clear?all;
clear?all;

xite=0.25;
alfa=0.05;

S=2;?%?Signal?type

IN=4;H=5;Out=3;?%NN?stucture
if?S==1?%Step?Signal
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=0.50*rands（HIN）;
wi_1=wi;wi_2=wi;wi_3=wi;
wo=[0.7576?0.2616?0.5820?-0.1416?-0.1325;
???-0.1146?0.2949?0.8352?0.2205??0.4508;
????0.7202?0.4566?0.7672?0.4962??0.36321];
%wo=0.50*rands（OutH）;
wo_1=wo;wo_2=wo;wo_3=wo;
end

if?S==2?%Step?Signal
wi=[-0.2846??0.2193?-0.5097?-1.0668;
????-0.7484?-0.1210?-0.4708??0.0988;
????-0.7176??0.8297?-1.6000??0.2049;
????-0.0858??0.1925?-0.6346??0.0347;
?????0.4358??0.2369??0.4564?-0.1324];
%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
l=oh;?%input?to?NN?middle?layer
error_2=0;
error_1=0;

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

if?S==1?
rin（k）=1.0;
elseif?S==2
rin（k）=sin（1*2*pi*k*ts）;????%參數是否正確？？？？
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;????%其中y_1和u_1是0啊，，，這有什么意義

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;????%error_1-2都是0

epid=[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?把I變成了l
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）;
Kpid=[kp（k）ki（k）kd（k）];

du（k）=Kpid*epid;
u（k）=u_1+du（k）;???????????????????????%u（k）是階躍信號
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）*epid（l）*dK（l）;
end

for?l=1:1:Out
for?i=1:1:H
d_wo=xite*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

d_wi=xite*delta2‘*xi;
wi=wi_1+d_wi+alfa*（wi_1-wi_2）;
%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‘）;
xlabel（‘time（s）‘）;ylabel（‘error‘）;
figure（3）;
plot（timeu‘r‘）;
xlabel（‘time（s）‘）;ylabel（‘u‘）;
figure（4）;
subplot（311）;
plot（timekp‘r‘）;
xlabe

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

?????目錄??????????0??2010-05-28?15:55??BPPid

?????文件???????3198??2010-05-27?15:02??BPPid\pid.asv

?????文件???????3199??2010-05-27?15:11??BPPid\pid.m

?????文件??????49771??2010-05-27?15:14??BPPid\figure1.jpg

?????文件??????59141??2010-05-27?15:08??BPPid\figure2.jpg

?????文件??????48504??2010-05-27?15:08??BPPid\figure3.jpg

?????文件??????56762??2010-05-27?15:08??BPPid\figure4.jpg

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

???????????????220575????????????????????7