Neural Identifier-Control Scheme for Nonlinear Discrete Systems with Input Delay

Abstract

This work presents a scheme based on a discrete recurrent high order neural network identifier and a block control based on sliding modes for nonlinear discrete-time systems with input delays in real-time. The identifier is trained with an extended Kalman Filter based algorithm and the block control is used for trajectory tracking. Experimental results are included using a linear induction motor prototype with added delays to its input signals.