k200_随机系统控制_couldkt5_pdf控制_输出分布系统_

clc clear L = 500; R = 1; Q = 100*eye(4); M1 = 0; t = [-2 -1 1 2]; z = zeros(4,L); theta1 = zeros(5,L); theta2 = zeros(5,L); theta3 = zeros(5,L); theta4 = zeros(5,L); P = 10^6*eye(5); %% %生成噪声 r = rand(1,L); for i = 1:L x1 = i/L; F_w = 4*x1^3 - 3*x1^4; y1(i) = F_w; for j = 1:L temp(j) = abs(y1(i) - r(j)); end [a,b] = min(temp); location(i) = b; end w = r(location); w = w(randperm(length(w))); % bar(w); %% x(L) = 0; for k = 1:L if k<=200 u(k) = sin(k); x(k+1) = x(k)*sin(x(k))+u(k)+x(k)*w(k); y(k) = 0.5*x(k); else if k<=205 u(k) = sin(k); end x(k+1) = x(k)*sin(x(k))+u(k)+x(k)*w(k); y(k) = 0.5*x(k); [f,xi] = ksdensity(y,'width',0.1); % [f,xi,l] = ksdensity(y); for i=1:4 M1 = 1; for j =1:20 M(k,i) = M1 + t(i).^j*xi.^j*f'*0.1/factorial(j); % M(k,i) = M1 + t(i).^j*xi.^j*f'*l/factorial(j); M1 = M(k,i); end end if k>=205 phi = log(M); z = [phi(:,1),phi(:,2),phi(:,3),phi(:,4)]; h(:,k) = [z(k-1,1),z(k-1,2),z(k-1,3),z(k-1,4),u(k-1)]'; K = P*h(:,k)/(1+h(:,k)'*P*h(:,k)); theta1(:,k) = theta1(:,k-1)+K*(phi(k,1)-h(:,k)'*theta1(:,k-1)); theta2(:,k) = theta2(:,k-1)+K*(phi(k,2)-h(:,k)'*theta2(:,k-1)); theta3(:,k) = theta3(:,k-1)+K*(phi(k,3)-h(:,k)'*theta3(:,k-1)); theta4(:,k) = theta4(:,k-1)+K*(phi(k,4)-h(:,k)'*theta4(:,k-1)); P = (eye(5)-K*h(:,k)')*P; A = [theta1(1:4,k),theta2(1:4,k),theta3(1:4,k),theta4(1:4,k)]; B = [theta1(5,k);theta2(5,k);theta3(5,k);theta4(5,k)]; sigma = 1/(2*(R+B'*Q*B)); % sigma =0.9; KK = B'*Q*A; u(k+1) = -sigma*KK*(z(k,:))'; end end end z(1:200,:) = 0; figure(1) plot(y); title('输出yk'); figure(2) plot(u); title('输入uk'); % figure(3) % plot(z); % xlabel('k') % legend('z1','z2','z3','z4') % xx = 1:L; % figure(4) % set(gca,'XDir','reverse','YDir','reverse','ZDir','reverse'); % mesh(-t,1:L,z) % set(gca,'Yaxislocation','left') % figure(5) % plot(xi,f); A B KK u(k+1) tic toc