智能控制第二版仿真程序chap7.doc

智能控制第七单元书上源程序 chap7-1.m %BP identification clear all; close all; xite=0.50; alfa=0.05; w2=rands(6,1); w2_1=w2;w2_2=w2_1; w1=rands(2,6); w1_1=w1;w1_2=w1; dw1=0*w1; x=[0,0]; u_1=0; y_1=0; I=[0,0,0,0,0,0]; Iout=[0,0,0,0,0,0]; FI=[0,0,0,0,0,0]; ts=0.001; for k=1:1:1000 time(k)=k*ts; u(k)=0.50*sin(3*2*pi*k*ts); y(k)=u_1^3+y_1/(1+y_1^2); for j=1:1:6 I(j)=x*w1(:,j); Iout(j)=1/(1+exp(-I(j))); end yn(k)=w2*Iout; % Output of NNI networks e(k)=y(k)-yn(k); % Error calculation w2=w2_1+(xite*e(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=1:1:2 for j=1:1:6 dw1(i,j)=e(k)*xite*FI(j)*w2(j)*x(i); end end w1=w1_1+dw1+alfa*(w1_1-w1_2); %%%%%%%%%%%%%%Jacobian%%%%%%%%%%%%%%%% yu=0; for j=1:1:6 yu=yu+w2(j)*w1(1,j)*FI(j); end dyu(k)=yu; x(1)=u(k); x(2)=y(k); w1_2=w1_1;w1_1=w1; w2_2=w2_1;w2_1=w2; u_1=u(k); y_1=y(k); end figure(1); plot(time,y,r,time,yn,b); xlabel(times);ylabel(y and yn); figure(2); plot(time,y-yn,r); xlabel(times);ylabel(error); figure(3); plot(time,dyu); xlabel(times);ylabel(dyu); chap7-2a.m %BP Training for MIMO and Multi-samples clear all; close all; xite=0.50; alfa=0.05; w2=rands(6,2); w2_1=w2;w2_2=w2_1; w1=rands(3,6); w1_1=w1;w1_2=w1; dw1=0*w1; I=[0,0,0,0,0,0]; Iout=[0,0,0,0,0,0]; FI=[0,0,0,0,0,0]; OUT=2; k=0; E=1.0; NS=3; while E=1e-020 k=k+1; times(k)=k; for s=1:1:NS %MIMO Samples xs=[1,0,0; 0,1,0; 0,0,1]; %Ideal Input ys=[1,0; 0,0.5; 0,1]; %Ideal Output x=xs(s,:); for j=1:1:6 I(j)=x*w1(:,j); Iout(j)=1/(1+exp(-I(j))); end yl=w2*Iout; yl=yl; el=0; y=ys(s,:); for l=1:1:OUT el=el+0.5*(y(l)-yl(l))^2; %Output error end es(s)=el; E=0; if s==NS for s=1:1:NS E=E+es(s); end end ey=y-yl; w2=w2_1+xite*Iout*ey+alfa*(w2_1-w2_2); for j=1:1:6 S=1/(1+exp(-I(j))); FI(j)=S*(1-S); end for i=1:1:3 for j=1:1:6 dw1(i,j)=xite*FI(j)*x(i)*(ey(1)*w2(j,1)+ey(2)*w2(j,2)); end end w1=w1_1+dw1+alfa*(w1_1-w1_2); w1_2=w1_1;w1_1=w1; w2_