ballbase.m

为了下载东西

function U = ballbase(X34,BallRules)
% function U = ballbase(X34,BallRules)
%
% Ball rule base for Cart-Ball model
%
% X34       States 3 and 4 (Phi,dPhi) as a vector
% BallRules The rules selected as active, binary [1x9]
% U         Control signal
%
% X34 may be a matrix generated by 'cart' for example,
% with one row for each input instance. The result
% is then a vector of control signals.

% Jantzen 943003
%
% April 1995: Rule base read from a text file instead of 
% being directly declared in this function.
%
% Petur Snaeland.
% Revised Hordur Kvaran, 20.10.97

 Phi = X34(:,1) ;
 dPhi = X34(:,2) ;

load ballsets;                                     % Load fuzzy set declarations for the ball
[hBaseFile,message] = fopen('ballbase.txt','rt+'); % Open the rule base text file
if (hBaseFile==-1),                 %A little error catching.  In case not in correct directory
   filepath=which('ballbase.txt');
   if isempty(filepath),
      doevent('MainExit');
      error('Ballbase.txt not found in search path.'); 
   else hBaseFile = fopen(filepath,'rt+');
   end;
end;
RuleBase = fscanf(hBaseFile,'%s');                 % Read all rule characters into one string
fclose(hBaseFile);                                 % ... and then close the file again.
%
%  The rules contained in RuleBase are in a continuous string, e.g. 'ISMSSTOOOISRMVRPHR...'
%  Each rule therefore takes 9 characters.  Use this to make up a two dimensional string
%  matrix, where each line contains one rule, e.g. 'ISM SST OOO'.
%
Col(:,1) = RuleBase(1:9:length(RuleBase))';        % 1. character of ISL, ISM or ISR.
Col(:,2) = RuleBase(2:9:length(RuleBase))';        % 2. character of ISL, ISM or ISR.
Col(:,3) = RuleBase(3:9:length(RuleBase))';        % 3. character of ISL, ISM or ISR.
Col(:,4) = setstr(32)*ones(9,1);                   % Separate with a column of spaces
Col(:,5) = RuleBase(4:9:length(RuleBase))';        % 1. character of MVL, SST or MVR.
Col(:,6) = RuleBase(5:9:length(RuleBase))';        % 2. character of MVL, SST or MVR.
Col(:,7) = RuleBase(6:9:length(RuleBase))';        % 3. character of MVL, SST or MVR.
Col(:,8) = setstr(32)*ones(9,1);                   % Separate with a column of spaces
Col(:,9) = RuleBase(7:9:length(RuleBase))';        % 1. character of PHL, PSL, OOO, PSR or PHR.
Col(:,10) = RuleBase(8:9:length(RuleBase))';       % 2. character of PHL, PSL, OOO, PSR or PHR.
Col(:,11) = RuleBase(9:9:length(RuleBase))';       % 3. character of PHL, PSL, OOO, PSR or PHR.
%
%  Now build the Rule matrix line by line by evaluating the rules one by one, 
%  e.g. by evaluating 'Rules(i,:) = [ISM SST OOO]'.
%
Rules = zeros(9,11);
for i=1:9,
   eval([ 'Rules(i,:) = [' sprintf('%s',Col(i,:)) ']; '])
end;
%
%  The following may look funny - it is designed for fast execution
%  when the inputs are vectors.
%
N = size(Rules,1) ;
Allifs = zeros(length(Phi), N) ;
for I = 1:N,
  Allifs(:,I) = fand(is(Phi, Rules(I,1:5)), is(dPhi, Rules(I,6:10))) ;
end ;
AllThens = Rules(:,11).*BallRules' ;
%
% Height defuzzification
%
index = find(BallRules);
Nums = Allifs(:,index) * AllThens(index) ;                      % Note the matrix product * ;
Dens = sum(Allifs(:,index)')' ;
if (find(Dens==0)),
   MainPos = get(gcf,'Position');
   MainX = MainPos(1); MainY = MainPos(2); MainW = MainPos(3); MainH = MainPos(4);
   BoxW = 180; BoxH = 100;
   posBox    = [MainX+(MainW-BoxW)/2 MainY+(MainH-BoxH)/2 BoxW BoxH];
   figure('Visible','on','NumberTitle','off','MenuBar','none', ...
          'Name','Warning','Position',posBox,'Resize','off','Color',[.75 .75 .75] );
   button('OK',[40 20 100 25],'delete(gcf)');
   uicontrol('Style','text','String','The rulebase is incomplete','Position',[10 60 170 30], ...
             'BackgroundColor',[.75 .75 .75],'HorizontalAlignment','center');
end;             
U = Nums ./ Dens ;