chap10_3c.m

北航刘金锟老师的《智能控制》附带的完整matlab源程序！

clear all;
close all;

load pfile;

alfa=0.05;
xite=0.85;      
x=[0,0]';

M=1;
if M==1   %bi,ci optimized by GA
	b=[p(1);p(2);p(3)];   
	c=[p(4) p(5) p(6);
	   p(7) p(8) p(9)];
	w=[p(10);p(11);p(12)];   
elseif M==2 
	b=3*rand(3,1);
	c=3*rands(2,3);
	w=rands(3,1);   
end

w_1=w;w_2=w_1;
c_1=c;c_2=c_1;
b_1=b;b_2=b_1;

y_1=0;

ts=0.001;
for k=1:1:1500
time(k)=k*ts;
   
u(k)=sin(5*2*pi*k*ts);

y(k)=u(k)^3+y_1/(1+y_1^2);  

x(1)=u(k);
x(2)=y(k);
   
for j=1:1:3
    h(j)=exp(-norm(x-c(:,j))^2/(2*b(j)*b(j)));
end
ym(k)=w_1'*h';

e(k)=y(k)-ym(k);

d_w=0*w;d_b=0*b;d_c=0*c;
for j=1:1:3
   d_w(j)=xite*e(k)*h(j);
   d_b(j)=xite*e(k)*w(j)*h(j)*(b(j)^-3)*norm(x-c(:,j))^2;
  for i=1:1:2
   d_c(i,j)=xite*e(k)*w(j)*h(j)*(x(i)-c(i,j))*(b(j)^-2);
  end
end
   w=w_1+ d_w+alfa*(w_1-w_2);
   b=b_1+d_b+alfa*(b_1-b_2);
   c=c_1+d_c+alfa*(c_1-c_2);

   y_1=y(k);
   w_2=w_1;
   w_1=w;
   c_2=c_1;
   c_1=c;
   b_2=b_1;
   b_1=b;
end
figure(1);
plot(time,y,'r',time,ym,'b');
xlabel('time(s)');ylabel('y and ym');