clear all;
close all;

a=newfis('fuzzpid');

a=addvar(a,'input','e',[-3,3]);     %parameter e
a=addmf(a,'input',1,'NB','zmf',[-3,-1]);
a=addmf(a,'input',1,'NM','trimf',[-3,-2,0]);
a=addmf(a,'input',1,'NS','trimf',[-3,-1,1]);
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]);

a=addvar(a,'input','ec',[-3,3]);     %parameter ec
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]);     %parameter kp
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]);     %parameter ki
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]);     %parameter kd
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 3 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);
a=setfis(a,'DefuzzMethod','mom');
ritefis(a,'fuzzpid');

a=readfis('fuzzpid')

%pid controller
ts=20;
sys=tf([1],[60,1],'inputdelay',80);
dsys=c2d(sys,ts,'zoh');
[num,den]=tfdata(dsys,'v');

u_1=0;u_2=0;u_3=0;u_4=0;u_5=0;u_6=0;
y_1=0;y_2=0;y_3=0;
x=[0,0,0]';
error_1=0;
e_1=0.0;
ec_1=0.0;
kp0=0.80;
kd0=3;
ki0=0.1;

for k=1:1:200
          time(k)=k*ts;
          rin(k)=1;
          k_pid=evalfis([e_1,ec_1],a);
          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 u(k)>=1
          u(k)=1;
          end
          if u(k)<=-1
          u(k)=-1;
          end
          
          yout(k)=-den(2)*y_1+num(2)*u_5;
          error(k)=rin(k)-yout(k);
%%%%% return of pid parameters %%%%%%%%%%%%%%%%%%
          u_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1;if k==100
          u_1=u(k)+1;
          else
          u_1=u(k);
          end

          y_3=y_2;y_2=y_1;y_1=yout(k);
          x(1)=error(k);
          x(2)=(error(k)-error_1)/ts;
          x(3)=x(3)+error(k)*ts;
          
          e_1=x(1);
          ec_1=x(2);
          
          error_2=error_1;
          error_1=error(k);
          
end
showrule(a)
figure(1);
plot(time,rin,'b',time,yout,'r');grid on;
xlabel('time(s)');ylabel('rin,yout');
figure(2);
plot(time,error,'r');
xlabel('time(s)');ylabel('error');
figure(3);
plot(time,u,'r');
xlabel('time(s)');ylabel('u');
figure(4);
plot(time,kp,'r');
xlabel('time(s)');ylabel('kp');
figure(5);
plot(time,ki,'r');
xlabel('time(s)');ylabel('ki');
figure(6);
plot(time,kd,'r');
xlabel('time(s)');ylabel('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);
figure(11);
plotmf(a,'output',3);
plotfis(a);
fuzzy fuzzpid.fis





















%仿真程序7
%bp based pid control
clear all;
close all;

ts=20;
sys=tf([1],[60,1],'inputdelay',80);
dsys=c2d(sys,ts,'zoh');
[num,den]=tfdata(dsys,'v');
 
xite=0.3;
alfa=0.05;
IN=4;H=8;OUT=3;
wi=[0.4501    0.3214    0.4355   0.3611;
    0.2689    0.0553    0.4169   0.2972;
    0.1068    0.1154   0.0897   0.3013;
    0.0140    0.2919    0.3936    0.1038;
    0.3913    0.4218   0.4421   0.2278;
    0.2621    0.2382   0.1471  0.3012;
    0.0435     0.3237    0.3132   0.4847;
    0.4815    0.0943  0.4901    0.2468];
%wi=0.50*rands(H,IN)
wi_1=wi;wi_2=wi;wi_3=wi;
wo=[-0.0549   -0.0814   -0.2974   -0.4804    0.3318   -0.0711  -0.3066    0.0417;
    0.4318    0.3462    0.1721    0.1813    0.0028   -0.1954    0.1822   -0.3491;
   -0.0340    0.0252    0.3381   -0.1205    0.2095   -0.3103   -0.1972    0.1979];
%wo=0.50*rands(OUT,H)
wo_1=wo;wo_2=wo;wo_3=wo;
x=[0,0,0];
u_1=0;u_2=0;u_3=0;u_4=0;u_5=0;u_6=0;
y_1=0;y_2=0;y_3=0;

oh=zeros(H,1);%output from nn middle layer
I=oh;%input to nn middle layer
error_1=0;error_2=0;
for k=1:1:200
    time(k)=k*ts;
    
    yout(k)=-den(2)*y_1+num(2)*u_5;
    rin(k)=1;
    error(k)=rin(k)-yout(k);
    
    xi=[rin(k),yout(k),error(k),1];
    
    x(1)=error(k)-error_1;
    x(2)=error(k);
    x(3)=error(k)-2*error_1+error_2;
    
    Epid=[x(1);x(2);x(3)];
    I=wi*xi';
    for j=1:1:H;
        oh(j)=(exp(I(j))-exp(-I(j)))/(exp(I(j))+exp(-I(j)));%middle layer
    end
    
    q=wo*oh; %output layer
    for j=1:1:OUT
        m(j)=exp(q(j))/(exp(q(j))+exp(-q(j)));%getting kp ki kd
    end
    kp(k)=m(1);ki(k)=m(2);kd(k)=m(3);
    kpid=[kp(k),ki(k),kd(k)];
    du(k)=kpid*Epid;
    u(k)=u_1+du(k);
    if u(k)>=1
    u(k)=1;
    end
    if u(k)<=-1
    u(k)=-1;
    end
    dyu(k)=sign((yout(k)-y_1)/(u(k)-u_1+0.00000001));
    
    %output layer
    for j=1:1:OUT
        dm(j)=2/(exp(m(j))+exp(-m(j)))^2;
    end
    for j=1:1:OUT
        delta3(j)=error(k)*dyu(k)*Epid(j)*dm(j);
    end
    
    for n=1:1;OUT
        for i=1:1:H
            d_wo=xite*delta3(n)*oh(i);
        end
    end
    wo=wo_1+d_wo+alfa*(wo_1-wo_2);
    %hidden layer
    for i=1:1:H
        do(i)=4/(exp(I(i))+exp(-I(i)))^2;
    end
    segma=delta3*wo;
    for i=1:1:H
         delta2(i)=do(i)*segma(i);
    end
    
    d_wi=xite*delta2'*xi;
    wi=wi_1+d_wi+alfa*(wi_1-wi_2);
    %parameter update 
u_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1;
if k==100
          u_1=u(k)+1;
    else
          u_1=u(k);
    end
    y_2=y_1;y_1=yout(k);
    wo_3=wo_2;
    wo_2=wo_1;
    wo_1=wo;
    wi_3=wi_2;
    wi_2=wi_1;
    wi_1=wi;
    
    error_2=error_1;
    error_1=error(k);
end
figure(1);
plot(time,rin,'b',time,yout,'r');  grid on;
xlabel('time(s)');ylabel('rin,yout');
figure(2);
plot(time,error,'r');
xlabel('time(s)');ylabel('error');
figure(3);
plot(time,u,'r');
xlabel('time(s)');ylabel('u');
figure(4);
subplot(311);
plot(time,kp,'r');
xlabel('time(s)');ylabel('kp');
subplot(312);
plot(time,ki,'r');
xlabel('time(s)');ylabel('ki');
subplot(313);
plot(time,kd,'r');
xlabel('time(s)');ylabel('kd');