Knew(t) = Kold(t) − η∂J(t + 1) ∂K(t)
(16)
∂J(t + 1) ∂KP(t)
=
∂J(t + 1) ∂yr(t + 1)
∂yr(t + 1) ∂˜ r(t)
∂˜ r(t) ∂KP(t)
= −
ε(t + 1)Gm(1)∆y0(t) Kold I (t)
∂J(t + 1) ∂KI(t)
=
∂J(t + 1) ∂yr(t + 1)
∂yr(t + 1) ∂˜ r(t)
∂˜ r(t) ∂KI(t)
= −
ε(t + 1)Gm(1)Γ(t) Kold I (t)2
∂J(t + 1) ∂KD(t)
=
∂J(t + 1) ∂yr(t + 1)
∂yr(t + 1) ∂˜ r(t)
∂˜ r(t) ∂KD(t)
= −
ε(t + 1)Gm(1)∆2y0(t) Kold I (t)