Neural network controller characteristics with regard to adaptive control

The authors attempt to clarify neural network (NN) controller characteristics by comparison with the adaptive control theory. The authors clarify the classification of the NN controller architecture and the dynamic NN structure. Comparison between the NN controller and the adaptive controller clarifies that the framework of a linear two-layer NN-type controller is the same as that of adaptive control and the nonlinear three-layer NN (PDP type) is a nonlinear extension of the adaptive control. The stability characteristics of the NN control system are discussed. NN controller experiments are demonstrated using a force control servomechanism. Experimental results suggest that the nonlinear sigmoid function of the NN can compensate for the nonlinear plant effect