ps_robot.m

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% PS_robot.m file
% Find weights and bias of a neural control system by using GA

% PenChen Chou, 7-29-2001. 2004/1/8. 2005-4-16.
% Modification of mrefrobotarm.mdl of NN toolbox
%**********************************************************/
%       User can modify the following in blocks
%**********************************************************/
clear all
ans=1; who
warning('off','MATLAB:dispatcher:InexactMatch');
fprintf('>>>Start this program [PS_robot.m] now. Please wait!\n'); pause(1)

global MIN_offset MUL_factor Emin MDL FT E1 E2 E3 E4 E5
global V11 V12 V21 V22 W11 W12 b11 b21 c11 Ki K a high_freq

MDL='robot2_arm'; FT=59; %FT=final time
K=10; a=2;  %Plant把计
MIN_offset=6e5; Emin=MIN_offset;
MUL_factor=1; 
obj_fcn = 'PS_frobot';	% Objective function

   %