%%%%%%%%%%%%etude comparative entre MCR et MCG%%%%%%%%%%%%%%%%%%%%%%%%%%%clearclcy2=0;p=8*eye(2);teta_mcr=[0;0];K=[]teta_mcg=[0;0];u(1:300)=ones(300,1);exprnd(1,2,1)for k=2:300

b2=0.1*(-0.5+rand)b1=b2;

y1=y2;

y2=0.2*y1+2*u(k)+b1+10*b2;h=[y1 u(k)]';

p=p-(p*h*h'*p)/(1+h'*p*h);K=p*h;teta_mcr=teta_mcr+K*(y2-h'*teta_mcr)endteta_mcg=[0;0];pe=1000;Ke=[];f1=0;e2=0;u(1:300)=ones(300,1);y2F=0;pg=1000*eye(2);for k=2:300uF=u(k)+f1*u(k-1);y1F=y2F;

y2F=y2+f1*y2;hg=[y1F uF]';pg=pg-(pg*hg*hg'*pg)/(1+hg'*pg*hg);Kg=pg*hg;teta_mcg=teta_mcg+Kg*(y2F -hg'*teta_mcg)e1=e2;e2=y2-h'*teta_mcg;

he=e1;pe=pe-pe*he*he'*pe/(1+he'*pe*he);Ke=pe*he;f1=f1+Ke*(e2-he'*f1);end

sum((teta_mcr-[0.2;2]).^2)sum((teta_mcg-[0.2;2]).^2)