Chapter VI

Neural network Applications and

implementations
 Content
Neural network for modeling and estimation
Plant model /state observer
Inverse model
Neural network for control
Internal model control
Model predictive control
Smith predictor control
Model reference control
Implementations
General purpose hardware
Special purpose hardware
 1. Neural network for modeling and
estimation
ANN can model any system
Linear
Nonlinear
Limitation
Availability of input-output data
Ways To Study A System
 What is a Model?
Model
Meaning
representation of construction and working of system,
it is similar to but simpler than the system it represents
Purpose
to enable the analyst to predict the effect of changes to
the system
Good model
close approximation to the real system
incorporate most of its salient features
Not so complex
judicious tradeoff between realism and simplicity
 1.1 Plant model
NN is used to model input-output relations of
a dynamic system(plant)
Steps in plant modeling
Collect Plant input-output data
Pre-processing
Determine NN architecture
Train network
Test the network
 NN used for plant model
Block diagram representation

Plant

NN
 Example- model of a heat exchanger
system
Objective is maintain liquid temperature by
controlling steam flow rate
 Step 1- Measured input output data
Time 0 20 30 40 50 60 70 80 100
Tank T 0.0113 0.196 0.559 0.705 0.774 0.922 0.921 0.985 1.05

Step 2 preprocessing of data

total sample data = 9
training data =7
test data =1, [40 0.705]
validation data=1 , [80 0.985]
Step 3- determine NN architecture
Let us assume that FF with 1 hidden layer is to
be used
1-5-1 structure, sigmoid activation for hidden
layer and linear activation for output layer
Step 4- create network and train it
net=newff(minmax(datat),[5 1],{tansig,
purelin});
net=train(net,datat,ouput);
 Step 5-test and validation
Sim(net,40)=0.7116
Eroor=0.705-0.7116=-0.0066
Sim(net,80)=0.9373
Error=0.985-0.9373=0.05
 Example 2- dc motor dynamic
modeling
Plant linear plant with fourth order TF
Input output data is collected for step input of
0.1 to 1 in step of 0.1
200 sample data values are used
NN used is FF with two layers
 1.2 NN used as state observer
State observer
Estimates the state of the system
Example in DC motor state may be either
[velocity and position] or [current and velocity]
Robotics estimates inverse or forward
kinematics
NN state observer
 1.3 Inverse model
A plant
Control signal/manipulated variable as input
Controlled variable as output
NN in direct modeling or observer
Input- control signal
Output is estimated state/output
NN used in Inverse model
Input is output of plant
Output is estimated control signal
Training NN for inverse model
 2. NN used as controller
2.1 replacing existing controller
2.2 Internal model control
2.3 smith predictor
2.4 model predictive control
2.5 model reference control
 2.1 Replacing existing controller
Assume there is an existing controller
Error input and control signal output of
existing controller is collected
NN is trained off line
Used to replace controller
 Replacing existing controller
 2.2 Internal model control(IMC)
Consider the following block diagram

G(s) is plant, Gm(s) is nominal model, R(s) is reference , U(s) is

control signal, D(s) and N(s) are disturbance and noise signals
respectively
 Analysis of IMC
From the block diagram

Sensitivity function is given by

 IMC analysis contd
Complementary sensitivity

Perfect tracking
Gm(s)=G(s) and C(s)=1/G(s)
Perfect disturbance rejection
Gm(s)=G(s) and C(s)=1/Gm(s)
 NN application in IMC
Conditions for perfect set point tracking and
disturbance rejection are
Gm(s)=G(s) and C(s)=1/G(s)
NN model is used for Gm(s)
 2.3 Smith predictor
Smith predictor is similar to IMC
Used for systems with time delay
Time delay limits performance of conventional
feedback
Adds phase lag and affects stability
Gain must be reduced
Response becomes sluggish
Sources of time delays
Distance velocity lags
Recycle loops
Time for analysis of compositions
 Time delay compensation
Time delay limits performance of conventional
feedback
Adds phase lag and affects stability
Gain must be reduced
Response becomes sluggish
Sources of time delays
Distance velocity lags
Recycle loops
Time for analysis of compositions
 Smith predictor
The plant G is modeled by a system G*(s) and
delay

~
The predicted output Y is used as feedback
 Analysis of Smith predictor
From the model

For perfect modeling

G*(s)=G(s) and time delay should be
correctly predicted , then

NN is used as G*s(s)
 2.4 Model predictive control
Objective
Control MIMO system having in equality
constraints
Problem formulation
Given an MIMO system and its model, predict
future outputs using model and present inputs
and compute the necessary changes in input
 MPC contd
Advantages
Model captures static and dynamic interaction
between input/output and disturbance
Constraints are considered
Control calculations are coordinated with
optimum set points
Accurate prediction warns potential damage
MPC block diagram
 MPC contd
Objectives of MPC
Prevent violations of input output constraints
Drive some output variables to their optimal set
points while maintaining other output with in
specific range
Prevent excessive movements of input variables
Control as many process variables
 2.5 Model reference control
Model based path planning of robot
 Implementation
General hardware
Special purpose hardware