说明：  %积分神经元I计算 xi=[x1i(2),x2i(2),x3i(2)]; qi=[0,0,0];qi_1=[h1i(2),h2i(2),h3i(2)]; qi=qi_1+xi; qi(find(qi>qimax))=qimax; qi(find(qi<qimin))=qimin; h1i(2)=qi(1);h2i(2)=qi(2);h3i(2)=qi(3); %微分神经元D计算 xd=[x1i(3),x2i(3),x3i(3)]; qd=[0 0 0]; xd_1=[x1i_1(3),x2i_1(3),x3i_1(3)]; qd=xd-xd_1; qd(find(qd>qdmax))=qdmax; qd(find(qd<qdmin))=qdmin; h1i(3)=qd(1);h2i(3)=qd(2);h3i(3)=qd(3); %输出层计算 wo=[w21;w22;w23]; qo=[h1i',h2i',h3i'];qo=qo'; uh=wo*qo; uh(find(uh>uhmax))=uhmax; uh(find(uh<uhmin))=uhmin; u1(k)=uh(1);u2(k)=uh(2);u3(k)=uh(3); %控制律
(xi=[x1i(2),x2i(2),x3i(2)]; qi=[0,0,0];qi_1=[h1i(2),h2i(2),h3i(2)]; qi=qi_1+xi; qi(find(qi>qimax))=qimax; qi(find(qi<qimin))=qimin; h1i(2)=qi(1);h2i(2)=qi(2);h3i(2)=qi(3); xd=[x1i(3),x2i(3),x3i(3)]; qd=[0 0 0]; xd_1=[x1i_1(3),x2i_1(3),x3i_1(3)]; qd=xd-xd_1; qd(find(qd>qdmax))=qdmax; qd(find(qd<qdmin))=qdmin; h1i(3)=qd(1);h2i(3)=qd(2);h3i(3)=qd(3); wo=[w21;w22;w23]; qo=[h1i',h2i',h3i'];qo=qo'; uh=wo*qo; uh(find(uh>uhmax))=uhmax; uh(find(uh<uhmin))=uhmin; u1(k)=uh(1);u2(k)=uh(2);u3(k)=uh(3);)