Abstract
This paper is a straightforward application of NL q stability criteria to neural model-based controller design. We discuss the design of a linear dynamic output feedback controller for a ball and beam system for which a neural state space model is identified. This is done by applying dynamic backpropagation, constrained by internal or I/O stability conditions for NL q systems. The performance of the controller has been tested both by computer simulations and on a real ball and beam set-up.
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