基于Sugeno的模糊控制，程序采用PID控制编程，无法解决报错的问题，请达人帮忙解决
??? Undefined function or variable 'onput'.

Error in ==> evalfis at 84
[output,IRR,ORR,ARR] = evalfismex(onput, fis, numofpoints);

close all;

P=[-10-10i;-10+10i]; %Stable pole point

F1=place(A1,B1,P)
F2=place(A2,B2,P)
F3=place(A3,B3,P)
F4=place(A4,B4,P)
F5=place(A5,B5,P)

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
tc=newfis('tc','sugeno');
tc=addvar(tc,'input','theta',[-15,15]*pi/180);
tc=addmf(tc,'input',1,'NG','gaussmf',[5,-15]*pi/180);
tc=addmf(tc,'input',1,'ZR','gaussmf',[5,0]*pi/180);
tc=addmf(tc,'input',1,'PO','gaussmf',[5,15]*pi/180);

tc=addvar(tc,'input','omega',[-200,200]*pi/180);
tc=addmf(tc,'input',2,'NG','gaussmf',[50,-200]*pi/180);
tc=addmf(tc,'input',2,'ZR','gaussmf',[50,0]*pi/180);
tc=addmf(tc,'input',2,'PO','gaussmf',[50,200]*pi/180);

tc=addvar(tc,'output','u',[-300,0]);
tc=addmf(tc,'output',1,'No.1','linear',[F1(1),F1(2)]);
tc=addmf(tc,'output',1,'No.2','linear',[F2(1),F2(2)]);
tc=addmf(tc,'output',1,'No.3','linear',[F3(1),F3(2)]);
tc=addmf(tc,'output',1,'No.4','linear',[F4(1),F4(2)]);
tc=addmf(tc,'output',1,'No.5','linear',[F5(1),F5(2)]);

rulelist=[1 1 4 1 1;
1 2 3 1 1;
1 3 5 1 1;
2 1 2 1 1;
2 2 1 1 1;
3 1 5 1 1;
3 2 3 1 1;
3 3 4 1 1];
tc=addrule(tc,rulelist);

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
model=newfis('model','sugeno');
model=addvar(model,'input','theta',[-15,15]*pi/180);
model=addmf(model,'input',1,'NG','gaussmf',[5,-15]*pi/180);
model=addmf(model,'input',1,'ZR','gaussmf',[5,0]*pi/180);
model=addmf(model,'input',1,'PO','gaussmf',[5,15]*pi/180);

model=addvar(model,'input','omega',[-200,200]*pi/180);
model=addmf(model,'input',2,'NG','gaussmf',[50,-200]*pi/180);
model=addmf(model,'input',2,'ZR','gaussmf',[50,0]*pi/180);
model=addmf(model,'input',2,'PO','gaussmf',[50,200]*pi/180);

model=addvar(model,'input','u',[-5,5]);
model=addmf(model,'input',3,'Any','gaussmf',[1.5,-5]);

model=addvar(model,'output','d_theta',[-200,200]*pi/180);
model=addmf(model,'output',1,'No.1','linear',[0 1 0 0]);
model=addmf(model,'output',1,'No.2','linear',[0 1 0 0]);
model=addmf(model,'output',1,'No.3','linear',[0 1 0 0]);
model=addmf(model,'output',1,'No.4','linear',[0 1 0 0]);
model=addmf(model,'output',1,'No.5','linear',[0 1 0 0]);

model=addvar(model,'output','d_omega',[-200,200]*pi/180);
model=addmf(model,'output',2,'No.1','linear',[A1(2,1),0,B1(2),0]);
model=addmf(model,'output',2,'No.2','linear',[A2(2,1),0,B2(2),0]);
model=addmf(model,'output',2,'No.3','linear',[A3(2,1),0,B3(2),0]);
model=addmf(model,'output',2,'No.4','linear',[A4(2,1),A4(2,2),B4(2),0]);
model=addmf(model,'output',2,'No.5','linear',[A5(2,1),A5(2,2),B5(2),0]);

rulelist1=[1 1 0 4 4 1 1;
1 2 0 3 3 1 1;
1 3 0 5 5 1 1;
2 1 0 2 2 1 1;
2 2 0 1 1 1 1;
2 3 0 2 2 1 1;
3 1 0 5 5 1 1;
3 2 0 3 3 1 1;
3 3 0 4 4 1 1];
model=addrule(model,rulelist1);

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
ts=0.020;
x=[0.20;0]; %Initial state

for k=1:1:100
time(k)=k*ts;
u(k)=(-1)*evalfis([x(1),x(2)],tc); %Using feedback control

k0=evalfis([x(1),x(2),u(k)],model)'; %Using fuzzy T-S model
x=x+ts*k0;

y1(k)=x(1);
y2(k)=x(2);
end
figure(1);
subplot(211);
plot(time,y1),grid on;
xlabel('time(s)'),ylabel('Angle');
subplot(212);
plot(time,y2),grid on;
xlabel('time(s)'),ylabel('Angle rate');

figure(2);
plot(time,u),grid on;
xlabel('time(s)'),ylabel('controller output');

figure(3);
plotmf(tc,'input',1);
figure(4);
plotmf(tc,'input',2);

showrule(tc);
showrule(model);

上面一段为控制程序，
这里把线性化程序也发下
%Local linearization for single inverted pendulum
clear all;
close all;

g=9.8;
m=2;
M=8;
l=0.5;
a=l/(m+M);

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Equation 1:
a1=g/(4/3*l-a*m*l);
A1=[0 1;
a1 0]

b1=-a/(4/3*l-a*m*l);
B1=[0;b1]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Equation 2:
x2=200*pi/180;
a2=(g-a*m*l*x2^2)/(4/3*l-a*m*l);
A2=[0 1;
a2 0]

b2=b1;
B2=[0;b2]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Equation 3:
%x1=-15*pi/180;
x1=15*pi/180;

a3=g/(4/3*l-a*m*l*(cos(x1))^2)
A3=[0 1;
a3 0]
b3=-a*cos(x1)/(4/3*l-a*m*l*(cos(x1))^2)
B3=[0;b3]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Equation 4:
x1=15*pi/180;
x2=200*pi/180;

a41=g/(4/3*l-a*m*l*(cos(x1))^2)
a42=-a*m*l*x2*sin(2*x1)*0.5/(4/3*l-a*m*l*(cos(x1))^2)
A4=[0 1;
a41 a42]
b4=b3;
B4=[0;b4]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Equation 5:
x1=-15*pi/180;
x2=200*pi/180;

a51=g/(4/3*l-a*m*l*(cos(x1))^2)
a52=-a*m*l*x2*sin(2*x1)*0.5/(4/3*l-a*m*l*(cos(x1))^2)
A5=[0 1;
a51 a52]
b5=b3;
B5=[0;b5]

QQ：87370084
邮箱：fujiapei_83715@hotmail.com
今晚全在了~谢谢

你的[output,IRR,ORR,ARR] = evalfismex(onput, fis, numofpoints);
是什么意思?
要是想写成函数该写function

Sugeno模糊控制是把控制规则用语句的形式表达出来,
我也搞不清楚上面的哪条程序表示哪条规则,这个问题在第8页有个同学遇到和我一样的问题.
说是要添加什么串,我本身没学过什么模糊控制,这是论文的题目,所以有点茫然.
还有那个evalfismex到底是什么意思我今天问了老师也没得到答案,
还是请有实力的朋友帮我找找问题所在.再次感谢

那可能就是你在调用evalfismex函数,但onput参数出错了,不知道你的onput参数从哪来的,自己好好检查一下调用evalfismex函数之前的语句

onput应该该成input吧,这个程序来自书上?现在的书就是错误多容易引起误导