多分辨率波形PID（MRPID）

Question

我在Matlab中有pid代码。我想插入多分辨率小波来增强PID的结果

clear all
clc

%%%%%%%%%%% PID controller %%%%%%%%%%%

    e(k)=r(k)-y(k);
    sum=sum+e(k)*0.1265;
    pe=e(k);
    kierr=ki*sum;
    kperr=kp*pe;
    dif=-dif-(e(k)/0.1265);
    kderr=kd*dif;
    u(k)=kperr+ kierr+kderr;

uu=ku*u(k);

       stepinfo(uu)

%%%%%%%%%%% system input limited between 0  and  1 %%%%%%%%%%%

    if (uu > 1)
        uu =1;
    elseif (uu < 0)
        uu=0;
    end
    x(k)=uu;