Proceeding of the 3rd International Conference on Informatics and Technology, 2009
©Informatics '09, UM 2009
So, it is useful to know the inverse dynamics of a process in order to control it. In other words, model based controldesign has the potential to provide perfect control. But obtaining a perfect model is not possible always while themodel also contain some degree of errors. Moreover all models may not be invertible, so perfect control is verydifficult to realize. However, the universal approximation capabilities of the multilayer neural network have made itpopular choice for complex process dynamics and for implementing general-purpose nonlinear controllers . Neuralnetworks have been employed to identify inverse dynamics models of unknown process through learning [2-8]. In theinverse control, a neural network is trained to learn the inverse dynamics of the process, in order to predict theprocess inputs which produce the desired outputs.When neural networks originally were proposed for controlling unknown non-linear systems, one of the first methodsbeing reported was on training a net-work to act as the inverse of the system and use this as a controller. Explainedin brief, the basic principle is as follows:Assuming that the system to be controlled can be described byy(t+1) = g[ y(t),……, y(t-n+1), u(t),….. u(t-m)]the desired network is then the one that isolates the most recent control input, u(t),u
(t) = g
[y(t+1), y(t),…., y(t-n+1), u(t),….u(t-m)]Assuming such a network has somehow been obtained, it can be used for controlling the system by substituting theoutput at time t+1 by the desired output, the reference, r(t+1). If the network represents the exact inverse, the controlinput produced by it will thus drive the system output at time t+1 to r(t+1)Temperature control system, for example, is very complex system, because of the nonlinearities and uncertainties ofa system. Conventional control approaches are not convenient to solve the complexities . Due to this wedeveloped a software tool for training purpose and used the trained inversed model of the process as controller toreal-time controlling the process.
2.0 Inverse Model training using the software tool
Using the software tool it’s easy to train the neural network. For getting the expected inverse of the process we needto obtain real-time open-loop excitation data. After data acquisition we trained the open-loop data for getting theaccurate inverse of the process. The software tool is flexible and user friendly enough to train any structure of neuralnetwork, i.e reconfigurable. To get better training we used several sets of training data and validation data sets. Thegeneralized inverse neural network structure can be shown as follows:Fig. 4: Inverse Model StructureAccording to the figure inverse neural network can have any number of inputs, input can be previous outputs ofdelay 1 to m, previous control action to the process of delay from 1 to n and of course the set point or expectedoutput. The neural network is trained to learn the inverse dynamics of the process system by using general trainingmethod. Open loop system was used to obtain the system response curve for the plant response to a random inputInverseNeural NetworkSet point