Neural Modelling

and Control
part one
Artificial Intelligence for
Control and Identification
Dr. Wilbert G. Aguilar
Ph.D. in Automatic Control, Robotics and Computer Vision

2007 Dr. X. Parra & Dr. C. Angulo 0

 Outline

1. Basic Requirements

2. Classical Modelling
Neural Modelling and Control

3. Neural Modelling

4. Neural Control

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 1. Basic Requirements

Smart Control algorithms must

Work in ill-defined and time-varying frameworks.

Adapt to changes in the process dynamics and

Neural Modelling and Control

perturbations from the environment.

Learn significant information in a stable form.

Impose a low number of restrictions on the

process dynamics.

Autonomous operations in a changing

framework with minimal human intervention

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 1. Basic Requirements

but

Lau & Widrows sentence (1990):

It may take another 50 years before we have a solid

Neural Modelling and Control

and complete view of how the brain works.

Engineers cant wait that long.

so, in the meanwhile,

new theories
are developed

known facts
are applied to
real problems

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 Outline

1. Basic Requirements

2. Classical Modelling
Neural Modelling and Control

3. Neural Modelling

4. Neural Control

4
 2. Classical Modelling

Learning algorithms in Engineering Control

Adaptive Algorithms Artificial Neural Networks

Neural Modelling and Control

They are based on both, They are methods for

linear plant models and dealing with nonlinear
controllers. Many systems, but algorithms are
parameters must be still in an early stage
chosen for obtaining compared with those on
flexible adaptation adaptive control

Model-based estimators Free-model estimator ?

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 2. Classical Modelling

Discrete-Time Dynamical Systems

The mathematical model of a dynamical systems is defined by the

state space of the system and an evolution equation, which
describes completely the evolution of the state of the system in
Neural Modelling and Control

state space from the initial state conditions.

In general, the state of a system at time t+t depends on the state

x of the system at time t and on the control signal u of the system
at time t.

Description:

Continuous Time Discrete Time

x (t ) = [ x(t ), u (t ) ] x(k + 1) = [ x(k ), u (k ) ]
y (t ) = [ x(t ) ] y (k ) = [ x(k ) ]

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 2. Classical Modelling

Auto-Regressive Models

An auto-regressive model AR(p) is defined by:

x(k + 1) = 1 x(k ) + " + p x(k p + 1) + v(k + 1)

Neural Modelling and Control

where v(k) is a gaussian white noise.

A moving average model MA(q) is defined by:

x(k + 1) = 0 v(k + 1) + 1v(k )" + q v(k q + 1)

where v(k) is a gaussian white noise.

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 2. Classical Modelling

Auto-Regressive Models

The generalization of an auto-regressive model AR(p) and a

moving average model MA(q) is the auto-regressive moving
average model ARMA(p,q) defined by:
Neural Modelling and Control

x(k + 1) = 1 x(k ) + " + p x(k p + 1) + "

+ 0 v(k + 1) + 1v(k )" + q v(k q + 1)

where v(k) is a gaussian white noise.

Although ARMA models are universal approximators, it is more
efficient to build nonlinear evolution equations NARMA(p,q) to
model phenomena or signals that admit parsimonious nonlinear
representations:

x(k + 1) = f [ x(k), " , x(k p +1), v( k +1), v(k)," , v( k q +1) ]

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 2. Classical Modelling

Auto-Regressive Models

The model obtained from a NARMA model by introducing an

(eXogenous) input is called NARMAX(p,q,r) and is defined by:

x(k + 1) = f [ x(k )," , x(k p + 1),

Neural Modelling and Control

v(k + 1), v(k )," , v(k q + 1),

u (k )," u (k r + 1)]

General structure for nonlinear modelling

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 2. Classical Modelling

Regression Analysis

Classical Identification Methodology

Process description:
Neural Modelling and Control

x(k + 1) = 1 x(k ) + " + p x(k p + 1) + 1u (k ) + " + q u (k q + 1)

Imprecision in parameters? Known model order?

Linear regression: task of finding the vector w = (w1,wn) that

minimizes the mean squared error (MSE):
N
1
min J y =
N
k k
( y
k =1
x w ) 2

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 2. Classical Modelling

Regression Analysis

When an input trajectory [u(1),,u(k),,u(N)] and an output

trajectory [x(1),,x(k),,x(N)] are available, the input vectors of the
regression are constructed as follows:
Neural Modelling and Control

xk = [x(k),...,x(k-p+1),u(k),...,u(k-q+1)], for k=max(p.q)+1,...,(N-1)

yk = x(k+1)

w = [1,...,p,1,...,q]

The solution for a well-posed problem is:

= ( X X ) XT Y
T 1
w

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 2. Classical Modelling

Regression Analysis

u(t) Unknown ym(t)

Process
Neural Modelling and Control

Process y(k) Regression

+
Model Analysis

Identification steps
i. Postulate a process model.
ii. Insert a known signal as input.
iii. Estimate best parameters for the unknown plant.
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 2. Classical Modelling

Regression Analysis

Success for any neural modelling scheme depends on

ANN approximation capacity

Neural Modelling and Control

Learning rule ability filtering measurements and noise / error

modelling

Richness of the input signal for generating data on the whole

ANN input space

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