/* Neural control algorithm. neural.c
   PenChen Chou, July 27, 2001        */
#include <stdio.h>
#include <math.h>

float neural(float ek, float dek)
{
   float Se=1, Sde=1, dSu=1;
   float v11=10.8519, v12=42.0039,
	 v21=-0.3134, v22=-0.3082;
   float b11=-25.3636, b12=-0.0382;
   float w11=0.0188, w12=-2.1422,
	 b21=-0.0650;
   float uk;
   float x1, x2, N11, N21, N12;
   /* NN computations */
   x1=Se*ek;
   x2=Sde*dek;
   N11=v11*x1+v12*x2+b11;
   //printf("N11=%f\n",N11);
   N11=2.0/(1+exp(-2*N11))-1.0;
   //printf("N11=%f\n",N11);
   N12=v21*x1+v22*x2+b12;
   N12=2.0/(1+exp(-2*N12))-1.0;
   N21=w11*N11+w12*N12+b21;
   uk=dSu*N21;
   return uk;
}