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Tracking control of a general class of nonlinear systems using a perceptron neural network (PNN) is presented. The basic structure of the PNN and its training law are first derived. A novel discrete-time control strategy is introduced that employs the PNN for direct online estimation of the required feedforward control input. The developed controller can be applied to both discrete- and continuous-time plants. Unlike most of the existing direct adaptive or learning schemes, the nonlinear plant is not assumed to be feedback linearizable. The stability of the neural controller under ideal conditions and its robust stability to inexact modeling information are rigorously analyzed.
Nader Sadegh (Fri,) studied this question.
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