Neural Modelling
and Control
part two
Artificial Intelligence for
Control and Identification
Dr. Wilbert G. Aguilar
Ph.D. in Automatic Control, Robotics and Computer Vision
© 2007 Dr. X. Parra & Dr. C. Angulo 0
Outline
1. Basic Requirements
2. Classical Modelling
Neural Modelling and Control
3. Neural Modelling
4. Neural Control
1
3. Neural Modelling
Strategies
Plant Direct Modelling
Simple structures
• Parallel
of indirect utility
Neural Modelling and Control
• Series – Parallel
Inverse Plant Direct Modelling
Inverse plant
dynamics is used
Inverse Plant Specialised Modelling to control the plant
in open loop
Backpropagation-through-time Modelling
Mimicking the
Operator Modelling control of an
expert operator
2
3. Neural Modelling
Plant Direct Modelling: Parallel
+ Unknown ym(t)
um(t) +
Plant
Neural Modelling and Control
Neural Network y(k)
–+
Plant Model εy(k) = ym(k) – y(k)
Jy = E(εy2(k))
BP
Identical to classical modelling by regression analysis
Simple but rarely used because
• ANN parameters convergence is not guaranteed
• It doesn’t ensure that training process error tends to zero
3
3. Neural Modelling
Plant Direct Modelling: Series - Parallel
+ Unknown ym(t)
um(t) +
Plant
Neural Modelling and Control
Neural Network y(k)
–+
Plant Model εy(k) = ym(k) – y(k)
Jy = E(εy2(k))
BP
Dynamical identification in series with the output signal and in
parallel with the input signal
Both, ANN parameters convergence and zero error in steady
state are guaranteed
4
3. Neural Modelling
Plant Direct Modelling: Application
Off-line strategy in control design.
Estimating the plant output into a larger
Neural Modelling and Control
closed loop control.
Predicting plant features when the real
output is unavailable (for instance, due to
time delays on sensors).
Fault diagnosis.
5
3. Neural Modelling
Plant Direct Modelling: Drawback
Main Problem
“A poor or scarcely representative training set
Neural Modelling and Control
will generate a biased model towards those
overtrained input areas”
Pay attention on choosing
equidistant training data on
relevant areas of the input space
6
3. Neural Modelling
Inverse Plant Direct Modelling
+ Unknown ym(t)
um(t) +
Plant
Neural Modelling and Control
+– u(k) Neural Network
εu(k) = um(k) – u(k) Inverse Model
Ju = E(εu2(k))
BP
Goal: Design a controller such that the whole system
[plant (unknown) + controller (inverse plant model)]
has unitary transfer function
7
3. Neural Modelling
Inverse Plant Direct Modelling
Warning
“Modelling errors cause that the whole system
Neural Modelling and Control
deviates from unitary transfer function”
Good performance for a wide range of nonlinear
plants is obtained when the inverse plant model is
used as a feed-forward pre-compensator jointly with a
linear standard controller (PID) in the feedback loop
8
3. Neural Modelling
Inverse Plant Direct Modelling: Drawback
Main Problem
“Learning is not directly oriented
Neural Modelling and Control
to the controlled signal ym(t)”
It is quite difficult to determine a suitable range for
the control variable (u) such that the controlled
variable (y) is conveniently covered.
MSE is minimized in the control space rather than
in the output space.
9
3. Neural Modelling
Inverse Plant Direct Modelling: Drawback
MSE is minimized in the control space rather than in the output
space, so
∂y(t) ⎛ ⎛ ∂y(t) ⎞
2
⎞
ε
y (t) ≈ ε⋅ u (t) ⇒ J y ≈ E ⎜ ⎜ ε ⋅ u (t) ⎟
Neural Modelling and Control
2
⎟
⎜ ⎝ ∂u(t) ⎠ ⎟
∂u(t) ⎝ ⎠
For a nonlinear plant, minimizing MSEu does not imply necessarily
minimizing MSEy
However, when output errors are not correlated with the Jacobian of
the plant, then
⎛ ⎛ ∂y(t) ⎞2 ⎞
Jy ≈ E ⎜ ⎜ ⎟⋅J
⎜ ⎝ ∂u(t) ⎟⎠ ⎟ u
⎝ ⎠
and the Jacobian effect can be incorporated on the learning rate, η
10
3. Neural Modelling
Inverse Plant Specialised Modelling
Neural Network + Unknown ym(t)
yd(t) Inverse Model
ZOH +
Plant
Neural Modelling and Control
u(k) Neural Network y(k)
BP
Ju = E(εu2(k))
Plant Model
εy(k) = [yd(k) – y(k)] or [yd(k) – ym(k)]
+ –
Learning is directly oriented to the controlled signal ym(t)
Training is performed in two phases
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3. Neural Modelling
Inverse Plant Specialised Modelling
Training phases
i. A direct plant model is built covering all the operations range
Neural Modelling and Control
ii. Inverse plant model is built in two steps:
a. Start using the measured output signal ym(t), except for
very noisy cases
b. Continue using the plant modelled output y(t) (plant
model must cover whole range of operation)
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3. Neural Modelling
Inverse Plant Specialised Modelling
Advantage
“For on-line applications, model output error drives inverse model
Neural Modelling and Control
to unexplored zones, where its training will be performed, whereas
direct model was trained on different control areas”
Drawback
“Backpropagation algorithm cannot be directly used because
driving error [yd(k) – y(k)] or [yd(k) – ym(k)] is not directly related
with the neural network output u(k), so it must be supposed that…”
⎛ ⎛ ∂y(t) ⎞2 ⎞
Ju ≈ J y E⎜⎜ ⎟
⎜ ⎝ ∂u(t) ⎟⎠ ⎟
⎝ ⎠
13
3. Neural Modelling
Backpropagation-through-time Modelling
z-1
Neural Network + Unknown ym(t)
yd(t) Inverse Model
ZOH +
Plant
Neural Modelling and Control
u(k) Neural Network y(k)
BP
Plant Model
εu(k)
BP
εy(k)
+ –
An emulation of εu(k) is obtained,
backpropagating εy(k) towards the input layer of the ANN plant model
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3. Neural Modelling
Backpropagation-through-time Modelling
Remarks
This method assumes that input u(t) has a linear effect on the
Neural Modelling and Control
unknown process. It is a hard assumption, but it makes able
the control for many cases.
The process model is trained before the inverse model (z-1).
Although error εy(k) is backpropagated through the neural
network plant model, this model is not adapted during the
training of the neural network inverse plant model.
A possible variant is to use a reference model to insert into
the BTT model a transient desired output instead of a fixed
reference.
15
3. Neural Modelling
Operator Modelling (in closed loop)
yd(t) – Expert um(t) + Unknown ym(t)
+ +
Operator Plant
Neural Modelling and Control
Neural Network u(k)
–+
Expert Model
BP
Controller is learned from an expert: learning algorithm is
executed in parallel to a plant operator and his/her operations
are taken as the neural network training targets.
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