Nonlinear internal model control with inverse model based on extreme learning machine

Extreme learning machine is a novel single hidden layer feedforward neural networks with a strong abilities, for example simple net structure, fast learning speed, good generalization and so on. Aimed at the system with a delay unit, A new control strategy for internal model control is proposed to set up an inverse model of the minimal phase subsystem by using extreme learning machine with in-out system datum. Moreover, the relative stable error for internal model control system with a delay unit is presented to evaluate the system performance. The features for the internal model control system based on extreme learning machine are compared with that based on neural network. The experimental results indicate that the internal model control system based on extreme learning machine has small stable error and strong robustness.