%BP?based?pd?Control
clear?all;
close?all;

xite=[0.200.250.023];
alfa=0.05;

S=1;?%Signal?type

IN=4;H=5;Out=3;??%NN?Structure
if?S==1??%Step?Signal
wi=?[?-0.7880???-0.1852????0.4191???-0.0793
???-0.4214???-0.7626????0.4626????0.5830
????0.0877????0.8388????0.6949???-0.6356
???-0.4303????0.2373???-0.0067???-0.4239
????0.1719????0.2994???-0.7105????0.9005];

%wi=rands（HIN）;
wi_1=wi;wi_2=wi;wi_3=wi;
wo=[0.8683???-0.6168????0.0563????0.4828???-0.0361
???-0.2999????0.1067???-0.5205????1.2318???-0.2118
????1.2552????0.0644????0.1043???-0.3045???-0.1613];

%wo=rands（OutH）;
wo_1=wo;wo_2=wo;wo_3=wo;
end

if?S==2??%Sine?Signal
wi=[?-0.2691???-0.3048????0.1191???-0.2289
???-0.2539???-0.1522???-0.3347???-0.3918
????0.0798????0.3173????0.3262???-0.1676
????0.3478???-0.2870????0.1556???-0.0796
????0.3070????0.4127????0.0464????0.2066];
%wi=0.50*rands（HIN）;
wi_1=wi;wi_2=wi;wi_3=wi;
wo=[1.0438????0.5478????0.8682????0.1446????0.1537;
????0.1716????0.5811????1.1214????0.5067????0.7370;
????1.0063????0.7428????1.0534????0.7824????0.6494];
%wo=0.50*rands（OutH）;
wo_1=wo;wo_2=wo;wo_3=wo;
end

x=[000];
u_1=0;u_2=0;u_3=0;u_4=0;u_5=0;
y_1=0;y_2=0;y_3=0;

Oh=zeros（H1）;????%Output?from?NN?middle?layer
I=Oh;?????????????%Input?to?NN?middle?layer
error_2=0;
error_1=0;

ts=0.001;
for?k=1:1:6000
time（k）=k*ts;

if?S==1
???rin（k）=1.0;
elseif?S==2
???rin（k）=sin（1*2*pi*k*ts）;
end

%Unlinear?model
a（k）=1.2*（1-0.8*exp（-0.1*k））;
yout（k）=a（k）*y_1/（1+y_1^2）+u_1;

error（k）=rin（k）-yout（k）;

xi=[rin（k）yout（k）error（k）1];

x（1）=error（k）-error_1;
x（2）=error（k）;
x（3）=error（k）-2*error_1+error_2;

epd=[x（1）;x（2）;x（3）];
I=xi*wi‘;
for?j=1:1:H
????Oh（j）=（exp（I（j））-exp（-I（j）））/（exp（I（j））+exp（-I（j）））;?%Middle?layer
end
K=wo*Oh;?????????????%Output?layer
for?l=1:1:Out
????K（l）=exp（K（l））/（exp（K（l））+exp（-K（l）））;????????%Getting?kpkikd
end
kp（k）=K（1）;ki（k）=K（2）;kd（k）=K（3）;
Kpd=[kp（k）ki（k）kd（k）];

du（k）=Kpd*epd;
u（k）=u_1+du（k）;
if?u（k）>=10???????%?Restricting?the?output?of?controller
???u（k）=10;
end
if?u（k）<=-10
???u（k）=-10;
end

dyu（k）=sign（（yout（k）-y_1）/（u（k）-u_1+0.0000001））;

%Output?layer
for?j=1:1:Out
????dK（j）=2/（exp（K（j））+exp（-K（j）））^2;
end
for?l=1:1:Out
????delta3（l）=error（k）*dyu（k）*epd（l）*dK（l）;
end

for?l=1:1:Out
???for?i=1:1:H
???????d_wo=xite（Out）*delta3（l）*Oh（i）+alfa*（wo_1-wo_2）;
???end
end
????wo=wo_1+d_wo+alfa*（wo_1-wo_2）;
%Hidden?layer
for?i=1:1:H
????dO（i）=4/（exp（I（i））+exp（-I（i）））^2;
end
????segma=delta3*wo;
for?i=1:1:H
???delta2（i）=dO（i）*segma（i）;
end
for?l=1:1:Out
d_wi=xite（Out）*delta2‘*xi;
wi=wi_1+d_wi+alfa*（wi_1-wi_2）;
end
%Parameters?Update
u_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1;u_1=u（k）;???
y_2=y_1;y_1=yout（k）;
???
wo_3=wo_2;
wo_2=wo_1;
wo_1=wo;
???
wi_3=wi_2;
wi_2=wi_1;
wi_1=wi;

error_2=error_1;
error_1=error（k）;
end
figure（1）;
plot（timerin‘r‘timeyout‘b‘）;
xlabel（‘time（s）‘）;ylabel（‘rinyout‘）;
figure（2）;
plot（timeerror‘r‘）

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????3320??2014-09-01?10:53??nn?based?bp?control.m

-----------?---------??----------?-----??----

?????????????????3320????????????????????1