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%CMAC and PID Concurrent Control 
clear all; 
close all; 
 
ts=0.001; 
sys=tf(1770,[1,60,1770]); 
dsys=c2d(sys,ts,'z'); 
[num,den]=tfdata(dsys,'v'); 
 
alfa=0.04; 
 
N=100;C=5; 
 
w=zeros(N+C,1); 
w_1=w;w_2=w;d_w=w; 
 
y_1=0;y_2=0;y_3=0; 
u_1=0.0;u_2=0.0;u_3=0.0; 
 
x=[0,0,0]'; 
error_1=0; 
 
s=4;      %Selecting Signal 
if s==1         %Sine Signal 
	A=0.50;      
	Smin=-A; 
	Smax=A; 
	xite=0.10;  
	kp=25; 
	ki=0.0; 
	kd=0.28; 
    
elseif s==2     %Square Wave Signal 
	A=0.50;      
	Smin=-A; 
	Smax=A; 
	xite=0.10;  
	kp=25; 
	ki=0.0; 
	kd=0.28; 
elseif s==3     %Step Signal 
   Smin=0;      
   Smax=1.0; 
	xite=0.10; 
	kp=25; 
	ki=0.0; 
	kd=0.28; 
end 
if s==4         %Random Signal 
	A=1.80;      
	Smin=-A; 
	Smax=A; 
	xite=0.10;  
	kp=20; 
	ki=0.0; 
	kd=0.28; 
end 
 
%Coding Input Value 
dvi=(Smax-Smin)/(N-1); 
 
for i=1:1:C                %C size 
    v(i)=Smin; 
end 
for i=C+1:1:C+N            %N size 
    v(i)=v(i-1)+dvi; 
end 
for i=N+C+1:1:N+2*C        %C size 
    v(i)=Smax; 
end 
 
for k=1:1:1000 
    time(k)=k*ts; 
     
if s==1 
   rin(k)=A*sin(4*2*pi*k*ts);            %Sin Signal 
elseif s==2 
   rin(k)=A*sign(sin(2*2*pi*k*ts));      %Square Signal 
elseif s==3 
   rin(k)=1;                             %Step Signal 
elseif s==4    
   rin(k)=1.0*sin(2*pi*3*k*ts)+0.5*sin(2*pi*5*k*ts)+0.3*sin(2*pi*7*k*ts); 
end 
 
for i=1:1:N+C 
if rin(k)>=v(i)&rin(k)<=v(i+C) 
   a(i)=1; 
else 
   a(i)=0; 
end 
end 
 
yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2; 
 
error(k)=rin(k)-yout(k); 
 
%CMAC Neural Network Controller 
un(k)=a*w; 
 
%PID Controller 
up(k)=kp*x(1)+kd*x(2)+ki*x(3); 
 
MM=2; 
if MM==1      %Only Using PID Control 
   u(k)=up(k);  
elseif MM==2  %Total control output 
	u(k)=up(k)+un(k); 
end 
 
if k==150     %Disturbance 
   u(k)=u(k)+5.0; 
end 
 
if u(k)>=10 
   u(k)=10; 
end 
if u(k)<=-10 
   u(k)=-10; 
end    
 
%Update NN Weight 
if s==1|s==4 
   d_w=xite*(u(k)-un(k))/C;       %Sin Signal 
elseif s==2|s==3 
   d_w=a'*xite*(u(k)-un(k))/C;    %Step Signal and Square Signal 
end 
 
w=w_1+ d_w+alfa*(w_1-w_2); 
 
%Parameters Update 
w_3=w_2;w_2=w_1;w_1=w; 
u_2=u_1;u_1=u(k); 
y_2=y_1;y_1=yout(k); 
 
x(1)=error(k);                % Calculating P 
x(2)=(error(k)-error_1)/ts;   % Calculating D 
x(3)=x(3)+error(k)*ts;        % Calculating I 
    
error_2=error_1;error_1=error(k); 
end 
figure(1); 
plot(time,rin,'b',time,yout,'r'); 
xlabel('time(s)');ylabel('(rin and y)'); 
figure(2); 
subplot(311); 
plot(time,un); 
xlabel('time(s)');ylabel('un'); 
subplot(312); 
plot(time,up); 
xlabel('time(s)');ylabel('up'); 
subplot(313); 
plot(time,u); 
xlabel('time(s)');ylabel('u'); 
figure(3); 
plot(time,error,'r'); 
xlabel('time(s)');ylabel('error');