dt=0.01;?t=0:dt:1;?

yss=0;? ?y=t;

e = y-yss;???????????? % step response error

%??? switch Type

%?????? case 'ITAE'

%????????? out = trapz(t,t.*abs(e));

%?????? case 'IAE'

%????????? out = trapz(t,abs(e));

%?????? case 'ISTE'

%????????? te = t.*e;

%????????? out = trapz(t,te.*te);

%?????? case 'ISE'

%????????? out = trapz(t,e.*e);

Y0 = sum(abs(e));??? ??? ???%?? case 'SUM'

y1 = trapz(t,t.*abs(e));? ? ?%?? case 'ITAE'

y2 = trapz(t,1.*abs(e));??? %?? case 'IAE'

???? te = t.*e;

y3 = trapz(t,te.*te);? ? ? ? ??%?? case 'ISTE'

y4 = trapz(t,e.*e);? ? ? ? ? ??%?? case 'ISE'

?

E1=0; E2=0; E3=0; E4=0;

for t=0:dt:1

??? tdt=t*dt;

??? yd=1*t;

??? e=yd-0;

??? E1=E1+abs(e)*tdt;

??? E2=E2+abs(e)*dt;

??? E3=E3+((e*t).^2)*dt;

??? E4=E4+((e).^2)*dt;

end

E1

E2

E3

E4