zhaoxiaopu

  位置指令为幅值为1.0的阶跃信号，r（k）=1.0。网络结构为1-4-1，高斯函数的参数值取Cj=[-2 -1 1 2]T ，B=[0.5 0.5 0.5 0.5]T 。 网络权值学习参数为η=0.30，α=0.05 。PID控制各参数的初RBF网络控制，被控对象为G（s）= 取采样时间为1ms，采用Z变换进行离散化，离散化后的被控对象为 y(k)=-den(2)*y（k-1）-den(3)*y(k-2)+num(2)*u(k-1)+num(3)*u(k-2) 始值为，kp=20， kd=0.3， ki=0.1。 (Position command for the step signal amplitude of 1.0, r (k) = 1.0. The network structure is 1-4-1, the Gaussian function parameters taken Cj = [-2-1 1 2] T, B = [0.5 0.5 0.5 0.5] T. Weight learning parameter η = 0.30, α = 0.05. PID control parameters at the beginning of each RBF network control, the controlled object is G (s) = take the sampling time is 1ms, using the Z transform discrete, discretized controlled object is y (k) =-den (2)* y (k-1)-den (3)* y (k-2)+num (2)* u (k-1)+num (3)* u (k-2) initial value, kp = 20, kd = 0.3, ki = 0.1.)