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%chap4_7f2.m 
function [u]=chap4_7f2(u1,u2,u3,u4) 
global s 
persistent w x1 x2 x3 w_1 w_2 w_3  
 
N=300; 
C=5; 
 
if u3==0 
   w=zeros(N+C,1); 
   w_1=w; 
   w_2=w; 
   d_w=w; 
end 
   
alfa=0.04; 
 
if s==1       %Step Signal 
   Smin=0; 
   Smax=1; 
elseif s==2   %Sine Signal 
   Smin=-0.5; 
   Smax=0.5;   
elseif s==3   %Square Wave Signal 
   Smin=-0.5; 
   Smax=0.5; 
end 
 
xite=0.1;  
 
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 
 
rin=u1; 
for i=1:1:N+C 
if rin>=v(i)&rin<=v(i+C) 
   a(i)=1; 
else 
   a(i)=0; 
end 
end 
 
errork=u2; 
 
un=a*w_1; 
up=u4; 
u=up+un;                %Total control output 
 
if u>=10 
   u=10; 
end 
if u<=-10 
   u=-10; 
end    
if s==1|s==3 
   d_w=a'*xite*up/C;        
elseif s==2 
   d_w=xite*up/C;       %For Sine Signal 
end 
 
w=w_1+d_w+alfa*(w_1-w_2); 
w_3=w_2; 
w_2=w_1; 
w_1=w;