帮一帮pid控制代码的注释

% subplot 1：绘制pitch变化随时间的曲线图
plot(t,(180/pi)*thtC,'-r','Linewidth',1);
hold off;
grid;
title('pitch (in deg) vs time(s)');
legend('Actual Measure','Reference')

% subplot 2：绘制z坐标变化随时间的曲线图（实际值和参考值）
subplot(325);
plot(t,z,'-g','Linewidth',2);
hold on
plot(t,ref(:,3),'-r','Linewidth',1);
hold off;
grid;
title('z(m) vs time(s)');
legend('Actual Measure','Reference')

% subplot 3：绘制yaw变化随时间的曲线图（实际值和参考值）
subplot(326);
plot(t,(180/pi)*psi,'-g','Linewidth',2);
hold on;
plot(t,ref(:,4),'-r','Linewidth',1);
hold off;
grid;
title('yaw (in deg) vs time(s)');
legend('Actual Measure','Reference')

% figure 3: 绘制四个子图，分别表示推力、滚转、俯仰和偏航的输入值随时间的变化情况
figure(3)
subplot(411)
plot(t,u1);
grid
title('Thrust (N) vs Time(s)');

subplot(412)
plot(t,u2(:,1));
grid
title('Rolling I/P(N m) vs Time(s)');

subplot(413)
plot(t,u2(:,2));
grid
title('Pitching I/P(N m) vs Time(s)');

subplot(414)
plot(t,u2(:,3));
grid
title('Yawing I/P(N m) vs Time(s)');