南昌大学智能控制实验报告(5)

time(k)=k*ts; L(k)=h; e1(k)=H-h; q1=b*M;

q2=21*sqrt(h); h=h+(q1-q2)/s; e3(k)=L(k)-h;

for j=1:1:6

I(j)=x'*w1(:,j);

Iout(j)=1/(1+exp(-I(j))); end

Mn(k)=w2'*Iout; e2(k)=M-Mn(k);

w2=w2_1+(xite*e2(k))*Iout+alfa*(w2_1-w2_2); for j=1:1:6

FI(j)=exp(-I(j))/(1+exp(-I(j)))^2; end

for i= 1:1:1 for j=1:1:6

dw1(i,j)=e2(k)*xite*FI(j)*w2(j)*x(i); end end

w1=w1_1+dw1+alfa*(w1_1-w1_2); yu=0; for j=1:1:6

yu=yu+w2(j)*w1(1,j)*FI(j); end

dyu(k)=yu; x=e1(k);

w1_2=w1_1;w1_1=w1; w2_2=w2_1;w2_1=w2; end

figure(1);

plot(time,L,'r',time,e1,'b'); figure(2); plot(time,e3);

六、实验结果