T-S模糊辨识与广义预测控制(GPC)MATLAB源程序
clear all
close all
clear all
%获得样本数据
y(1)=1;y(2)=1;u(1)=0;r=16;N0=500;yr1=1;
for k=3:N0;
u(k-1)=5*sin(pi*(k-1)/100);
y(k)=(y(k-1)*y(k-2)*(y(k-1)-2.5)/(1+y(k-1)^2+y(k-2)^2))+u(k-1);
end
U1=zeros(4,N0);
for k=1:N0;
if y(k)<=-5
U1(4,k)=-0.1*y(k)-0.5;
%%%%%%%
U1(3,k)=0.2*y(k)+2;
elseif y(k)<=0
U1(3,k)=-0.2*y(k);
U1(2,k)=0.2*y(k)+1;
elseif y(k)<=5
U1(2,k)=-0.2*y(k)+1;
U1(1,k)=0.1*y(k);
else
U1(1,k)=0.1*y(k);
end
end
for i=1:4;
den=0.0001;
for k=1:N0
den=U1(i,k)+den;
end
C(i)=(U1(i,:)*y')/den;
end
for k=1:N0;
for i=1:4;
D(i,k)=abs(y(k)-C(i));
end
if (D(:,k)>0)
for i=1:4;
den=0.00001;
for j=1:4;
den=D(i,k)/D(j,k)+den;
end
U2(i,k)=1/den;
end
else
flag=(D(:,k)>0);
for i=1:4
if (flag(i)==1)
U2(i,k)=0;
else
U2(i,k)=1/sum(flag);
end
end
end
end
for i=1:4
den=0.00001;
for k=1:N0
den=U2(i,k)+den;
end
C(i)=(U2(i,:)*y')/den;
end
for k=1:N0
den=0.00001;
for i=1:4
den=U2(i,k)+den;
end
for i=1:4
Beta(i,k)=U2(i,k)/den;
end
end
for k=3:N0
fai(:,k-2)=[Beta(:,k-2)
Beta(:,k-2)*y(k-1)
Beta(:,k-2)*y(k-2)
Beta(:,k-2)*u(k-1)];
end
ft=fai';
w=zeros(N0-2,16);
w(:,1)=ft(:,1);
for k=1:N0-2
for h=2:16
for i=1:h-1
den(1,i)=0.001;
for k=1:N0-2
den(1,i)=den(1,i)+w(k,i);
end
alpha(h,i)=0;
for k=1:N0-2
alpha(h,i)=alpha(h,i)+w(k,i)*ft(k,h)/den(1,i);
end
end
s(1,h)=0;
for i=1:h-1
s(1,h)=s(1,h)+alpha(h,i)*w(k,i);
end
w(k,h)=ft(k,h)-s(1,h);
end
end
W=w';
at=alpha';
for i=1:r;
den=0.0001;
for k=1:N0-2
den=W(i,k)+den;
end
g(i)=(W(i,:)*y(1:N0-2)')/den;
end
theta(r)=g(r);
for i=(r-1):(-1):1;
theta(i)=g(i)-at(i,:)*theta';
end
x=[-15:0.1:15];
for k=1:301
if x(k)<=-10
UNB(k)=-0.1*x(k)-0.5;
UNS(k)=0;
UPS(k)=0;
UPB(k)=0;
elseif x(k)<=-5
UNB(k)=-0.1*x(k)-0.5;
UNS(k)=0.2*x(k)+2;
UPS(k)=0;
UPB(k)=0;
elseif x(k)<=0
UNB(k)=0;
UNS(k)=-0.2*x(k);
UPS(k)=0.2*x(k)+1;
UPB(k)=0;
elseif x(k)<=5
UNB(k)=0;
UNS(k)=0;
UPS(k)=-0.2*x(k)+1;
UPB(k)=0.1*x(k);
else
UNB(k)=0;
UNS(k)=0;
UPS(k)=0;
UPB(k)=0.1*x(k);
if UPB(k)>=1
UPB(k)=1;
end
end
end
hold on;
plot(x,UNB,'b');
plot(x,UNS,'k');
plot(x,UPS,'r');
plot(x,UPB,'g');
subplot(2,1,1):plot(x,UNB,'b',x,UNS,'k',x,UPS,'r',x,UPB,'g');
xlabel('隶属函数图');;ylabel('隶