t5.m

倒立摆matlab程序设计与实现 倒立摆matlab程序设计与实现

clear;
clc;
alf2=0;w=zeros(1,64);
bata=0.04;y=zeros(1,1000);Ed=0;
delta = 1;
x1=linspace(-1,1,1000);
x2=linspace(-1,1,1000);

yd=sin(pi*x1).*cos(pi*x2);
figure(1);
%plot3(x1,x2,yd,'s')

xx2=x2';
xx1=x1;
xxx1=ones(size(xx2))*xx1;
xxx2=xx2*ones(size(xx1));
yy=sin(pi*xxx1).*cos(pi*xxx2);
mesh(xxx1,xxx2,yy);

for m = 1 : 5
for i=1:1000
   error=yd(i)-y(i);
   Ed=Ed+0.5*error*error;
   if Ed>0.00001
      
    merbership11=exp(-(x1(i)+0.125)^2/delta);
    merbership12=exp(-(x1(i)+0.375)^2/delta);
    merbership13=exp(-(x1(i)+0.625)^2/delta);
    merbership14=exp(-(x1(i)+0.875)^2/delta);
    merbership15=exp(-(x1(i)-0.125)^2/delta);
    merbership16=exp(-(x1(i)-0.375)^2/delta);
    merbership17=exp(-(x1(i)-0.625)^2/delta);
    merbership18=exp(-(x1(i)-0.875)^2/delta);

    merbership21=exp(-(x2(i)+0.125)^2/delta);
    merbership22=exp(-(x2(i)+0.375)^2/delta);
    merbership23=exp(-(x2(i)+0.625)^2/delta);
    merbership24=exp(-(x2(i)+0.875)^2/delta);
    merbership25=exp(-(x2(i)-0.125)^2/delta);
    merbership26=exp(-(x2(i)-0.375)^2/delta);
    merbership27=exp(-(x2(i)-0.625)^2/delta);
    merbership28=exp(-(x2(i)-0.875)^2/delta);

    merbership11(i)=merbership11;merbership12(i)=merbership12;
    merbership13(i)=merbership13;merbership14(i)=merbership14;
    merbership15(i)=merbership15;merbership16(i)=merbership16;
    merbership17(i)=merbership17;merbership18(i)=merbership18;
    merbership21(i)=merbership21;merbership22(i)=merbership22;
    merbership23(i)=merbership23;merbership24(i)=merbership24;
    merbership25(i)=merbership25;merbership26(i)=merbership26;
    merbership27(i)=merbership27;merbership28(i)=merbership28;
    merbership=[merbership11,merbership12,merbership13,merbership14,...
      merbership15,merbership16,merbership17,merbership18;...
      merbership21,merbership22,merbership23,merbership24,...
      merbership25,merbership26,merbership27,merbership28];

   alf_sum=0;
   for j=1:8
      for k=1:8
         alf(j,k)=min([merbership(1,j),merbership(2,k)]);
         alf_sum=alf_sum+alf(j,k);
      end
   end
   
   alf_guiyi=alf./alf_sum;
  alf2=[alf_guiyi(1,:),alf_guiyi(2,:),alf_guiyi(3,:),alf_guiyi(4,:),alf_guiyi(5,:),alf_guiyi(6,:),alf_guiyi(7,:),alf_guiyi(8,:)];
   
   for j=1:64
      y(i)=y(i)+w(j)*alf2(j);
   end
   
   % w=w-bata*(-(yd-y).*alf2);
  for j=1:64
     w(j)=w(j)-bata*(-(yd(i)-y(i))*alf2(j)); 
   end
   
end

end
yyd = yd-y;
figure(2);
plot(yyd);
end