Modified adaptive discrete control system containing neural estimator and neural controller

In this paper a modified discrete adaptive control system with neural estimator and neural controller is presented. The structure of the adaptive controller is based on the model presented by Etxebarria (Etxebarria V. Adaptive control of discrete systems using neural networks. IEE Proc. Control Theory Application, Vol. 141, No. 4, July, 1995) where the stability of the control procedure is proved. The Widrow–Hoff procedure of learning and the DARMA model is used for identifying and adjustment of neural network parameters, applied to adaptive control of discrete systems. In this paper the procedure of Etxebarria is modified. The learning rate of the neural network is improved and accelerated using the PD, PI and PID input controllers for input neurons. The effect of adding a momentum term (the past record of the learning) to the learning rule of the neural network is studied. The results are compared and discussed using the examples of Etxebarria and two other case studies. The procedure is extended to multi-input multi-output systems and cases studied are simulated.