zuixiaoercheng.m

自适应控制

 clear
L=15;
y1=1;y2=1;y3=1;y4=0;
for i=1:L;
x1=xor(y3,y4);x2=y1;x3=y2;x4=y3;
y(i)=y4;
if y(i)>0.5,u(i)=-0.03;
else u(i)=0.03;
end
y1=x1;y2=x2;y3=x3;y4=x4;
end                         %产生输入信号u
z(2)=0;z(1)=0;
for k=3:15;
z(k)=-2*z(k-1)-5*z(k-2)+u(k-1)+3*u(k-2);
end
%递推最小二乘辨识
c0=[0.001 0.001 0.001 0.001]';   %辨识参数初值
p0=10^6*eye(4,4);             %初始p0
E=0.000000005
c=[c0,zeros(4,14)];
e=zeros(4,15);
for k=3:15;
h1=[-z(k-1),-z(k-2),u(k-1),u(k-2)]';x=h1'*p0*h1+1;x1=inv(x);
k1=p0*h1*x1;
d1=z(k)-h1'*c0;c1=c0+k1*d1;
e1=c1-c0;e2=e1./c0;
e(:,k)=e2;
c0=c1;
c(:,k)=c1;
p1=p0-k1*k1'*[h1'*p0*h1+1];
p0=p1;
if e2<=E break;
end
end
                           %做图
c,e
a1=c(1,:);a2=c(2,:);b1=c(3,:);b2=c(4,:);ea1=e(1,:);ea2=e(2,:);eb1=e(3,:);eb2=e(4,:);
figure(2);
i=1:15;
plot(i,a1,'r',i,a2,':',i,b1,'g',i,b2,':')
figure(3);
i=1:15;
plot(i,ea1,'r',i,ea2,'g',i,eb1,'b',i,eb2,'r:')