Adaptive control of nonlinear systems using neural networks

Fu-Chuang Chen, Hassan K. Khalil

Research output: Contribution to journalArticlepeer-review

245 Scopus citations


Layered networks are used in a nonlinear adaptive control problem. The plant is an unknown feedback-linearizable discrete-time system, represented by an input-output model. A state space model of the plant is obtained to define the zero dynamics, which are assumed to be stable. A linearizing feedback control is derived in terms of some unknown nonlinear functions. To identify these functions, it is assumed that they can be modelled by layered neural networks. The weights of the networks are updated and used to generate the control. A local convergence result is given. Computer simulations verify the theoretical result.

Original languageEnglish
Pages (from-to)1299-1317
Number of pages19
JournalInternational Journal of Control
Issue number6
StatePublished - 1 Jan 1992


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