%Single?Neural?Net?PID?Controller?based?on?Second?Type?Learning?Algorithm?
clear?all;
close?all;

xc=[000]‘;

K=0.02;P=2;Q=1;d=6;

xiteP=120;
xiteI=4;
xiteD=159;

%Initilizing?kpki?and?kd
wkp_1=rand;
wki_1=rand;
wkd_1=rand;

wkp_1=0.34;
wki_1=0.32;
wkd_1=0.33;

error_1=0;error_2=0;?
y_1=0;y_2=0;
u_1=0.1726;u_2=0;u_3=0;u_4=0;u_5=0;u_6=0;u_7=0;

ts=0.001;
for?k=1:1:250
????time（k）=k*ts;
????rin（k）=1.0;???????????????????????????%Tracing?Step?Signal

ym（k）=0;?
if?k==100
???ym（k）=0.10;??%Disturbance
end
yout（k）=0.368*y_1+0.26*y_2+u_6+0.632*u_7+ym（k）;
error（k）=rin（k）-yout（k）;

wx=[wkp_1wkd_1wki_1];
wx=wx*xc;

b0=yout（1）;
K=0.0175;???
wkp（k）=wkp_1+xiteP*K*[P*b0*error（k）*xc（1）-Q*K*wx*xc（1）];
wki（k）=wki_1+xiteI*K*[P*b0*error（k）*xc（2）-Q*K*wx*xc（2）];
wkd（k）=wkd_1+xiteD*K*[P*b0*error（k）*xc（3）-Q*K*wx*xc（3）];
???
???xc（1）=error（k）-error_1;???????????????%P
???xc