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%Single Neural Net PID Decouple Controller based on Hebb Learning  
%Algorithm to adjust kp,ki,kd 
clear all; 
close all; 
 
xc1=[0,0,0]'; 
xc2=[0,0,0]'; 
 
xiteP=0.40; 
xiteI=0.40; 
xiteD=0.40; 
 
%Initilizing kp,ki and kd 
%Radom Value 
%wkp1_1=rand;wki1_1=rand;wkd1_1=rand; 
%wkp2_1=rand;wki2_1=rand;wkd2_1=rand; 
 
wkp1_1=0.3150;wki1_1=1.1615;wkd1_1=1.4948; 
wkp2_1=0.2067;wki2_1=0.6365;wkd2_1=0.4996; 
 
error1_1=0;error1_2=0; 
error2_1=0;error2_2=0; 
 
u1_1=0.0;u1_2=0.0;u1_3=0.0;u1_4=0.0; 
u2_1=0.0;u2_2=0.0;u2_3=0.0;u2_4=0.0; 
 
y1_1=0;y2_1=0; 
 
ts=1; 
for k=1:1:1500 
time(k)=k*ts; 
 
%Step Signal 
%R=[1;0]; 
R=[0;1]; 
 
%------------ Calculating practical output --------------% 
%Coupling Plant 
yout1(k)=1.0/(1+y1_1)^2*(0.8*y1_1+u1_2+0.2*u2_3); 
yout2(k)=1.0/(1+y2_1)^2*(0.9*y2_1+0.3*u1_3+u2_2); 
 
error1(k)=R(1)-yout1(k); 
error2(k)=R(2)-yout2(k); 
 
%For Variable1 
%Adjusting NNC Weight Value by adopting hebb learning algorithm 
   wkp1(k)=wkp1_1+xiteP*error1(k)*u1_1*xc1(1);  %P 
   wki1(k)=wki1_1+xiteI*error1(k)*u1_1*xc1(2);  %I  
   wkd1(k)=wkd1_1+xiteD*error1(k)*u1_1*xc1(3);  %D 
   xc1(1)=error1(k)-error1_1;                   %P 
   xc1(2)=error1(k);                            %I 
   xc1(3)=(error1(k)-2*error1_1+error1_2);      %D 
 
   wadd1(k)=abs(wkp1(k))+abs(wki1(k))+abs(wkd1(k)); 
   w111(k)=wkp1(k)/wadd1(k); 
   w122(k)=wki1(k)/wadd1(k); 
   w133(k)=wkd1(k)/wadd1(k); 
   w1=[w111(k),w122(k),w133(k)]; 
   k1=0.16; 
   u1(k)=u1_1+k1*w1*xc1; 
    
%For Variable2 
%Adjusting NNC Weight Value by adopting hebb learning algorithm 
   wkp2(k)=wkp2_1+xiteP*error2(k)*u2_1*xc2(1);  %P 
   wki2(k)=wki2_1+xiteI*error2(k)*u2_1*xc2(2);  %I  
   wkd2(k)=wkd2_1+xiteD*error2(k)*u2_1*xc2(3);  %D 
   xc2(1)=error2(k)-error2_1;                   %P 
   xc2(2)=error2(k);                            %I 
   xc2(3)=(error2(k)-2*error2_1+error2_2);      %D 
 
   wadd2(k)=abs(wkp2(k))+abs(wki2(k))+abs(wkd2(k)); 
   w211(k)=wkp2(k)/wadd2(k); 
   w222(k)=wki2(k)/wadd2(k); 
   w233(k)=wkd2(k)/wadd2(k); 
   w2=[w211(k),w222(k),w233(k)]; 
   k2=0.16; 
   u2(k)=u2_1+k2*w1*xc2; 
 
%-----------Return of PID parameters------------% 
%For Variable1 
error1_2=error1_1; 
error1_1=error1(k); 
wkp1_1=wkp1(k); 
wkd1_1=wkd1(k); 
wki1_1=wki1(k); 
 
u1_4=u1_3; 
u1_3=u1_2; 
u1_2=u1_1; 
u1_1=u1(k); 
 
y1_1=yout1(k); 
 
%For Variable2 
error2_2=error2_1; 
error2_1=error2(k); 
wkp2_1=wkp2(k); 
wkd2_1=wkd2(k); 
wki2_1=wki2(k); 
 
u2_4=u2_3; 
u2_3=u2_2; 
u2_2=u2_1; 
u2_1=u2(k); 
 
y2_1=yout2(k); 
end 
hold on; 
plot(time,R(1),'b',time,yout1,'r'); 
plot(time,R(2),'r',time,yout2,'b'); 
xlabel('time(s)');ylabel('rin,yout');