clear all;
close all;
a=newfis('fuzzpid');    %創建新的模糊推理系統

a=addvar(a,'input','e',[-3,3]);   %添加模糊語言變量
a=addmf(a,'input',1,'NB','zmf',[-3,-1]);%addmf添加模糊語言變量的隸屬度函數
a=addmf(a,'input',1,'NM','trimf',[-3,-2,0]);%zmf Z型隸屬度函數
a=addmf(a,'input',1,'NS','trimf',[-3,-1,1]);%trimf 三角形隸屬度函數
a=addmf(a,'input',1,'Z','trimf',[-2,0,2]);
a=addmf(a,'input',1,'PS','trimf',[-1,1,3]);
a=addmf(a,'input',1,'PM','trimf',[0,2,3]);
a=addmf(a,'input',1,'PB','smf',[1,3]);%Sigmoid隸屬度函數

a=addvar(a,'input','ec',[-3,3]);
a=addmf(a,'input',2,'NB','zmf',[-3,-1]);
a=addmf(a,'input',2,'NM','trimf',[-3,-2,0]);
a=addmf(a,'input',2,'NS','trimf',[-3,-1,1]);
a=addmf(a,'input',2,'Z','trimf',[-2,0,2]);
a=addmf(a,'input',2,'PS','trimf',[-1,1,3]);
a=addmf(a,'input',2,'PM','trimf',[0,2,3]);
a=addmf(a,'input',2,'PB','smf',[1,3]);

a=addvar(a,'output','kp',[-0.3,0.3]);
a=addmf(a,'output',1,'NB','zmf',[-0.3,-0.1]);
a=addmf(a,'output',1,'NM','trimf',[-0.3,-0.2,0]);
a=addmf(a,'output',1,'NS','trimf',[-0.3,-0.1,0.1]);
a=addmf(a,'output',1,'Z','trimf',[-0.2,0,0.2]);
a=addmf(a,'output',1,'PS','trimf',[-0.1,0.1,0.3]);
a=addmf(a,'output',1,'PM','trimf',[0,0.2,0.3]);
a=addmf(a,'output',1,'PB','smf',[0.1,0.3]);

a=addvar(a,'output','ki',[-0.06,0.06]);
a=addmf(a,'output',2,'NB','zmf',[-0.06,-0.02]);
a=addmf(a,'output',2,'NM','trimf',[-0.06,-0.04,0]);
a=addmf(a,'output',2,'NS','trimf',[-0.06,-0.02,0.02]);
a=addmf(a,'output',2,'Z','trimf',[-0.04,0,0.04]);
a=addmf(a,'output',2,'PS','trimf',[-0.02,0.02,0.06]);
a=addmf(a,'output',2,'PM','trimf',[0,0.04,0.06]);
a=addmf(a,'output',2,'PB','smf',[0.02,0.06]);

a=addvar(a,'output','kd',[-3,3]);
a=addmf(a,'output',3,'NB','zmf',[-3,-1]);
a=addmf(a,'output',3,'NM','trimf',[-3,-2,0]);
a=addmf(a,'output',3,'NS','trimf',[-3,-1,1]);
a=addmf(a,'output',3,'Z','trimf',[-2,0,2]);
a=addmf(a,'output',3,'PS','trimf',[-1,1,3]);
a=addmf(a,'output',3,'PM','trimf',[0,2,3]);
a=addmf(a,'output',3,'PB','smf',[1,3]);

rulelist=[1 1 7 1 5 1 1 ;
          1 2 7 1 3 1 1;
          1 3 6 2 1 1 1;
          1 4 6 2 1 1 1;
          1 5 5 3 1 1 1;
          1 6 4 4 2 1 1;
          1 7 4 4 5 1 1;
          
          2 1 7 1 5 1 1;
          2 2 7 1 3 1 1;
          2 3 6 2 1 1 1;
          2 4 5 3 2 1 1;
          2 5 5 3 2 1 1;
          2 6 4 4 3 1 1;
          2 7 3 4 4 1 1;
          
          3 1 6 1 4 1 1;
          3 2 6 2 3 1 1;
          3 3 6 3 2 1 1;
          3 4 5 3 2 1 1;
          3 5 4 4 3 1 1;
          3 6 3 5 3 1 1;
          3 7 3 5 4 1 1;
          
          4 1 6 2 4 1 1;
          4 2 6 2 3 1 1;
          4 3 5 3 3 1 1;
          4 4 4 4 3 1 1;
          4 5 3 5 3 1 1;
          4 6 2 6 3 1 1;
          4 7 2 6 4 1 1;
          
          5 1 5 2 4 1 1;
          5 2 5 3 4 1 1;
          5 3 4 4 4 1 1;
          5 4 3 5 4 1 1;
          5 5 3 5 4 1 1;
          5 6 2 6 4 1 1;
          5 7 2 7 4 1 1;
          
          6 1 5 4 7 1 1;
          6 2 4 4 5 1 1;
          6 3 3 5 5 1 1;
          6 4 2 5 5 1 1;
          6 5 2 6 5 1 1;
          6 6 2 7 5 1 1;
          6 7 1 7 7 1 1;
          
          7 1 4 4 7 1 1;
          7 2 4 4 6 1 1;
          7 3 2 5 6 1 1;
          7 4 2 6 6 1 1;
          7 5 2 6 5 1 1;
          7 6 1 7 5 1 1;
          7 7 1 7 7 1 1];
a=addrule(a,rulelist);%向系統添加規則
a=setfis(a,'DefuzzMethod','centroid');%設置模糊推理系統的特性 平均最大隸屬度方法
writefis(a,'fuzzpid');%保存模糊推理系統
a=readfis('fuzzpid');%從磁盤讀出存儲的模糊推理系統

ts=0.001;
sys=tf(5.235e005,[1,87.35,1.047e004,0]);
dsys=c2d(sys,ts,'tustin');
[num,den]=tfdata(dsys,'v');

u_1=0.0;u_2=0.0;u_3=0.0;
y_1=0.0;y_2=0.0;y_3=0.0;

x=[0,0,0]';

e_1=0;ec_1=0;error_1=0;

kp0=0.40;
kd0=1.0;
ki0=0.0;



for k=1:1:500;
time(k)=k*ts;
rin(k)=1;



k_pid=evalfis([e_1,ec_1],a);%執行模糊推理計算函數 
kp(k)=kp0+k_pid(1);
ki(k)=ki0+k_pid(2);
kd(k)=kd0+k_pid(3);
u(k)=kp(k)*x(1)+kd(k)*x(2)+ki(k)*x(3);

if k==300
   u(k)=u(k)+1;
end

if u(k)>=10
   u(k)=10; 
end
if u(k)<=-10
   u(k)=-10; 
end   

yout(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(1)*u(k)+num(2)*u_1+num(3)*u_2+num(4)*u_3;
error(k)=rin(k)-yout(k);



u_3=u_2;
u_2=u_1;
u_1=u(k);

y_3=y_2;y_2=y_1;y_1=yout(k);

x(1)=error(k);
x(2)=error(k)-error_1;
x(3)=x(3)+error(k);

e_1=x(1);
ec_1=x(2);

error_2=error_1;
error_1=error(k);

end

showrule(a);

figure(1);
plot(time,rin,'r',time,yout,'b');
title('time/rin,yout');

figure(2);
plot(time,error,'r');
title('time/error');

figure(3);
plot(time,u);
title('time/u');

figure(4);
plot(time,kp);
title('time/kp');

figure(5);
plot(time,ki);
title('time/ki');

figure(6);
plot(time,kd);
title('time/kd');

figure(7);
plotmf(a,'input',1);

figure(8);
plotmf(a,'input',2);

figure(9);
plotmf(a,'output',1);

figure(10);
plotmf(a,'output',2);%繪制隸屬度函數曲線

figure(11);
plotmf(a,'output',3);

plotfis(a);%圖形顯示模糊推理系統的輸入輸出特性
fuzzy fuzzpid.fis

figure(12);
gensurf(a);%生成模糊推理系統的輸出曲面并顯示函數