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%Single Neural Adaptive PID Controller 
clear all; 
close all; 
 
x=[0,0,0]'; 
 
xiteP=0.40; 
xiteI=0.35; 
xiteD=0.40; 
 
%Initilizing kp,ki and kd 
wkp_1=0.10; 
wki_1=0.10; 
wkd_1=0.10; 
%wkp_1=rand; 
%wki_1=rand; 
%wkd_1=rand; 
 
error_1=0; 
error_2=0;  
y_1=0;y_2=0;y_3=0; 
u_1=0;u_2=0;u_3=0; 
 
ts=0.001; 
for k=1:1:1000 
    time(k)=k*ts; 
    rin(k)=0.5*sign(sin(2*2*pi*k*ts)); 
    yout(k)=0.368*y_1+0.26*y_2+0.1*u_1+0.632*u_2; 
    error(k)=rin(k)-yout(k); 
    
%Adjusting Weight Value by hebb learning algorithm 
M=4; 
if M==1              %No Supervised Heb learning algorithm  
   wkp(k)=wkp_1+xiteP*u_1*x(1);  %P 
   wki(k)=wki_1+xiteI*u_1*x(2);  %I 
   wkd(k)=wkd_1+xiteD*u_1*x(3);  %D 
   K=0.06;    
elseif M==2          %Supervised Delta learning algorithm  
   wkp(k)=wkp_1+xiteP*error(k)*u_1;  %P 
   wki(k)=wki_1+xiteI*error(k)*u_1;  %I 
   wkd(k)=wkd_1+xiteD*error(k)*u_1;  %D 
   K=0.12;    
elseif M==3          %Supervised Heb learning algorithm  
   wkp(k)=wkp_1+xiteP*error(k)*u_1*x(1);  %P 
   wki(k)=wki_1+xiteI*error(k)*u_1*x(2);  %I 
   wkd(k)=wkd_1+xiteD*error(k)*u_1*x(3);  %D 
   K=0.12;    
elseif M==4          %Improved Heb learning algorithm  
   wkp(k)=wkp_1+xiteP*error(k)*u_1*(2*error(k)-error_1); 
   wki(k)=wki_1+xiteI*error(k)*u_1*(2*error(k)-error_1); 
   wkd(k)=wkd_1+xiteD*error(k)*u_1*(2*error(k)-error_1);  
   K=0.12;    
end 
    
   x(1)=error(k)-error_1;             %P 
   x(2)=error(k);                     %I 
   x(3)=error(k)-2*error_1+error_2;   %D 
 
   wadd(k)=abs(wkp(k))+abs(wki(k))+abs(wkd(k)); 
   w11(k)=wkp(k)/wadd(k); 
   w22(k)=wki(k)/wadd(k); 
   w33(k)=wkd(k)/wadd(k); 
   w=[w11(k),w22(k),w33(k)]; 
 
	u(k)=u_1+K*w*x;     %Control law 
 
if u(k)>10 
   u(k)=10; 
end    
if u(k)<-10 
   u(k)=-10; 
end    
   
error_2=error_1; 
error_1=error(k); 
    
u_3=u_2;u_2=u_1;u_1=u(k); 
y_3=y_2;y_2=y_1;y_1=yout(k); 
    
wkp_1=wkp(k); 
wkd_1=wkd(k); 
wki_1=wki(k); 
end 
figure(1); 
plot(time,rin,'b',time,yout,'r'); 
xlabel('time(s)');ylabel('rin,yout'); 
figure(2); 
plot(time,error,'r'); 
xlabel('time(s)');ylabel('error'); 
figure(3); 
plot(time,u,'r'); 
xlabel('time(s)');ylabel('u');