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    NeuralControlNarendra PDF

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    Identification and Control of Dynamical Systems Using Neural Networks KUMPATI S. NARENDRA retiow, tee, Ano KANNAN PARTHASARATHY ation and contol of mines aan ‘tnd contr State and dynamic bark propugtonwthods forthe a parameters are acessed, Inthe model hat ae Ir recurrent network ae ercnerted i ove ‘mfguraton and hence here rel ned to stad them in ie {ashon Simulation eats eval tht the ateaton and adaptive entrlwhemes soe ae practical eal Bai coed ‘dentions are nrdced throughout the paper and theortalqoe- tons which have tobe addrened ae alee dsb 1. Ivrmopuerion |ATHEMATICAL systems theory, which has in the past five decades evolved into a powerful scientific discipline of wide applicability, deals with the analysis and synthesis of dynamical systems. The best developed. aspect of the theory treats systems defined by linear op- cerators using well established techniques based on linear algebra, complex variable theory, and the theory of oF dlinary linear differential equations. Since design tech- niques for dynamical systems are closely related to their stability properties and since necessary and sufficient con- ditions forthe stability of linear time-invariant systems have been generated over the past century, well-known, ‘design methods have been established for such systems, In contrast to this, the stability of nonlinear systems can be established for the most par only on a system-by-sys- tem basis and hence itis not surprising that design pro- cedures that simultaneously meet the requirements of st bility, robustness, and good dynamical response are not currently available for large classes of such systems In the past three decades major advances have been ‘made in adaptive identification and contol for identifying and controlling linear time-invariant plants with unknown, Parameters. The choice of the identifier and conttoler structures is based on well established results in linear systems theory. Stable adaptive laws for the adjustment ‘of parameters in these eases which assure the global st bility of the relevant overall systems are also based on, Properties of linear systems as well as stability results that ‘ort war supponed by te National eens Founda det gat EE S137 andy Sol Nana bosons ener Cota 1791 dic in oath Bp of Hs Egg ake TERE Lop Number 53588 are well known for such systems [1]. In this paper our ierest is in the identification and control of nonlinear {dynamic plants using neural networks. Since very few re sults exist in nonlinear systems theory which can be di rectly applied, considerable care has to be exercised inthe statement of the problems, the choice of the identifier and controller structures, as well asthe generation of adaptive laws for the adjustment of the parameters. ‘Two classes of neural networks which have received considerable attention in the area of artificial neural net works in recent years are: 1) multilayer neural networks and 2) recurrent networks. Multilayer metworks have proved extremely successful in pattern recognition prob Jems [2}-[S} while recurrent networks have been used in associative memories as well as for the solution of opti- ‘mization problems [6}-19}. From a systems theoretic point of view, multilayer networks represent static nonlinear maps while recurrent networks are represented by nonlin- car dynamic feedback systems. In spite of the seeming diflerences between the two classes of networks, there are compelling reasons to view them in unified fashion. In fact, it isthe conviction of the authors that dynamical ele ‘ments and feedback wil be increasingly used in the future, resulting in complex systems containing both types of net- works. This, in turn, will necessitate unified treatment ‘of such networks. In Section TIT of this paper this view. Point is elaborated further. ‘This paper is written with three principal objectives. ‘This first and most important objective isto suggest iden tification as well as controller structures using neural net- ‘works for the adaptive control of unknown nonlinear dy ‘namical systems. While major advances have been made in the design of adaptive controllers for lineer systems ‘with unknown parameters, such controllers cannot be used forthe global control of nonlinear systems. The models suggested consequently represent a fist step in this direc tion. A second objective is to present a prescriptive ‘method for the dynamic adjustment of the parameters based on back propagation. The term dynamic back prop- agation is introduced in this context. The third and final objective isto state clearly the many theoretical assump: tions that have to be made to have well posed problems Block diagram representations of systems commonly used in systems theory, as well as computer simulations, are included throughout the paper to illustrate the various concepts introduced. The paper is organized as follows: 1045-9227/90/0300.0004801.00 © 1990 IEEE Section I deals with basic concepts and notational details used throughout the paper. In Section I, multilayer and recurrent networks are treated in a unified fashion. Sec- tion IV deals with static and dynamic methods forthe ad Justment of parameters of neural networks. Identification ‘models are introduced in Section V while Section VI deals With the problem of adaptive control. Finally, in Section VII, some directions are given for future work TI, Preuisunanies, Basic CONCEPTS, AND NOTATION In this section, many concepts related to the problem of identification and contol are collected and presented for easy reference, While only some of them are directly used in the procedures discussed in Sections V and VI, all of, ‘them are relevant fora broad understanding of the role of ‘neural neeworks in dynamical systems. A. Characterization and Identification of Systems System characterization and identification are funda- ‘mental problems in systems theory. The problem of char- acterization is concemed with the mathematical represen {ation ofa system; a model of a system is expressed as an ‘operator P from an input space ‘U into an output space and the objective is t0 characterize the class @ to which P belongs. Given a class @ and the fact that Pe 6, the problem of identification is to determine a class © C and an element P € & so that P approximates P in some desired sense. In static systems, the spaces U and Y are subsets of and {", respectively, while in dynamical systems they are generally assumed to be bounded Leb- ‘esgue integrable functions on the interval [0, T} or {0, =). In both eases, the operator P is defined implicitly by the specified input-output pairs. The choice ofthe class of identification models ®, as well asthe specific method used 10 determine B, depends upon a vanity of factors, which are related to the accuracy desired, as well as an- lytical tractability. These include the adequacy of the ‘model Po represent P, its simplicity, the ease with which itcan be identified, how readily it can be extended if i does not satisfy specifications, and finally whether the P chosen isto be used off line or on line. In practical appli- cations many ofthese decisions naturally depend upon the prior information that is available concemming the plant to be identified 1 Identfcation of Static and Dynamic Systems: The problem of pattem recognition is a typical example of identification of static systems. Compact sets U, Care ‘mapped into elements € /";(i = 1, 2, "+" .) inthe ‘output space by a decision function P. The elements of U, sdenore the pattern vectors corresponding to class 3. In ‘dynamical systems, the operator defining a given plant is implicitly defined by the inpot-ourput pars of time functions u(#), (1), €[0, TI. In both cases the objec tive isto determine P so th {9 - yl) = JP) - POO] se a) for some desired ¢ > 0 and a suitably defined nom (de noted by Il-[}} on the output space. In (1), P(u) = § de wed notes the output of the identification model and hence 'y de is the error between the output generated by P and the observed output y. A more detailed statement of the identification problem of dynamical systems is given, in Section IL 2. The Weierstrass Theorem and the Stone-Weier- strass Theorem: Let C({a, b}) denote the space of con- tinuous real valued functions defined on the interval [4 5] with the norm of fe C({a, 6]) defined by [sl = sup {| £00] "6 fa, 2} ‘The famous approximation theorem of Weierstass states that any function in C({a, b]) can be approximated ar- bitrarly closely by a polynomial. Alternately, the set of polynomials is dense in Cif, b]). Naturally, Weier rast's theorem and its generalization to multiple dimen- Sions finds wide aplication im the approximation of con- tinuous functions f:°* —> [ using polynomials (¢.2.. pater recognition). A generalization of Weierstrast's theorem due to Stone called the Stone-Welerstas theo- rem can be used asthe stating point forall the approxi Ihation procedures for dynamical systems Theorem: (Stone-Weicrstass (10): Let be a com- pact metric space. If isa subalgebra of CCL, which Contains the constant functions and separates points of L then is dense in CCU, Tn the problems of interest us we shall assume that the plant P to be identified belongs to the space @ of bounded, continuous, time-invariant and causal operators [11] By the Stone- Weierstrass theorem. if 6 satisfies the conditions of the theorem, model belonging to can be chosen which approximates any specified operator Pe © 'A vast literature exists on the characterization of non- Tinea functionals and includes the classic works of Vol tema, Wiener, Bare, and Urysohn. Using the Stone~ ‘Weierstrass theorem it can be shown that a given nonin- cat functional under certain conditions ca be represented by a corresponding series such as the Voltera series or the Wiener series. In spite of the impressive theoretical work that these represent, very few have found wide ap Dlicatin inthe identification of large classes of practical honlinar systems. In this paper out interest i mainly on fepresenatons which permit on-line identification snd contol of dynamic systems in tems of finite dimensional nonlinear difernce (or diferent) equation. Such non- Tinear models are well known in the systems iterate and ate considered inthe following subsection B, Input-State-Output Representation of Systems ‘The method of representing dynamical systems by vee- tor differential or difference equations is currently. well established in systems theory and applies toa fae Taree class of systems. For example, the differential equations HO 2 ay = afar ae 280) = PLC), w(t] @) yt = ¥Lx(9)] where x(1) 2 EC, a2. oo7 yO an) & [ag (2), mC, 22> 5 ayCOYT and yO) © [yD 9200s ‘Yn 1)1? represent a p input m output system of oF der m with u(2) representing the inputs, x,(t) the state variables, and y,(r) the outputs ofthe system. and ¥ are static nonlinear maps defined as 15" x 1 — Band ViN" > BM The vector x(1) denotes the state of the system at time rand is determined by the state at time f ‘

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