Adaptive control of nonlinear systems using neural networks

Layered neural networks are used in a nonlinear adaptive control problem. The plant is an unknown feedback-linearizable discrete-time system, represented by a input-output model. A state space model of the plant is obtained to define the zero dynamics, which are assumed to be stable. A linearizing fedback control is derived in terms of some unknown nonlinear functions. To identify these functions, it is assumed that they can be modeled by layered neural networks. The weights of the networks are updated and used to generate the control. A local convergence result is given. Computer simulations verify the theoretical result