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Variable neural networks for adaptive control of nonlinear systems

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Figure

Fig. 1.Variable grid with three subgrids.
Fig. 2.Location of centers in the variable grid with four subgrids. Thenumber i (i = 1; 2; 3; 4) denotes the centers chosen from the ith subgrid.
Fig. 4.Reference input yd(t), output y(t), reference input derivative _yd(t),and output derivative _y(t) of the system.
Fig. 6.Number K of GRBF units in the variable neural network.

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