MRACS (MIT rule) clear; clc; close all; s = tf('s'); a=-0.5; b=0.5; aM = 1; bM= 1; dt = 0.2; t = 0:dt:50; r = sin(1*t); alpha1 = 5; alpha2 = 5; G = b/(s+a); GM = bM/(s+aM); G_update = 1/(s+aM); %パラメータθの更新に必要な伝達関数 theta1=0; …

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