clc;

m11=120*10^3;
m22=177.9*10^3;
m33=636*10^5;
d11=215*100;
d22=147*10^3;
d33=802*10^4;

%滤波器参数
T1=0.8;
T2=0.3;
%rou0=0.0001;
rou0=10;
lam0=0;
%k1=1;
%krou=0.4;
krou=0.1;
krour=0.1;
%k2=1;
%ku=0.05;


ku=2;
kur=2;

% ktheat=0.8;



ktheat=1;
ktheatr=1;

% kr=0.05;
 kr=10;
krr=10;

garma1=10000;delta1=0.00001;
garma2=100;delta2=0.0001;
Ks=5;

%一阶马尔科夫干扰参数(sea state1)
T=diag([1000,1000,1000]);
Psai=diag([700,700,700]);

%控制饱和限
Ttr1=5;Ttr2=5;Ttr3=5;
up=[1.95217*10^4;3.52664*10^4;3.78807*10^5];
low=-[1.95217*10^4;3.52664*10^4;3.78807*10^5];

mup1=4.95217*10^4;
mup2=3.52664*10^4;
mup3=7.78807*10^5;

mlow1=-4.95217*10^4;
mlow2=-3.52664*10^4;
mlow3=-7.78807*10^5;


rup1=(7.95217*10^4)/6;
rup2=(3.52664*10^4)/6;
rup3=(7.78807*10^5)/6;

rlow1=-(4.95217*10^4)/6;
rlow2=-(3.52664*10^4)/6;
rlow3=-(7.78807*10^5)/6;