%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
%?This?program?implements?a?controller?that?uses?a?planning
%?strategy?for?the?surge?tank?example.
%
%?Kevin?Passino
%?Version:?4/19/01
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%?Initialize?variables

clear

%?Set?the?length?of?the?simulation

Nnc=300;

T=0.1;??????%?Sampling?rate

%?As?a?reference?input?we?use?a?square?wave?（define?one?extra?
%?point?since?at?the?last?time?we?need?the?reference?value?at
%?the?last?time?plus?one）

timeref=1:Nnc;
r（timeref）=3.25-3*square（（2*pi/150）*timeref）;?%?A?square?wave?input
%r（timeref）=3.25*ones（1Nnc+1）-3*（2*rand（1Nnc+1）-ones（1Nnc+1））;?%?A?noise?input
ref=r（1:Nnc）;??%?Then?use?this?one?for?plotting

time=1:Nnc;
time=T*time;?%?Next?ma