7th International Scientific - Technical Conference - PROCESS CONTROL 2006

June 13 16, 2006, Kouty nad Desnou, Czech Republic

_____________________________________________________________________________________________________

INTELLIGENT NEURAL CONTROLLER

DESIGN IN MATLAB ENVIRONMENT
PASTOREKOV LUCIA, MSZROS ALOJZ AND BURIAN PETER
Institute of Information Engineering, Automation and Mathematics,
Faculty of Chemical and Food Technology, Slovak University of Technology,
Radlinskho 9, 81237 Bratislava, Slovak Republic
Tel: +421 2 59 32 53 49, Fax: +421 2 52 49 64 69
E--mail: lucia.pastorekova@stuba.sk, alojz.meszaros@stuba.sk,
peter.burian@stuba.sk
Keywords: artificial neural networks, MATLAB Neural Network Toolbox, ...

This paper deals with intelligent process control design using artificial neural networks
(ANN). Neural controllers are built up and trained as inverse neural process models, using Neural
Network Toolbox (NNT) in MATLAB environment. The NNT is an effective tool to handle neural
network modeling problems in MATLAB interactive environment. The toolbox consists of a set of
functions and structures as well as graphical user interface and it makes ANN methods application
easy and user-friendly and the simple graphical representation enables to visualize and understand
network architectures.
In this paper, neural network based feedback controllers are designed and trained off-line as
inverse models of the plant controlled The control performance and robustness are augmented by
introducing, first, an adaptive simple integrator and, then, an intelligent controller with fuzzy
integrator part. The proposed ANN control system performance is demonstrated using examples of
both: control of a linear system of second order and a non-linear continuous biochemical process. The
nominal performance of the resulting control system is demonstrated on both objects with satisfactory
results. However, the control behavior is deteriorated in case of perturbation. The reason is that for a
stable and strictly proper system, the obtained, simple, inverse neural model based controller (INMC)
exhibits a PD-like behavior. To achieve offset-free control responses, these controllers are augmented
by an adaptive integral term, which modifies the neural bias at output layer. As the simulation
experiments confirm, the result is a PID-like control with robust performance. Another way to
improve INMC is to extend the feedback by a full integral part with fuzzy tuning. The resulting
control structure is more sophisticated, however, it shows much improved behavior in presence of
unmeasured disturbances and unpredictable uncertainties.
Acknowledgements:
The authors highly acknowledge the financial support of the Scientific Grant Agency of the Slovak
Republic under grants No. 1/1046/04 and 1/3081/06.