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
t1

ny 2
nu 2

10
27 Error/Input Crosscorrelation

Q
1
Ru e
Q
u t e t
t1

ny 2
nu 2

11
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

15