%Single?Neural?Adaptive?PID?Controller?
clear?all;?
close?all;?

x=[000]‘;?

xiteP=0.40;?
xiteI=0.35;?
xiteD=0.40;?

%Initilizing?kpki?and?kd?
wkp_1=0.10;?
wki_1=0.10;?
wkd_1=0.10;?
%wkp_1=rand;?
%wki_1=rand;?
%wkd_1=rand;?

error_1=0;?
error_2=0;?
y_1=0;y_2=0;y_3=0;?
u_1=0;u_2=0;u_3=0;?

ts=0.001;?
for?k=1:1:1000?
time（k）=k*ts;?
rin（k）=0.5*sign（sin（2*2*pi*k*ts））;?
yout（k）=0.368*y_1+0.26*y_2+0.1*u_1+0.632*u_2;?
error（k）=rin（k）-yout（k）;?

%Adjusting?Weight?Value?by?hebb?learning?algorithm?
M=4;?
if?M==1?%No?Supervised?Heb?learning?algorithm?
wkp（k）=wkp_1+xiteP*u_1*x（1）;?%P?
wki（k）=wki_1+xiteI*u_1*x（2）;?%I?
wkd（k）=wkd_1+xiteD*u_1*x（3）;?%D?
K=0.06;?
elseif?M==2?%Supervised?Delta?learning?algorithm?
wkp（k）=wkp_1+xiteP*error（k）*u_1;?%P?
wki（k）=wki_1+xiteI*error（k）*u_1;?%I?
wkd（k）=wkd_1+xiteD*error（k）*u_1;?%D?
K=0.12;?
elseif?M==3?%Supervised?Heb?learning?algorithm?
wkp（k）=wkp_1+xiteP*error（k）*u_1*x（1）;?%P?
wki（k）=wki_1+xiteI*error（k）*u_1*x（2）;?%I?
w