function [m,fit]=ARXoutline(u,z,ts,N,nns,nnt)
%獲取模型結構參數范圍
nas=nns(1);nat=nnt(1);
nbs=nns(2);nbt=nnt(2);
nk=nns(3);
if (nat-nas+1)*(nbt-nbs+1)>150
    return 
end
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%獲取實驗數據，及數據預處理
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servo=iddata(z,u,ts);
servo.InputName='position';
servo.OutputName='distance';
ze=servo(1:N);
%figure, plot(ze(1:1000))
%ze=dtrend(ze);
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%模型檢驗及最優模型選擇
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temp=0;
for k1=nas:nat
    for k2=nbs:nbt
            m11=arx(ze,[k1 k2 nk]);         %采用基于最小二乘法估計的ARX模型辨識
            [yh,fit]=compare(ze,m11);       %計算不同結構模型的的適應度
            if fit>temp
               temp=fit;m=m11;              %選擇適應度最高的模型
               nn=[k1 k2 nk];
            end
            clc;
    end
end
%figure, compare(ze,m);                      %模型檢驗
[yh,fit]=compare(ze,m);