%BP?based?PID?Control???u1=1750
function?[u]=BPpid（u1u2u3）
persistent??error_1?
global?kp;
global?ki;
global?kd;
global?du;
global?dyu;
global?dK;
global?dO;
global?delta2;
xite=0.25;
alfa=0.05;?


H=5;Out=3;???%NN?Structure
????wi=[-0.6394????-0.2696????-0.3756????-0.7023;
????????-0.8603????-0.2013????-0.5024????-0.2596;
????????-1.0749?????0.5543????-1.6820????-0.5437;
????????-0.3625????-0.0724????-0.6463????-0.2859;
?????????0.1425?????0.0279????-0.5406????-0.7660];
????wi_1=wi;wi_2=wi;
????wo=[?0.7576?????0.2616?????0.5820????-0.1416????-0.1325;
????????-0.1146?????0.2949?????0.8352?????0.2205?????0.4508;
?????????0.7201?????0.4566?????0.7672?????0.4962?????0.3632];
????wo_1=wo;wo_2=wo;

x=[000];
u_1=0;
y_1=0;

Oh=zeros（H1）;???%Output?from?NN?middl

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

?????文件??????55967??2010-01-30?13:06??李麗\BPcmacPID.fig

?????文件???????2229??2010-01-30?13:01??李麗\BPpid.m

?????文件????????842??2010-01-23?15:26??李麗\CMAC.m

?????文件????????263??2010-01-25?13:25??李麗\PID.m

?????文件??????42275??2010-01-26?12:06??李麗\PIDgaCMAC.mdl

?????目錄??????????0??2010-01-30?13:19??李麗

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

???????????????101576????????????????????6