Model-based recurrent neural network for modeling nonlinear dynamic systems

A model-based recurrent neural network (MBRNN) is introduced for modeling dynamic systems. This network has a fixed structure that is defined according to the linearized state-space model of the plant. Therefore, the MBRNN has the ability to incorporate the analytical knowledge of the plant in its formulation. With its original topology intact, the MBRNN can then be trained to represent the plant nonlinearities through modifying its nodes´ activation functions, which consist of contours of Gaussian radial basis functions (RBFs). Training in MBRNN involves adjusting the weights of the RBF´s so as to modify the contours representing the activation functions. The performance of the MBRNN is demonstrated via several examples. The results indicate that it requires much shorter training than needed by ordinary recurrent networks. This efficiency in training is attributed to the MBRNN´s fixed topology which is independent of training