%RBF網絡，由chap10_3a調用，返回值B為誤差的和，和越小，說明得到的權值越好

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Adaptive?PID?control?based?on?Fuzzy?RBF?Identification
function?[pBsJ]?=?rbf_gaf（pBsJ）
ts?=?0.001;

xite=0.20;
alfa=0.02;

%c0=0.65*ones（25）;
%b0=0.30*ones（51）;
b0=[p（1）;p（2）;p（3）;p（4）;p（5）];
c0=[p（6）?p（7）?p（8）?p（9）?p（10）;
????p（11）?p（12）?p（13）?p（14）?p（15）];
w0=[p（16）?p（17）?p（18）;
????p（19）?p（20）?p（21）;
????p（22）?p（23）?p（24）;
????p（25）?p（26）?p（27）;
????p（28）?p（29）?p（30）;
????p（31）?p（32）?p（33）;
????p（34）?p（35）?p（36）;
????p（37）?p（38）?p（39）;
????p（40）?p（41）?p（42）;
????p（43）?p（44）?p（45）;
????p（46）?p（47）?p（48）;
????p（49）?p（50）?p（51）;
????p（52）?p（53）?p（54）;
????p（55）?p（56）?p（57）;
????p（58）?p（59）?p（60）;
????p（61）?p（62）?p（63）;
????p（64）?p（65）?p（66）;
????p（67）?p（68）?p（69）;
????p（70）?p（71）?p（72）;
????p（73）?p（74）?p（75）;
????p（76）?p（77）?p（78）;
????p（79）?p（80）?p（81）;
????p（82）?p（83）?p（84）;
????p（85）?p（86）?p（87）;
????p（88）?p（89）?p（90）];
%w0=rands（51）;

c=c0;c_1=c0;c_2=c0;
b=b0;b_1=b0;b_2=b0;
w4=w0;w4_1=w0;w4_2=w0;

x=[00]‘;
xc=[000]‘;

du_1=0;u_1=0;y_1=0;
e_1=0;e_2=0;e=0;

ts=0.001;
for?k=1:1:400%500
???timef（k）=k*ts;
???%rin（k）=1.0;
???rin（k）=1.0*sign（sin（2*pi*k*ts））;
???yout（k）=（-0.1*y_1+u_1）/（1+y_1^2）;??%Nonlinear?plant
???
???x（1）=rin（k）;
???x（2）=yout（k）;
???
???f1=x;????????????????????????
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for?i=1:1:2?????????????????????????%?layer2:fuzzation
???for?j=1:1:5
??????net2（ij）=-（f1（i）-c_1（ij））^2/b_1（j）^2;
???end
end
for?i=1:1:2
???for?j=1:1:5
???????f2（ij）=exp（net2（ij））;
???end
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for?j=1:1:5????????????????????????%?layer3:fuzzy?inference（49?rules）
????m1（j）=f2（1j）;
	?m2（j）=f2（2j）;
end

for?i=1:1:5
for?j=1:1:5
????ff3（ij）=m2（i）*m1（j）;???????????
end
end
f3=[ff3（1:）ff3（2:）ff3（3:）ff3（4:）ff3（5:）];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

f4=w4‘*f3‘;??????????????????????%?layer4:output

kp（k）=f4（1）;
ki（k）=f4（2）;
kd（k）=f4（3）;

%----------Calculate?error?id?between?yout?and?ymout-----------%
e（k）=rin（k）-yout（k）;

du（k）=kp（k）*xc（1）+kd（k）*xc（2）+ki（k）*xc（3）;?
u（k）=u_1+du（k）;

dyu（k）=sign（（yout（k）-y_1）/（du（k）-du_1+0.0001））;

d_w4=0*w4_1;
for?i=1:1:25
???for?j=1:1:3
??????d_w4（ij）=xite*e（k）*dyu（k）*xc（j）*f3（i）;
???end
end
w4=w4_1+?d_w4+alfa*（w4_1-w4_2）;

%Return?of?parameters
	du_1=du（k）;	
???u_1=u（k）;
???y_1=yout（k）;
???
???w4_2=w4_1;w4_1=w4;
???
???xc（1）=e（k）-e_1;?????????????%Calculating?P
???xc（2）=e（k）;?????????????????????%Calculating?I
???xc（3）=e（k）-2*e_1+e_2;???%Calculating?D
???
???e_2=e_1;
???e_1=e（k）;
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


B?=?0;
for?i?=?1:1:400
????Ji（i）?=?abs（e（i））;
????B?=?B?+?100*Ji（i）;
end
BsJ?=?B;
????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????2818??2011-05-12?20:28??粒子群算法優化RBF網絡\PSO.m
?????文件????????3033??2011-05-12?21:59??粒子群算法優化RBF網絡\chap10_3b.m
?????文件????????1397??2011-05-12?19:17??粒子群算法優化RBF網絡\chap10_3c.m
?????文件????????3046??2011-05-12?17:08??粒子群算法優化RBF網絡\chap4_10.m
?????文件?????????348??2011-05-12?20:38??粒子群算法優化RBF網絡\pfile1.mat
?????文件????????1872??2011-05-12?19:58??粒子群算法優化RBF網絡\shuchu.asv
?????文件????????1883??2011-05-12?20:42??粒子群算法優化RBF網絡\shuchu.m
?????目錄???????????0??2017-03-15?22:14??粒子群算法優化RBF網絡\