神经网络pid控制matlab程序(共2页).doc

%Single Neural Adaptive PID Controllerclear all;close all; x=0,0,0; xiteP=0.40;xiteI=0.35;xiteD=0.40; %Initilizing kp,ki and kdwkp_1=0.10;wki_1=0.10;wkd_1=0.10;%wkp_1=rand;%wki_1=rand;%wkd_1=rand; error_1=0;error_2=0; y_1=0;y_2=0;y_3=0;u_1=0;u_2=0;u_3=0; ts=0.001;for k=1:1:1000 time(k)=k*ts; yd(k)=0.5*sign(sin(2*2*pi*k*ts); y(k)=0.368*y_1+0.26*y_2+0.1*u_1+0.632*u_2; error(k)=yd(k)-y(k); %Adjusting Weight Value by hebb