考研自动控制原理涉及到的代码，主要是指用于实现自动控制算法的程序代码。以下是一些常见的关键代码段：
1. PID控制算法实现：
```python
def pid_control(setpoint, measured_value, Kp, Ki, Kd, previous_error):
error = setpoint - measured_value
integral = previous_error + error
derivative = error - previous_error
output = Kp * error + Ki * integral + Kd * derivative
previous_error = error
return output
```
2. 离散时间系统的传递函数：
```python
import numpy as np
from scipy import signal
num = [1] 分子系数
den = [1, -1] 分母系数
system = signal.TransferFunction(num, den)
```
3. 状态空间方程的求解：
```python
import numpy as np
from scipy.linalg import eig
A = np.array([[1, 1], [2, 1]]) 状态矩阵
B = np.array([[1], [1]]) 输入矩阵
C = np.array([[1, 0]]) 输出矩阵
D = np.array([[0]]) 阻尼矩阵
eigenvalues, eigenvectors = eig(A)
state_transition = np.linalg.inv(eigenvectors) @ np.linalg.inv(A) @ eigenvectors
output = C @ state_transition @ B
```
4. 离散时间系统稳定性分析：
```python
import numpy as np
from scipy import signal
num = [1, 2] 分子系数
den = [1, -1, 1] 分母系数
system = signal.TransferFunction(num, den)
poles = signal.poles(system)
is_stable = np.all(np.abs(poles) < 1)
```
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