gena_fis.m

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function PI=gena_fis(x)
% Build a system from scratch
% gena_fis.m
% THIS PROGRAM SHOWS YOU TO GENERATE A FIS PROGRAM FROM NOTHING.
global Kp Ki Kd wn zeta Emin main_loop tippa MIN_offset

Kp=round4dp(x(1));
Ki=round4dp(x(2));
Kd=round4dp(x(3));

% Call gen_tippa
gen_tippa;

%IN=[1 1 1 1]   % evaluate FIS
%evalfis(IN,tippa)
[t,x,Y]=sim('pidb_fuzzy',[0 10]); ERR=Y(:,1);
N=length(ERR); ERR=ERR(N);
y=Y(:,2); if max(y)>1, ERR=ERR+1000; end;
PI=MIN_offset-ERR;
if Emin>ERR
    Emin=ERR; save gena_data Kp Ki Kd Emin tippa
    fprintf('\nKp=%5.2f; Ki=%6.2f; Kd=%6.2f; Emin=%10.4f;\n',Kp,Ki,Kd,Emin);
else
    fprintf('>');
end;