%Adaptive switching Learning Control for 2DOF robot manipulatorsclear all;close all;L=3001;t=[0:0.001:3]';T1(1:L)=0;T1=T1';T2=T1;T=[T1 T2];e1(1:L)=0;e1=e1';e2=e1;de1=e1;de2=de1;e=[e1 e2 de1 de2];k(1:L)=0;k=k';%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%M=4;for i=0:1:M    % Start Learning Controlipause(0.01);sim('chap5_5sim',[0,3]);q1=q(:,3);q2=q(:,4);dq1=q(:,1);dq2=q(:,2);q1d=qd(:,1);q2d=qd(:,2);dq1d=qd(:,3);dq2d=qd(:,4);e1=q1d-q1;e2=q2d-q2;de1=dq1d-dq1;de2=dq2d-dq2;figure(1);subplot(211);hold on;plot(t,q1,'b',t,q1d,'r');xlabel('t (s)');ylabel('q1d,q1 (rad)');subplot(212);hold on;plot(t,q2,'b',t,q2d,'r');xlabel('t (s)');ylabel('q2d,q2 (rad)');j=i+1;times(j)=i;e1i(j)=max(abs(e1));e2i(j)=max(abs(e2));de1i(j)=max(abs(de1));de2i(j)=max(abs(de2));end          %End of i%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%figure(2);subplot(211);plot(t,q1d,'r',t,q1,'b');xlabel('t');ylabel('q1d,q1');subplot(212);plot(t,q2d,'r',t,q2,'b');xlabel('t');ylabel('q2d,q2');figure(3);plot(times,e1i,'*-r',times,e2i,'o-b');title('Change of maximum absolute value of error1 and error2 with times i');xlabel('times');ylabel('error1 and error2');figure(4);subplot(211);plot(t,dq1d,'r',t,dq1,'b');xlabel('t');ylabel('dq1d,dq1');subplot(212);plot(t,dq2d,'r',t,dq2,'b');xlabel('t');ylabel('dq2d,dq2');figure(5);plot(times,de1i,'*-r',times,de2i,'o-b');title('Change of maximum absolute value of derror1 and derror2 with times i');xlabel('times');ylabel('derror1 and derror2');