clear all;
close all;
x=[0,0,0]';
xiteP=0.40;
xiteI=0.35;
xiteD=0.40;
%Initilizing kp,ki and kd
wkp_1=0.10;
wki_1=0.10;
wkd_1=0.10;
%wkp_1=rand;
%wki_1=rand;
%wkd_1=rand;
error_1=0;
error_2=0;
y_1=0;y_2=0;y_3=0;
u_1=0;u_2=0;u_3=0;
ts=0.001;
for k=1:1:1000
time(k)=k*ts;
rin(k)=0.5*sign(sin(2*2*pi*k*ts));
yout(k)=0.368*y_1+0.26*y_2+0.1*u_1+0.632*u_2;
error(k)=rin(k)-yout(k);
%Adjusting Weight Value by hebb learning algorithm
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