clear?all;%以下2--5語句與[at]=step（tf（numden‘inputdelay‘3））等價?
close?all;?
num=2.994;?
den=[82^2?164?1];?
;%基本算法對象2?
Ts=5;?
dt=Ts;?
t0=1:dt:1045;?
Delta_u=0;y=0;?
[aat]=step（numdent0）;?
a=aa（2:209）;?
%也對aaa1=0;aaa2=0;?
%for?i=2:161?
%????aaa1（i）=exp（-Ts/82）*aaa1（i-1）+2.994*（1-exp（-Ts/82））*1;%零階保持器下的差分方程；?
%?????aaa2（i）=exp（-Ts/82）*aaa2（i-1）+（1-exp（-Ts/82））*aaa1（i）;?
%end?
%a=aaa2（2:161）;?
P=30;?
for?i=1:P????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????
????Q（i）=1;???
end?%誤差加權系數?
?
Tr=3;?
ArfaR=exp（-Ts/Tr）;?
M=30;?
?
for?i=1:M?
????R（i）=0.3;?
end?%控制加權系數?
Q=diag（Q）;%誤差加權矩陣?
R=diag（R）;%控制加權矩陣?
?
N=length（a）;?
%構造矩陣A，可以從Workspace復制，也可以由line5直接得出;?
?for?i=1:P?
?????for?j=1:M???
?????????if?i==j???
??????????????A（ij）=a（1）;?
?????????end??
?????????if?i>j?
?????????????A（ij）=a（i-j+1）;?
?????????end?
?????????if?i?????????????A（ij）=0;?
?????????end?
?????end??
?end?
?%構造矩陣A0b;?
?for?i=1:P?
?????for?j=1:i+1?
?????????A0b（ij）=a（N）;?
?????end?
?????for?j=i+2:N?
?????????A0b（ij）=a（N-j+i+1）;?
?????end?
?end?
?%構造矩陣A0;?
?for?i=1:P?
?????for?j=2:N-1?
?????????A0（ij）=A0b（ij）-A0b（ij+1）;?