function?[D?d]?=?DMatrix（n）

%?Create?the?D?matrix?and?d?vector?for?constrained?Kalman?filtering.
%?The?input?n?is?an?array?containing?the?total?number?of?fuzzy?membership?
%?functions?that?are?being?optimized?for?each?fuzzy?variable.

nRows?=?0;
nCols?=?0;
for?i?=?1?:?size（n?2）
???nRows?=?nRows?+?2?*?（n（i）?-?1）;
???nCols?=?nCols?+?3?*?n（i）;
end
D?=?zeros（nRows?nCols）;
OddRow?=?[0?1?1?0?0?-1];
EvenRow?=?[0?0?1?1?0?-1];
iRow?=?1;
iCol?=?1;
for?i?=?1?:?size（n?2）
???for?j?=?1?:?n（i）?-?1
	???D（iRow:iRow+1?iCol:iCol+5）?=?[OddRow;?EvenRow];
	???iRow?=?iRow?+?2;
	???iCol?=?iCol?+?3;
???end
???iCol?=?iCol?+?3;
end
d?=?zeros（nRows?1）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????5266??2010-09-06?15:57??VehicleGrad.m
?????文件???????13077??2002-01-08?16:45??VehicleKalman.m
?????文件???????14031??2010-09-06?17:09??Performance.fig
?????文件?????????411??2010-09-04?19:06??DefaultMem.txt
?????文件?????????413??2010-09-06?16:57??paramgc.txt
?????文件?????????412??2010-09-06?15:57??paramgu.txt
?????文件?????????664??2000-09-01?14:37??DMatrix.m
?????文件???????10011??2010-09-05?12:38??FuzzCalc.m
?????文件????????4626??2010-09-04?19:30??FuzzInit.m
?????文件?????????585??2010-09-04?19:45??GradeCalc.m
?????文件???????????0??2010-09-05?12:38??number.m
?????文件????????2313??2010-09-04?19:16??PlotMem.m
?????文件?????????897??2010-09-04?19:38??Vehicle.m
?????文件????????6923??2010-09-05?12:52??VehicleControl.m