ga_f672.m

其中提到遺傳學的程式碼與應用提供給次淚相向的研究者參考下載

function PI=GA_f672(x)
% Fitness max. function evaluation of Example 6.7-2

% PenChen Chou, Aug. 16, 2001

global MIN_offset MUL_factor Kp Ki Kd K a1 a2 MDL FT 
global ERR1 ERR2 ERR3 ERR4 ERR5 MAIN_loop evo_fuzzy Emin
global rise_time set_time ov_shoot Emin

Kp=GA_round4dp(x(1));
Ki=GA_round4dp(x(2));
Kd=GA_round4dp(x(3));
PI=0;ERR1=0;ERR2=0;ERR3=0;ERR4=0;ERR5=0;
Err_scale=1;
[T X Y]=sim(MDL,[0 FT]); 
in=Y(:,1);y=Y(:,2); N=length(y);yss=in(5);
% Calculate time responses
if N<=1
   ERR1=2*Emin; % Divergent response
else 
   y1=y(N-100);y2=y(N-98); % Check oscillation
   if (abs(y1-y2)>0.1)
    ERR1=2*Emin;
   else   
    cal_time_resp; % Call tr, ov, ts
% Fitness
    A1=min([50 100*rise_time]);
    A2=ov_shoot;
    A3=min([50 100*set_time]);
    ERR1=140-evalfis([A1 A2 A3],evo_fuzzy);
   end; 
end;  %ERR1, pause
% If oscillation, penalize ERR2
if ERR1>Emin
    ERR2=2000; % Skip the present choice
else 
    % Check robustness
    K=17661.1;a1=29.73;a2=21.033; % Normal plant
    K=2.5*K; a1=0.4*a1; a2=0.4*a2; % Plant variation
    [T X Y]=sim(MDL,[0 FT]); 
    in=Y(:,1);y=Y(:,2); N=length(y);
    if N<=1  % Divergent response
        ERR2=2000;
    else    % Check oscillation
        ymax=max(y);
        if (abs(ymax-yss)>0.1)
            ERR2=1999;
        end;
    end;   % ERR2, pause
end; 
ERR=ERR1+ERR2+ERR3+ERR4+ERR5;
PI=ERR;
K=17661.1;a1=29.73;a2=21.033; % Back to normal plant

if Emin>PI
    Emin=PI; %save xxx Kp Ki Kd Emin rise_time ov_shoot set_time
    %[rise_time set_time ov_shoot Emin]
    fprintf('\n==>A1=%.2f,A2=%.4f,A3=%.2f,Emin=%.4f\n',A1,A2,A3,Emin);
    %pause
else
    fprintf('>'); % Find the next choice
end;    
if MIN_offset~=0
    PI=MIN_offset-PI; % Minimization problem
end;    
PI=MUL_factor*PI;