dmatrix.m

用于汽车巡航控制系统的模糊控制算法

function [D, d] = DMatrix(n)

% Create the D matrix and d vector for constrained Kalman filtering.
% The input n is an array containing the total number of fuzzy membership 
% functions that are being optimized for each fuzzy variable.

nRows = 0;
nCols = 0;
for i = 1 : size(n, 2)
   nRows = nRows + 2 * (n(i) - 1);
   nCols = nCols + 3 * n(i);
end
D = zeros(nRows, nCols);
OddRow = [0 1 1 0 0 -1];
EvenRow = [0 0 1 1 0 -1];
iRow = 1;
iCol = 1;
for i = 1 : size(n, 2)
   for j = 1 : n(i) - 1
	   D(iRow:iRow+1, iCol:iCol+5) = [OddRow; EvenRow];
	   iRow = iRow + 2;
	   iCol = iCol + 3;
   end
   iCol = iCol + 3;
end
d = zeros(nRows, 1);