clear?all;
close?all;
xite=0.25;
alfa=0.05;
belte=0.01;
x=[000]‘;

ci=30*ones（36）;
bi=40*ones（61）;
w=10*ones（61）;

h=[000000]‘;

ci_1=ci;ci_3=ci_1;ci_2=ci_1;
bi_1=bi;bi_3=bi_1;bi_2=bi_1;
w_1=w;w_3=w_1;w_2=w_1;

u_1=0;y_1=0;
xc=[000]‘;
error_1=0;error_2=0;error_3=0;

%kp=rand（1）;
%ki=rand（1）;
%kd=rand（1）;
kp0=0.03;
ki0=0.01;
kd0=0.03;

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

xitekp=0.20;
xitekd=0.20;
xiteki=0.20;

ts=0.001;
for?k=1:1:2000
????time（k）=k*ts;
????rin（k）=1.0*sign（sin（2*pi*k*ts））;
????yout（k）=（-0.1*y_1+u_1）/（1+y_1^2）;?
????
????for?j=1:1:6
????????h（j）=exp（-norm（x-ci（:j））^2/（2*bi（j）*bi（j）））;
????end
????ymout（k）=w‘*h;
????
????d_w=0*bi;
????for?j=1:1:6
????????d_w（j）=xite*（yout（k）-ymout（k））*h（j）;
????end
????w=w_1+d_w+alfa*（w_1-w_2）+belte*（w_2-w_3）;
????
????d_bi=0*bi;
????for?j=1:1:6
????????d_bi（j）=xite*（yout（k）-ymout（k））*w（j）*h（j）*（bi（j）^-3）*norm（x-ci（:j））^2;
????end
????bi=bi_1+d_bi+alfa*（bi_1-bi_2）+belte*（bi_2-bi_3）;
????for?j=1:1:6
????????for?i=1:1:3
????????????
?????????????d_ci（ij）=xite*（yout（k）-ymout（k））*w（j）*h（j）*（x（i）-ci（ij））*（bi（j）^-2）;
?????????end
?????end
?????ci=ci_1+d_ci+alfa*（ci_1-ci_2）+belte*（ci_2-ci_3）;
?????
?????%%%%%%%%%%%%%jacobian%%%%%%%%%%%5
????yu=0;
????for?j=1:1:6
????????yu=yu+w（j）*h（j）*（-x（1）+ci（1j））/bi（j）^2;
????end
????dyout（k）=yu;
????%%%%%%%%%