chap7_1.m

这是关于刘金琨《智能控制》上我自己编写一部分程序

%BP identification
clear all;
close all;

xite=0.50;
alfa=0.05;

w2=rands(6,1);
w2_1=w2;w2_2=w2_1;

w1=rands(2,6);
w1_1=w1;w1_2=w1;

dw1=0*w1;

x=[0,0]';

u_1=0;
y_1=0;

I=[0,0,0,0,0,0]';
Iout=[0,0,0,0,0,0]';
FI=[0,0,0,0,0,0]';

ts=0.001;
for  k=1:1:1000
   
time(k)=k*ts;
u(k)=0.50*sin(3*2*pi*k*ts);
y(k)=u_1^3+y_1/(1+y_1^2);

for  j=1:1:6   
     I(j)=x'*w1(:,j);
     Iout(j)=1/(1+exp(-I(j)));
end   

yn(k)=w2'*Iout;         % Output of NNI networks

e(k)=y(k)-yn(k);    % Error calculation

w2=w2_1+(xite*e(k))*Iout+alfa*(w2_1-w2_2);

for j=1:1:6
   FI(j)=exp(-I(j))/(1+exp(-I(j)))^2;
end

for i=1:1:2
   for j=1:1:6
      dw1(i,j)=e(k)*xite*FI(j)*w2(j)*x(i);
   end
end
w1=w1_1+dw1+alfa*(w1_1-w1_2);

%%%%%%%%%%%%%%Jacobian%%%%%%%%%%%%%%%%
yu=0;
for j=1:1:6
   yu=yu+w2(j)*w1(1,j)*FI(j);
end
dyu(k)=yu;

x(1)=u(k);
x(2)=y(k);

w1_2=w1_1;w1_1=w1;
w2_2=w2_1;w2_1=w2;
u_1=u(k);
y_1=y(k);
end
figure(1);
plot(time,y,'r',time,yn,'b');
xlabel('times');ylabel('y and yn');
figure(2);
plot(time,y-yn,'r');
xlabel('times');ylabel('error');
figure(3);
plot(time,dyu);
xlabel('times');ylabel('dyu');