Design and implementation of a controller with two-degrees of freedom using neural networks based on FPGA

In this paper, a new control scheme with two degrees of freedom using a model reference structure is presented, which has stability, robust performance and model reference behavior at the same time. Also, it is implemented by using the NIOS-II processors in FPGA. The controller with two degrees of freedom is composed of a usual PID controller and a neural network controller which works in parallel. Simulation results show the effectiveness of proposed method.