用C写的遗忘因子最小二乘法的程序，对C不是很熟悉，到底是哪里出现问题？

Question

目前在做电机的参数辨识，运行程序之后输出的def三个数全都显示为0，不知道为什么

    void RSLd()
    {
        const float Ts = 25e-6;
        double thetae_d0[3][1] = {0,0,0};
        double thetae_d1[3][1];
        const float forget = 0.99;                            //遗忘因子
        double fai_dt[1][3];//待辨识矩阵φd
        double P0[3][3] = {{100,0,0},{0,100,0},{0,0,100}} ;    //协方差矩阵 = alpha^2 * 三阶单位矩阵
        double P1[3][3];
        double Kd[3][1];
        float d,e,f;
        double fai_d[3][1] = {{d},{e},{f}};
        int a,b;
        for(a = 0; a < 3; a ++)
        {
        fai_dt[0][a] = fai_d[a][0];
        for(b = 0; b < 3; b ++)
        {
        Kd[a][0] = P0[a][b] * fai_d[a][0]/(forget + fai_dt[0][a] * P0[a][b] * fai_d[b][0]);
        P1[a][b] =( P0[a][b] + Kd[a][0] * fai_dt[0][a] * P0[a][b] ) / forget;
        thetae_d1[a][0] = thetae_d0[a][0] + Kd[a][0] * (id1 - fai_dt[0][a] * thetae_d0[a][0]);
        thetae_d0[b][0] = thetae_d1[b][0];
        P0[a][b] = P1[a][b];
        }
        }
｝