27

Prediction Case Study:

Magnetic Levitation

1
27 Magnetic Levitation System

d 2 y t   i t sgn i t   dy t 
2

 g  
dt 2
M y t  M dt

  12,   15, g  9.8, M  3

2
27 Training Data
Skyline Function

Sampling Rate = 0.01 sec

3
27 Scaled Training Data

4
 27 NARX Network


   
y t   f y t  1, y t  2 ,K , y t  ny ,u t  1,u t  2 ,K u t  nu 
5
27 Parallel and Series-Parallel Forms

 u t  1 
 
 u t  2  
p  t   y t  4-10-1
 y t  1  Network
 
 y t  2  

6
27 Network Training

SSE

Iteration Number
7
27 Effective Number of Parameters

39/61

Iteration Number
8
27 Scatter Plots

Training Testing

9
27 Prediction Error Autocorrelation
Q
1
Re   
Q 
 e t e t   
t1

ny  2
nu  2

10
27 Error/Input Crosscorrelation

Q
1
Ru e   
Q 
 u t e t   
t1

ny  2
nu  2

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27 Prediction Error Autocorrelation

ny  4
nu  4

12
27 Error/Input Crosscorrelation

ny  4
nu  4

13
27 Prediction Errors

14
27 Iterated Prediction

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