clear all;
close all;

xite=0.20;
alfa=0.02;

c0=0.65*ones(2,5);
b0=0.30*ones(5,1);
w0=rands(25,3);

c=c0;c_1=c0;c_2=c0;
b=b0;b_1=b0;b_2=b0;
w4=w0;w4_1=w0;w4_2=w0;

sys=tf(1000,[1,50,2000]);
days=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');

x=[0,0]';
xc=[0,0,0]';

du_1=0;u_1=0;y_1=0;
error_1=0;error_2=0;error=0;

ts=0.001;
for k=1:1:500
    time(k)=k*ts;
    rin(k)=1.0;
    yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
    
    
x(1)=rin(k);
x(2)=yout(k);

f1=x;

for i=1:1:2
    for j=1:1:5
        net2(i,j)=-(f1(i)-c_1(i,j))^2/b_1(j)^2;
    end
end
for i=1:1:2
    for j=1:1:5
        f2(i,j)=exp(net2(i,j));
    end
end

for j=1:1:5
    m1(j)=f2(1,j);
    m2(j)=f2(2,j);
end

for i=1:1:5
    for j=1:1:5
        ff3(i,j)=m2(i)*m1(j);
    end
end
f3=[ff3(1, :),ff3(2, :),ff3(3, :),ff3(4, :),ff3(5, :)];

f4=w4'*f3';
kp(k)=f4(1);
ki(k)=f4(2);
kd(k)=f4(3);

error(k)=rin(k)-yout(k);
du(k)=kp(k)*xc(1)+kd(k)*xc(2)+ki(k)*xc(3);
u(k)=u_1+du(k);

dyu(k)=sign((yout(k)-y_1)/(du(k)-du_1+0.0001));

d_w4=0*w4_1;
for i=1:1:25
    for j=1:1:3
        d_w4(i,j)=xite*error(k)*dyu(k)*xc(j)*f3(i);
    end
end
w4=w4_1+d_w4+alfa*(w4_1-w4_2);

du_1=du(k);
u_1=u(k);
y_1=yout(k);

w4_2=w4_1;w4_1=w4;

xc(1)=error(k)-error_1;
xc(2)=error(k);
xc(3)=error(k)-2*error_1+error_2;

error_2=error_1;
error_1=error(k);
end
figure(1);
plot(time,rin,'b',time,yout,'r');
xlabel('time(s)');ylabel('rin,yout');
figure(2);
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');