%?clc;
%?clear;
N?=?100;
??Kp_1=1.56;???????????
??Kp_2=0.68;??
%????Ti_1=3;
%???ki_1=1/Ti_1;?
?ki_1=0.05;
%????Ti_2=3;
%????ki_2=1/Ti_1;?
??ki_2=0.01;
??kd_1=0.1;????????????%kd=Td;
??kd_2=0.05;
Ts=1;
r_1=zeros（1N）;
r_2=zeros（1N）;
e_1=zeros（1N）;
e_2=zeros（1N）;
y=zeros（1N）;
u_1=zeros（1N）;
u_2=zeros（1N）;
sum_1=zeros（1N）;
sum_2=zeros（1N）;
y（1）=0;

%?noise=randn（1N）;

%?load?mydata?A
%?noise=A;

noise=X_estimate;

%?for?i=1:N
%?????noise（i）=c（i）;
%?end

for?t=2:N;
???????%%%%%%%%%%%%%%%%%%%%%%控制%%%%%%%%%%%%%%%%%%%%%%%%%%
??????????y（t）=y（t-1）-u_1（t-1）+noise（t）;
??????%%%%%%%%%%%%%%%%%%%%%%%外環%%%%%%%%%%%%%%%%%%%%%%
????????