Applied Mathematical Modelling 35 (2011) 4620–4629

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Applied Mathematical Modelling

journal homepage: www.elsevier.com/locate/apm

Artificial neural network for discrete model order reduction

with substructure preservation
Othman M.K. Alsmadi a,⇑, Zaer. S. Abo-Hammour b, Adnan M. Al-Smadi c
a
Department of Electrical Engineering, University of Jordan, Amman, Jordan
b
Department of Mechatronics Engineering, University of Jordan, Amman, Jordan
c
Department of Electronics Engineering, Yarmouk University, Irbid, Jordan

a r t i c l e i n f o a b s t r a c t

Article history: This paper presents a new technique for model order reduction (MOR) that is based on an
Received 13 May 2010 artificial neural network (ANN) prediction. The ANN-based MOR can be applied for differ-
Received in revised form 7 March 2011 ent scale systems with substructure preservation. In the proposed technique, the ANN is
Accepted 15 March 2011
implemented for predicting the unknown elements of the reduced order model. Prediction
Available online 7 April 2011
of the ANN architecture is based on minimizing the cost function obtained by the differ-
ence between the actual and desired system behaviour. The ANN prediction process is pur-
Keywords:
sued while maintaining the full order substructure in the reduced model. The proposed
Artificial neural networks
Discrete systems
ANN-based model order reduction method is compared to recently published work on
Transfer functions MOR techniques. Simulation results verify the validity of the new MOR technique.
Model order reduction Ó 2011 Elsevier Inc. All rights reserved.
State space models

1. Introduction

MOR of large scale systems has been an important subject area in control engineering for many years [1,2]. Derivation of
the mathematical model often leads to detailed description of a complex model in the form of high order differential equa-
tions. In the frequency domain, these equations lead to a high order mathematical model. Such large-scale models are
numerically demanding, structurally spacious, and are not very practical. Hence, it is useful, and sometimes necessary for
analysis and design purposes, to search for the possibility of finding some lower order equations of the same type that
may be considered to adequately reflect the dominant characteristics of the original system. The objective of simplification
is to obtain a low order model of the existing high order model such that both are equivalent in terms of system response and
being close to each other in some physical representation means.
To obtain a model of lower order, a significant number of methods have been proposed in the seventies and eighties [3–6].
Even though MOR techniques for linear dynamical systems are developed rather properly, there are still quite a lot of issues
to be considered. Depending on the application of the model, the method of simplification may vary. Therefore, the subject of
MOR has been the focus of many researchers’ published work, where it offers an excellent route to system modelling elim-
inating a large number of dynamics that do not have much influence on the system behaviour [7–11]. BaniHani and De [7]
investigated the application of MOR for fast simulation of soft tissue response using the point collocation-based method of
finite spheres. Ramesh et al. [8] proposed a method of differentiation for finding the constant term of the reduced order
denominator polynomial and then using it for discrete MOR. Vishwakarma and Prasad [9] proposed a mixed method for

⇑ Corresponding author.
E-mail address: Othman_mk@yahoo.com (O.M.K. Alsmadi).

0307-904X/$ - see front matter Ó 2011 Elsevier Inc. All rights reserved.
doi:10.1016/j.apm.2011.03.028
 O.M.K. Alsmadi et al. / Applied Mathematical Modelling 35 (2011) 4620–4629 4621

finding stable reduced order models of large-scale systems using Pade approximation and some clustering technique. This
method determines the denominator polynomial of the reduced order model by forming the clusters of the poles of the
original systems, while determining the coefficients of the numerator polynomial using the Pade approximation technique.
Selvaganesan [11] proposed a method that uses the generalized Routh table and factor division method in combination to
obtain the reduced order model.
To obtain a proper low order model, the problem must be approached from a realistic point of view in order to preserve
the characteristic of the original system. Maintaining the original substructures in the reduced model yields a meaningful
physical interpretation as presented by Reis and Stykel [12]. In this paper, such an objective is achieved based on the system
behaviour response, retaining the dominant dynamic frequencies, and maintaining a minimum sum square error (referred to
as cost function). In spite of the several methods available in literature, each method has advantages and disadvantages
when tried on a particular system. In addition to that, no approach always gives the best results for all systems. For example,
numerous available methods of transfer function MOR are based on minimizing the integral square error (ISE) criterion (i.e.,
Parmer et al. [13], Vishwakarma and Prasad [9], Mittal et al. [14], Howitt and Luss [15]). However, these methods have a
common factor in which the denominator coefficients of the reduced model are chosen arbitrarily by some stability preserv-
ing methods such as pole clustering, multipoint response matching, Pade approximation methods, while the numerator coef-
ficients of the reduced model are determined by minimizing the ISE. Others have performed MOR using techniques in which
both numerator and denominator coefficients are determined based on minimizing the ISE of the system response as pro-
posed by Howitt and Luss [15].
Artificial neural networks have been implemented to solve several types of problems usually characterised by sets of
differential equations as dealt with by Bellamine [16], Christodoulo and Liopoulos [17]. They have shown to be an effective
tool in the development of appropriate models of physical systems by searching in the design variables space and obtaining
a system description that optimizes a performance objective function. Different neural network architectures lately have
been proposed for MOR such as neural black-box identification by means of a non-linear auto-regressive with exogenous
model, or neural network of linear and nonlinear principal component analysis combined with generalized dimensional
analysis as proposed by Chetouani [18], Bellamine [16]. However, those architectures usually train the estimated model
for closest system behaviour response regardless of the dominant critical frequencies. In this paper, a new technique for
model order reduction of dynamical control systems is introduced using artificial neural networks with substructure pre-
serving. The proposed method has been compared to different recent MOR techniques, where the superiority of the new
method is shown.
The organization of the paper is presented as follows. Section 2 presents problem formulation of the transfer function of
the reduced order model. In Section 3, artificial neural network training for model order reduction is presented. An imple-
mentation of the ANN MOR along with simulation comparative results of different MOR techniques is presented in Section 4.
In Section 5, an overall result conclusion is presented.

2. Problem formulation

Consider the discrete-time system described by

yðkÞ þ a1 yðk  1Þ þ a2 yðk  2Þ þ    þ an yðk  nÞ ¼ b0 uðkÞ þ b1 uðk  1Þ þ    þ bn uðk  nÞ; ð1Þ
where u(k) is the input and y(k) is the output of the system at the kth sampling instant. Eq. (1) can be written in the form of a
pulse transfer function as

YðzÞ b0 zn þ b1 zn1 þ    þ bn
GðzÞ ¼ ¼ n ; ð2Þ
UðzÞ z þ a1 zn1 þ    þ an
where its characteristic polynomial contains the system dominant and none dominant poles which could be distinct, re-
peated, or complex. The corresponding reduced rth order model is given by

YðzÞ b0 zr þ b1 zr1 þ    þ br
Gr ðzÞ ¼ ¼ r ; ð3Þ
UðzÞ z þ a1 zr1 þ    þ ar
where some of the coefficients ai (i = 1, 2, . . . , r) and bi (i = 0, 1, 2, . . . , r) may be zeros. The objectives desired in the reduced
model are: 1. maintain system stability, 2. retain system substructure, and 3. produce a response with minimum deviation.
These objectives can be achieved by realizing the following state space representation for the discrete time system of Eq. (3),
which can be given as
xr ðk þ 1Þ ¼ Ar xr ðkÞ þ Br uðkÞ; ð4Þ

yr ðkÞ ¼ C r xr ðkÞ þ Dr uðkÞ; ð5Þ

where xr(k) is r-state vector, u(k) is the system single-input (SI), yr(k) is the reduced order model single-output (SO), and Ar,
Br, Cr, and Dr are matrices with appropriate dimensions. The state space matrices of Eqs. (4) and (5) are to be obtained by
training an ANN with the restrictions of our objectives based on minimizing the following cost function
4622 O.M.K. Alsmadi et al. / Applied Mathematical Modelling 35 (2011) 4620–4629

eðkÞ ¼ yðkÞ  yr ðkÞ; ð6Þ

which is the deviation between the full and reduced order models’ responses.

3. Artificial neural network training and estimation

3.1. Derivation of the ANN

Consider the SISO system of Eqs. (4) and (5) which can represent the system form given in Eq. (3). Using ANN, a state-
space reduced order model of the following form maybe obtained
xr ðk þ 1Þ ¼ Ar xr ðkÞ þ Br uðkÞ; ð7Þ

yr ðkÞ ¼ C r xr ðkÞ: ð8Þ

The ANN will simultaneously estimate the Ar and Br matrices based on estimating the system dominant dynamics while
retaining them in the reduced-order model. The ANN used in this paper is a recurrent neural network which has the advan-
tage of being applicable to static or dynamic system matrices (adaptive modeling) [19]. In addition to that, there is a one-to-
one correspondence between the ANN weights and the system matrix elements, as illustrated in Fig. 1. The network consists
of a one-neuron-layer network with linear neuron activation function along with the given input and output data. A simple
architecture of a 1st order system with SISO is shown in Fig. 1.
As seen in Fig. 1 for a simple 1st order model, the network consists of a processing layer of computation neuron, a con-
catenated input-feedback layer, and one neuron external input. Correspondingly, the weights of the network connections are
basically made up of the feedforward and feedback connections. As mentioned earlier, the advantage of this type of ANN is
that the reduced order model matrices are simply estimated directly by the architecture weights given as [20]
w ¼ ½Ar Br : ð9Þ

Based on the cost function of Eq. (6) and the measurement of Eq. (8), a modification maybe given by
eðkÞ ¼ yðkÞ  C r xr ðkÞ: ð10Þ

The instantaneous sum of squared error at time k is

1
eðkÞ ¼ e2 ðkÞ: ð11Þ
2
For an on-line learning, as well as off-line, the minimization of the cost function is obtained by summing e(k) over time k;
P
that is, etotal ðkÞ ¼ eðkÞ [19]. In order to achieve this objective, the gradient of e (k) with respect to the weight matrix w(k) of
Eq. (9) is used. That is,
@ etotal X @ eðkÞ X
rw etotal ¼ ¼ ¼ rw eðkÞ: ð12Þ
@w k
@w k

For an rth order system, there will be an r number of neurons with wj being the weight vector of neuron j given as
wj ¼ ½Ar;j Br;j ; j ¼ 1; 2; . . . ; r: ð13Þ

To minimize the cost function of Eq. (11), e(k) is differentiated with respect to the weight vector wj; that is
@ eðkÞ @eðkÞ @xr ðkÞ
¼ eðkÞ ¼ C eðkÞ; ð14Þ
@wj @wj @wj
which leads to the following updating weight vector of wj

w11 = Ar
State ϕ(.) Z-1
xr (k ) xr ( k + 1) Output
Input yr(k)
w12 = Br
u(k)
weights Neuron with linear
Activation function
Fig. 1. Neural network architecture for 1st order dynamical system.
 O.M.K. Alsmadi et al. / Applied Mathematical Modelling 35 (2011) 4620–4629 4623

@ eðkÞ @xr ðkÞ

Dwj ¼ g ¼ gC eðkÞ; ð15Þ
@wj @wj
where g is the learning-rate parameter. In order to determine the term @xr(k)/@wj, define the concatenated input-feedback
and external input as a total network input vector given by
 
xr ðkÞ
nðkÞ ¼ : ð16Þ
uðkÞ
As seen in Fig. 1, the output of the neuron j may then be given by
2 3
uðw1 nðkÞÞ
6 .. 7
6 7
6 . 7
6 7
xr ðk þ 1Þ ¼ 6
6 u ðwj nðkÞÞ 7;
7 j ¼ 1; 2; . . . r; ð17Þ
6 . 7
6 . 7
4 . 5
uðwr nðkÞÞ
where u() is the activation function of the network neurons as presented in Fig. 1. Defining an (r  r) diagonal matrix U(k),
whose kth diagonal element is the partial derivative of the activation function with respect to its argument, evaluated at
wjn(k) yields
UðkÞ ¼ diagðu_ ðw1 nðkÞÞ; . . . ; u_ ðwj nðkÞÞ; . . . ; u_ ðwr nðkÞÞÞ: ð18Þ
For a next time step, (k + 1), the term @xr(k + 1)/@wj is now obtained as
 
@xr ðk þ 1Þ @xr ðkÞ
¼ UðkÞ wj þ wj ðkÞ ; j ¼ 1; 2; . . . r; ð19Þ
@wj @wj
where wj is defined as
2 3
0
6 7
wj ðkÞ ¼ 4 nT ðkÞ 5; j ¼ 1; 2; . . . r: ð20Þ
0

3.2. MOR with system substructure preserving

Using the network described in Section 3.1, the discrete full order system of Eq. (2) will be reduced to a proper-order
model. In this paper, system transformation, such as in [2,21,22], will not be required. Instead, the reduced model is directly
obtained based on the cost function minimization. To start with, the output matrix in Eq. (8) is designed such that
C r ¼ ½1 0    0  which, in someway, is similar to the controllable canonical form where the output is one of the dynam-
ical states. In order to determine the reduced order system matrices Ar and Br of Eqs. (7), the neural network training is
implemented. This is illustrated as shown in Fig. 2.
Substructure preservation is achieved by maintaining the full order dominant frequencies in the reduced order model.
This can be done by restricting the reduced system state matrix Ar to have the following matrix form

Full order model y(k)

Y ( z ) b0 z n + b1 z n −1 + + bn
= n
u(k) U ( z) z + a1 z n −1 + + a n + e(k)
Discrete -
time
Reduced order model yr
input
x r (k + 1) = Ar x r (k ) + Br u (k )
y r (k ) = C r x r (k )

ANN training with

η learning-rate
Ar Z-1

Br

Fig. 2. ANN training for MOR.

4624 O.M.K. Alsmadi et al. / Applied Mathematical Modelling 35 (2011) 4620–4629

2 3
k1 a12 a13 a14  a1r
6 0 k2 a23 a24  7
6 7
6 .. .. .. 7
6 7
6 . . . 7
6 .. 7
6 7
6 : 0 kb . 7
6 7
Ar ¼ 6
6 : 0 r1 a1 7
7 ð21Þ
6 7
6 : 0 a1 r1 7
6 7
6 .. 7
6 0 0 . aðr2Þr 7
6 7
6 7
4 0 rp ap 5
0 : : : 0 ap rp
where the original system eigenvalues (real and/or complex) are preserved in the diagonal, seen as ki, i ¼ 1; 2; . . . ; b  (real) and
ri ± ai, i ¼ 1; 2; . . . ; p (complex). The elements to be predicted in Eq. (21) are seen as (aij), where j = i + 1, 2, . . . , r and r ¼ b þ 2p.

Referring to Fig. 2, the network will predict the Br matrix and the restricted Ar matrix of the reduced order model. Converting
the obtained state-space model into the transfer function form yields the reduced order model of Eq. (3).

4. Results and discussion

To evaluate the proposed method of model order reduction, we will consider different dynamical systems that have been
considered in the literature.

Example 1. Consider the 8th order transfer function investigated by Ramesh et al. [8] given as:

0:1625z7 þ 0:125z6  0:0025z5 þ 0:00525z4  0:02263z3  0:00088z2 þ 0:003z þ 0:000413

GðzÞ ¼
z8  0:6307z7  0:4185z6 þ 0:078z5  0:057z4 þ 0:1935z3 þ 0:09825z2  0:0165z þ 0:00225
with critical frequencies: [0.8797 ± 0.2442i, 0.0542 ± 0.6558i, 0.5875 ± 0.0959i, 0.0773 ± 0.1078i]. Notice that all of the
critical frequencies are complex. Simulating this model for a step input, the ANN was used to train a reduced 2nd order mod-
el to provide the same behaviour with minimum deviation. Using the restriction of Eq. (21), we have preserved the most

1.5
8th Ord. (Original)
2nd Ord. (Proposed)

1
Sys. Output

0.5

0
0 10 20 30 40 50 60
Time [s]

Fig. 3. Step responses to the 8th and reduced 2nd order models.
 O.M.K. Alsmadi et al. / Applied Mathematical Modelling 35 (2011) 4620–4629 4625

dominant critical frequencies given by [0.8797 ± 0.2442i] in the reduced order model. In order to achieve this, the reduced
order model was obtained in the form of a state-space representation given by the following 2nd order model
   
0:8797 0:2442 0:1623
xr ðk þ 1Þ ¼ xr ðkÞ þ uðkÞ;
0:2442 0:8797 0:2472

yr ðkÞ ¼ ½1 0 xr ðkÞ;

which has the following transfer function
0:16234z þ 0:082445
Gr ðzÞ ¼
z2  1:7594z þ 0:83347
In the 2nd order reduced model, the critical frequencies of the full order model have been preserved, seen as
[0.8797 ± 0.2442i], while the response being very close to the full 8th order model. This can be observed as seen in Fig. 3.
The proposed method has been compared with other recently published work, mainly with the differentiation method
presented by Ramesh et al. [8] where the reduction process takes place in the continuous domain. The comparison of results
is performed in terms of substructure preserving, systems output response, and the error index described by
X
N
J¼ ½yðkÞ  yr ðkÞ2 ;
k¼0

where N is the number of samples. Comparison results are shown in Table 1.

As seen in Table 1, using the proposed method, the exact critical frequencies have been preserved in the reduced order
model. The cost function has been minimized with error index of 0.000369 as reflected by the step response seen in Fig. 3. On
the other hand, none of the other methods has performed as well as the proposed method.

Table 1
Model order reduction method comparison for example 1.

System Critical frequencies Error index, J

Original 8th order 0.8797 ± 0.2442i, 0.0773 ± 0.1078i 0.5875 ± 0.0959i, 0.0542 ± 0.6558i —-
Proposed 2nd order 0.8797 ± 0.2442i 0.000369
Ramesh et al. [8] 2nd order 0.8768 ± 0.2484i 0.0011
Selvaganesan [11] 2nd order —- 0.3397

1.5
8th Ord. (Original)
2nd Ord. (Proposed)

0.5
Sys. Output

-0.5

-1
0 10 20 30 40 50 60
Time [s]

Fig. 4. Mixed signal input responses to the 8th and reduced 2nd order models.
4626 O.M.K. Alsmadi et al. / Applied Mathematical Modelling 35 (2011) 4620–4629

To more investigate the behaviour of the obtained reduced order model, the system was excited by a mixed signal of a
step (for 20 s) and a sinusoidal waveform. The system responses, for the full and reduced order models, are obtained as
shown in Fig. 4.

Example 2. Consider the 8th order transfer function investigated by Mukherjee et al. [23] given as:
0:4209z7 þ 0:2793z6  0:0526z5 þ 0:038z4  0:1291z3  0:0656z2 þ 0:011z  0:0015
GðzÞ ¼
z8  0:4209z7  0:2793z6 þ 0:0526z5  0:038z4 þ 0:1291z3 þ 0:0656z2  0:011z þ 0:0015
with critical frequencies: [0.7512 ± 0.3068i, 0.5566 ± 0.1219i, 0.0772 ± 0.1078i, 0.0615 ± 0.6288i]. Again, the ANN was
trained for a step input response and the following 2nd order reduced model was obtained
0:52563z  0:36939
Gr ðzÞ ¼
z2  1:5025z þ 0:65849
with complex critical frequencies [0.7512 ± 0.3068i] preserved from the most dominant frequencies of the full order model.
The comparison is now performed with respect to the Mukherjee results which performs MOR based on multipoint step re-
sponse matching. The reduced order model of the Mukherjee’s method is given by
0:3975z  0:318
Gr ðzÞ ¼
z2  1:6025z þ 0:682
System behaviour response to a unity step input for the original full order model, proposed reduced 2nd order model, and
the Mukherjee reduced 2nd order model are all shown in Fig. 5 where comparison maybe obtained. In addition to that, the
comparison is also conducted for critical frequency preservation and error index as seen in Table 2.
In Table 2, it can be seen that the error index of the Mukherjee reduced order is less than the proposed method. However,
the advantages of the new method are: (1) The exact most dominant frequencies of the full order are preserved in the
proposed reduced order model, while they are not in the Mukherjee’s model, (2) The output response of the new method has
better behaviour than the Mukheerjes’, especially when the response changes its direction, such as at the maximum or at the
minimum, as can be seen in Fig. 5.
Again, to more investigate the behaviour of the obtained reduced order model, the system was excited by an impulse
function with a duty cycle of 5 s producing results as shown in Fig. 6.

1.5
8th Ord. (Original)
2nd Ord. (Step Matching)
2nd Ord. (Proposed)

1
Sys. Output

0.5

0
0 10 20 30 40 50 60
Time [s]

Fig. 5. Step responses to the original and reduced order models.

 O.M.K. Alsmadi et al. / Applied Mathematical Modelling 35 (2011) 4620–4629 4627

Table 2
Model order reduction method comparison for example 2.

System Critical frequencies Error index, J

Original 8th order 0.7512 ± 0.3068i, 0.0772 ± 0.1078i 0.5566 ± 0.1219i, 0.0615 ± 0.6288i —-
Proposed 2nd order 0.7512 ± 0.3068i 0.0272
Mukherjee et al. [23] 2nd order 0.7650 ± 0.3171i 0.006

Example 3. As a last example, we consider the continuous 4th order transfer function investigated by Vishwakarma and Pra-
sad [9] given by

s3 þ 7s2 þ 24s þ 24
GðsÞ ¼
s4 þ 10s3 þ 35s2 þ 50s þ 24
with critical frequencies ½1 2 3 4 . In order to perform MOR to this continuous system, it was first discretized.
With sampling period of 0.01 s, the following discrete system was obtained

0:0049273z4  0:0095101z3  0:00033297z2 þ 0:0095102z  0:0045942

GðzÞ ¼
z4  3:9015z3 þ 5:7078z2  3:7112z þ 0:90483
with all real critical frequencies ½0:9900 0:9802 0:9704 0:9608 . The ANN was trained and the following 2nd order re-
duced model was obtained
0:008079z  0:007882
Gr ðzÞ ¼
z2  1:9702z þ 0:97044
with critical frequencies ½0:9900 0:9802  as specified. Converting the reduced order model to the continuous form yields

0:0040503s2 þ 0:80006s þ 2
Gr ðsÞ ¼
s2 þ 3s þ 2
where the most dominant frequencies ½1 2  which are part of full order model. On the other hand, using Pade approx-
imation technique, Vishwakarma and Prasad proposed the following 2nd order reduced model

0:0040503s2 þ 0:80006s þ 2
Gr ðsÞ ¼
s2 þ 4:5713s þ 4:76187
The critical frequencies of this reduced order model are ½1:3333 3:4286 . Notice that they are not related to the full or-
der model; that is, preserving of the dominant critical frequencies is not achieved. In addition to that, simulating the full and

1.5
8th Ord. (Original)
2nd Ord. (Step Matching)
2nd Ord. (Proposed)

1
Sys. Output

0.5

-0.5
0 10 20 30 40 50 60
Time [s]

Fig. 6. Impulse responses to the 8th and reduced 2nd order models.
4628 O.M.K. Alsmadi et al. / Applied Mathematical Modelling 35 (2011) 4620–4629

1.2

0.8
Sys. Output

0.6

0.4

0.2

0
4th Ord. (Original)
2nd Ord. (Pade Approx)
2nd Ord. (Proposed)
-0.2
0 1 2 3 4 5 6 7
Time [s]

Fig. 7. Step responses to the original 4th and reduced 2nd order models.

reduced order models to a unity step input produces the results shown in Fig. 7. As can be seen, the proposed method pro-
vides a response that is much closer to the original full order system than the Pade approximation MOR technique’s result.

5. Conclusion

A new method of ANN-MOR of dynamical systems with dominant critical frequency preservation is presented in this pa-
per. The reduced-order model is obtained by ANN training using a set of input–output data. The convergence process is
achieved based on the minimization of the cost function presented by system response deviation. Simulation results show
the performance of the proposed ANN-based method compared with other well-known methods in terms of maintaining
system stability, preserving the exact dominant frequencies, and providing system response for SISO models. Based on
the results presented in Section 4, it is clearly seen that, in general, the proposed method outperforms the other methods.

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