ADAPTIVE-CONTROL AND IDENTIFICATION USING ONE NEURAL-NETWORK FOR A CLASS OF PLANTS WITH UNCERTAINTIES

This paper proposes a new neural adaptive control method that can perf orm adaptive control and identification for a class of controlled plan ts with linear and nonlinear uncertainties. This method uses a single neural network for both control and identification, and a sufficient c ondition of the local asymptotic stability is derived. Then, in order to illustrate the applicability of the proposed method, it is applied to the torque control of a flexible beam that includes linear and nonl inear structural uncertainties.