}, {None}}], TransferFunctionModel[Unevaluated[{{0.1}}], s, SamplingPeriod -> None, SystemsModelLabels -> {{None}, {None}}], TransferFunctionModel[Unevaluated[{{(1/(1 + 8s))}}], s, SamplingPeriod -> None, SystemsModelLabels -> {{None}, {None}}]};
Wolfram Language code: hsys = SystemsModelSeriesConnect[valve, SystemsModelSeriesConnect[burner, thermres]];
Wolfram Language code: lsys = SystemsModelSeriesConnect[room, hsys];
得到控制器：
Wolfram Language code: pid = PIDTune[lsys, {Automatic, "AMIGO"}, "PIDData"];
输入转换函数的干扰：
Wolfram Language code: doTFM = SystemsModelFeedbackConnect[room, SystemsModelSeriesConnect[pid["Feedback"], hsys]]
获得特定位置的室外温度历史：
Wolfram Language code: {times, values} = WeatherData["Chicago", "Temperature", {DatePlus[Date[], -1], Date[]}]["Path"]//Transpose;
Wolfram Language code: values = QuantityMagnitude /@ values;
作为连续时间函数的温度：
Wolfram Language code: timeSec = QuantityMagnitude[DateDifference[First[times], #, "Second"]]& /@ times;
Wolfram Language code: d = Interpolation[Transpose[{timeSec, values}]];
计算控制室内温度并进行每分钟采样：
Wolfram Language code: temp = OutputResponse[pid["ReferenceOutput"], 22, {t, 0, Last[timeSec]}] + OutputResponse[doTFM, d[t], {t, 0, Last[timeSec]}];
Wolfram Language code: temps = Table[temp, {t, 0, Last[timeSec], 60}]//Flatten;
绘制室内温度和室外温度的图形：
Wolfram Language code: roomTplot = DateListPlot[temps, {First[times], Last[times]}, PlotStyle -> Red, Joined -> True, PlotLegends -> LineLegend[{"室内温度"}]];
Wolfram Language code: outTplot = DateListPlot[Transpose[{times, values}], Joined -> True, PlotLegends -> LineLegend[{"室外温度"}]];
Wolfram Language code: Show[roomTplot, outTplot, ImageSize -> Medium, FrameLabel -> {"小时", "°C"}, PlotRange -> {-5, 25}]