Implementación de neurocontroladores en línea: Tres configuraciones, tres plantas

in this paper we develop a back-propagation learning algorithm for feedforward neural networks trained online. three neurocontrollers are designed for three systems. those systems are an rc circuit, a dc motor (electronically emulated) and a sphere-tube system. the first implemented strategy is a standard pid controller, which is used in order to compare the performance of the neurocontrollers. the first neurocontroller leads the system in parallel with a pid; the next one is trained online to work alone, and the last one is a neural pid, which strives to make the controller adaptable to the dynamics of the plant trough changes on the pid gains. the control is carried out in real time by using simulink and a pci 6024e data acquisition card. the results for each system are also included.