%Adaptive?PID?control?based?on?RBF?Identification
clear?all;
close?all;

xite=0.5;
alfa=0.05;
beta=0.01;
x=[000]‘;

ci=zeros（36）;
bi=10*ones（61）;
w=0.10*ones（61）;

h=[000000]‘;
????
ci_1=ci;ci_3=ci_1;ci_2=ci_1;
bi_1=bi;bi_2=bi_1;bi_3=bi_2;
w_1=w;w_2=w_1;w_3=w_1;

u_1=0;y_1=0;
xc=[000]‘;
error_1=0;error_2=0;
kp0=0.01;ki0=0.01;kd0=0.01;

kp_1=kp0;
kd_1=kd0;
ki_1=ki0;

xitekp=0.15;
xitekd=0.15;
xiteki=0.15;

ts=0.001;
for?k=1:1:1000
???time（k）=k*ts;
???yd（k）=1.0;
???y（k）=（-0.1*y_1+u_1）/（1+y_1^2）;??%Nonlinear?plant
???
???for?j=1:1:6
??????h（j）=exp（-norm（x-ci（:j））^2/（2*bi（j）*bi（j）））;
???end
???ym（k）=w‘*h;

???d_w=0*w;
???for?j=1:1:6
??????d_w（j）=xite*（y（k）-ym（k））*h（j）;
???end
???w=w_1+d_w+alfa*（w_1-w_2）;
???
???d_bi=0*bi;
???for?j=1:1:6
??????d_bi（j）=xite*（y（k）-ym（k））*w（j）*h（j）*（bi（j）^-3）*norm（x-ci（:j））^2;
???end
???bi=bi_1+?d_bi+alfa*（bi_1-bi_2）;
???for?j=1:1:6
?????for?i=1:1:3
??????d_ci（ij）=xite*（y（k）-ym（k））*w（j）*h（j）*（x（i）-ci（ij））*（bi（j）^-2）;
?????end
???end
???ci=ci_1+d_ci+alfa*（ci_1-ci_2）;
%%%%%%%%%%%%%%%%%%%%%%Jacobian%%%%%%%%%%%%%%%%%%%%%%%
??yu=0;
??for?j=1:1:6
??????yu=yu+w（j）*h（j）*（-x（1）+ci（1j））/bi（j）^2;
??end
??dyu（k）=yu;
%%%%%%%%%%%%%%%%%%%%%%Start?of?Control?system%%%%%%%%%%%%%%%%%%
???error（k）=yd（k）-y（k）;
???kp（k）=kp_1+xitekp*error（k）*dyu（k）*xc（1）;
???kd（k）=kd_1+xitekd*error（k）*dyu（k）*xc（2）;
???ki（k）=ki_1+xiteki*error（k）*dyu（k）*xc（3）;??
???if?kp（k）<0
??????kp（k）=0;
???end
???if?kd（k）<0
?