%Adaptive switching Learning Control for 2DOF robot manipulatorsclear all;close all;t=[0:0.01:3]';k(1:301)=0;    %Total initial pointsk=k';T1(1:301)=0;T1=T1';T2=T1;T=[T1 T2];%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%M=20;for i=0:1:M    % Start Learning Controlipause(0.01);sim('chap5_1sim',[0,3]);q1=q(:,1);dq1=q(:,2);q2=q(:,3);dq2=q(:,4);q1d=qd(:,1);dq1d=qd(:,2);q2d=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('time(s)');ylabel('q1d,q1 (rad)');subplot(212);hold on;plot(t,q2,'b',t,q2d,'r');xlabel('time(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('time(s)');ylabel('Position tracking of Link 1');subplot(212);plot(t,q2d,'r',t,q2,'b');xlabel('time(s)');ylabel('Position tracking of Link 2');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('error 1 and error 2');