【神经网络PID】基于simulink的神经网络PID控制器仿真

function [sys,x0,str,ts,simStateCompliance] = Hebb_z(t,x,u,flag,ni,np,nd,K)
switch flag
  case 0
    [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes;
  case 2
    sys=mdlUpdate(t,x,u,ni,np,nd);
  case 3
    sys=mdlOutputs(t,x,u,K);
  case {1,4,9}
    sys=[];
  otherwise
    DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag));
end
function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes
sizes = simsizes;
sizes.NumContStates  = 0;
sizes.NumDiscStates  = 3;
sizes.NumOutputs     = 4;
sizes.NumInputs      = 5;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1;  
sys = simsizes(sizes);
x0  = [0.1,0.1,0.1];
str = [];
ts  = [0.001 0];
simStateCompliance = 'UnknownSimState';
function sys=mdlUpdate(t,x,u,ni,np,nd)
sys = x+[ni*u(1)*u(5)*u(1);np*u(1)*u(5)*(u(1)-u(2));nd*u(1)*u(5)*(u(3)-2*u(2))];
function sys=mdlOutputs(t,x,u,K)
xx = [u(1) u(1)-u(2) u(1)+u(3)-2*u(2)];
sys = [u(4)+K*xx*x/sum(abs(x));K*x/sum(abs(x))];

A05-105