clear %disp('µ¥±äÁ¿ÏµÍ³µÄ²â¿ØÖÆËã·¨'); %disp('¹ãÒåÔ¤²â¿ØÖÆËã·¨µÄ³õʼֲ'); n=4;%input('Ô¤²â³¤¶Èn='); m=3;%input('¿ØÖƳ¤¶Èm='); t0=0.5;%input('¿ØÖƼÓȨ='); a=0.4;%input('ÈữϵÊýa='); p=0.98; A=[1;-1.5;0.7];B=[1;1.5];A1=[2.5,-2.2,0.7];B1=[1.5]; %²ÎÊý³õʼ»¯ T=50; na=length(A)-1; nb=length(B)-1; A2=zeros(na+1,1); A2(1,1)=1; B2=zeros(nb+1,1); Q0=zeros(na+nb+1,1); for l=1:1:na+nb+1 if(lna) Q0(l,1)=B(l-na,1); end end Q1=zeros(na+nb+1,1); Q2=zeros(na+nb+1,1); P1=(1e+5)*eye(na+nb+1); P2=(1e+5)*eye(na+nb+1); uu=zeros(n,1); yy=zeros(n,1); y1=zeros(na+1,1); u1=zeros(nb,1); G=zeros(n,m); u=zeros(m,1); t=zeros(T,1); t(1,1)=1; t(2,1)=2; uuu=zeros(T,1); yyy=zeros(T,1); uuu(1,1)=0; uuu(2,1)=0; yyy(1,1)=0; yyy(2,1)=0; yyr=zeros(T,1); yyr(1,1)=1.5; yyr(2,1)=1.5; yd=zeros(n,1); dy=zeros(na,1); ddu=zeros(nb+1,1); %ÇóF£¬H£¬G£¬E£¬ % ¿ªÊ¼Ñ-»· for ij=3:T for s=1:1:na t(ij,1)=ij; if(ij-s-1>0) dy(s,1)=-(yyy(ij-s,1)-yyy(ij-s-1,1)); 

end end for s1=1:1:nb+1 if(ij-t-1>0) end end %DDU=ddu X=[dy;ddu]; ddy=X'*Q0; ss=ddy-X'*Q1; Q2=Q1+(P1*X*ss)/(p+(X'*P1*X)); P2=(P1-(P1*X*X'*P1)/(p+(X'*P1*X)))/p; Q1=Q2; %q2=Q2 P1=P2; for f=2:1:na+1 end for f1=1:1:nb+1 end if(nb==1) end if(nb>1) B2(f1,1)=Q1(f1+na,1); A2(f,1)=Q1(f-1,1); B1=B2(2,1); ddu(s1,1)=uuu(ij-s1,1)-uuu(ij-s1-1,1); for k=1:1:nb B1(1,k)=B2(k+1,1); end end %b1=B1 for m1=1:1:na A1(1,m1)=A2(m1,1)-A2(m1+1,1); end A1(1,na+1)=A2(na+1,1); %a1=A1 F1=zeros(1,na+1); F2=zeros(1,na+1); H1=zeros(1,nb); H2=zeros(1,nb); e=1; E=e; g=E(1,1)*B(1,1); G1=g; for i=1:na+1 end if (nb==1) end if (nb>1) F1(1,i)=A1(1,i); H1(1,1)=B1(1,1); for j=1:nb H1(1,j)=B1(1,j); end end F=F1; H=H1; 

H2(1,1)=H1(1,2)+B1(1,1)*e; H2(1,h)=H1(1,h+1)+B1(1,h)*e; for kh=2:n e=F1(1,1); E=[E;e]; g=e*B(1,1)+H1(1,1); G1=[G1;g]; for k=1:na end F2(1,na+1) =A1(1,na+1)*e; F1=F2; F=[F;F2]; if (nb==1) end if(nb==2) end if(nb>2) for h=1:nb-1 end H2(1,nb) =B1(1,nb)*e; end H=[H;H2]; H1=H2; H2(1,1)=B1(1,1)*e; end for s2=1:m %G=zeros(n,m); for l1=n-s2+1:-1:1 il=l1+s2-1; G(il,s2)=G1(l1,1); end end a9=a9+rand;%noises yr=1.5;a9=0; for i=1:1 end a8=0.04*a9; yyr(ij,1)=yr+a8; F2(1,k)=F1(1,k+1)+A1(1,k)*e; y=1.5*yy(n,1)-0.7*yy(n-1,1)+uu(n,1)+1.5*uu(n-1,1); yyy(ij,1)=y; y1(p1)=y1(p1-1); for p1=na+1:-1:2 end y1(1,1)=y; for v=1:1:n-1 end yy(n,1)=y; if(nb==1) end if(nb==2) yy(v,1)= yy(v+1,1); u1(1,1)= uuu(ij-1,1)- uuu(ij-2,1); u1(1,1)=u1(2,1); u1(2,1)= uuu(ij-1,1)- uuu(ij-2,1); 

end if(nb>2) for q=nb:-1:2 end u1(1,1)= uuu(ij-1,1)- uuu(ij-2,1); end u1(q,1)=u1(q-1,1); y0=F*y1+H*u1; yd(1,1)=a*y+(1-a)*yr; for i=2:n end u=inv(G'*G+t0*eye(m))*G'*(yd-y0);%Ö»ÊÇÈ¡µÚÒ»¸ö¿ØÖÆÔöÁ¿ yd(i)=a^i*yd(i-1,1)+(1-a^i)*yr; if(u(1,1)>0.2) u(1,1)=0.2; end if(u(1,1)<-0.2) u(1,1)=-0.2; end for j=1:n-1 end uu(j,1)= uu(j+1,1); end uu(n,1)= uuu(ij-1,1)+u(1,1); uuu(ij)= uu(n,1); ddu(2,1)=ddu(1,1); ddu(1,1)=u(1,1); %plot(t,yyr,t,yyy,'r'); xlabel('t');ylabel('yr,y') xlabel('t');ylabel('u') subplot(2,1,1):plot(t,yyr,t,yyy,'r'); subplot(2,1,2):plot(t,uuu);