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function [u]=chap7f2(u1,u2,u3,u4) 
global s 
persistent w x1 x2 x3 w1 w2 w3 
 
N=300; 
C=5; 
 
if u3==0 
    w=zeros(N+C,1); 
    w1=w; 
    w2=w; 
    dw=w; 
end 
  
alfa=0.04; 
 
if s==1 
    smin=0; 
    smax=1; 
elseif s==2 
    smin=-0.5; 
    smax=0.5; 
elseif s==3 
    smin=-0.5; 
    smax=0.5; 
end 
 
xite=0.1; 
 
dvi=(smax-smin)/(N-1); 
 
for i=1:1:C 
    v(i)=smin; 
end 
 
for i=C+1:1:C+N 
v(i)=v(i-1)+dvi; 
end 
for i=N+C+1:1:N+2*C 
    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*w1; 
up=u4; 
u=up+un; 
 
if u>=10 
    u=10; 
end 
 
if u<=-10 
    u=-10; 
end 
if s==1|s==3 
    dw=a*xite*up/C; 
elseif s==2 
    dw=xite*up/C; 
end 
 
w=w1+dw+alfa*(w1-w2); 
w3=w2; 
w2=w1; 
w1=w;