IEEE TRANSACTIONS ON SYSTEMS, MAN,AND CYBERNETICS, VOL. 23, NO.

1, JANUARY/FEBRUARY 1993

204

Correspondence
Dynamic System Identification Using Neural Networks
Yd
-

Takayuki Yamada and Tetsuro Yabuta

Abstract-Many studies have heen undertaken in order to apply both

the flexibility and learning ability of neural networks to robot controllers.
The application of neural networks to servolevel controllers has also been
studied. Therefore, we have proposed a neural network direct controller
as a servolevel controller and confirmed its characteristics such as
stability. However, there is also possibility of applying to the identi6cation
of a nonlinear plant. Thus, a practical neural network design method for
the identification of both the direct transfer function and inverse transfer
function of the object plant is proposed. A nonlinear plant simulator as
a practical application of the direct transfer function identilier using a
ueural network is also proposed. Simulated and experimental results for
a second-orderplant show that these identifications can be satisfactorily
achieved. They also confirm that neural network identiBen can represent
nonlinear plant characteristics very well. The characteristics of a neural
network direct controller with a feedback control loop is also proposed
and confirmed, which uses the learning results of the inverse transfer
tunetion identi6er.

Fig. 1. General control system (parallel type).

I. INTRODUCTION

A neural network is modeled on a biological neural network and

has excellent capabilities such as nonlinear mapping. Recently, many
studies such as Kawatos work have been undertaken in order to apply
both the flexibility and learning ability of neural networks to robot
controllers [11-[6]. However, studies on neural networks as servolevel
controllers are still in their early stages. On the other hand, there
are many studies on the servolevel controller based on conventional
control theories such as adaptive control, learning control and fuzzy
control. If it is possible to make an interface between neural networks
and conventional control theories, neural networks can not only use
the results of conventional theories, but also develop in combination
with them. Therefore, we have proposed a neural network direct
controller as a servolevel controller in order to compare neural
network controllers with conventional control theories. We have also
confirmed its characteristics such as stability [7],[8]. However, it
is necessary to take into account not only the controller but also the
identification of the nonlinear dynamics system through the use of the
neural network. However, no such studies have yet been completed
and only Jordan has begun to study this problem [9].
This paper proposes practical design methods for the identification
of both the direct and inverse transfer functions of a dynamic system
through the use of a neural network. Simulated and experimental results confirm that these identifications can be satisfactorily achieved.
This paper proposes a nonlinear simulator of a dynamic system as a
practical application of the direct transfer function identifier. This
paper also proposes a neural network controller with a feedback
loop, which uses the learning results of the inverse transfer function
identifier. With this control method, this feedback loop is expected to
compensate for the remaining control error caused by identification
error. Experimental results confirm the control characteristics of this
scheme.
Manuscript received March 16, 1990; revised March 6, 1992.
The authors are with NTT TelecommunicationField Systems R&D Center,
Tokai-Mura, Naka-Gun, Ibaraki-Ken, 319-11, Japan.
IEEE Log Number 9202115.

Fig. 2. General control system (series type).

11. CLASSIFICATION OF CONTROLLERS

Figs. 1 and 2 show a parallel and a series controller, respectively.

In this control scheme, both feedforward and feedback controllers
are tuned through the use of plant parameters estimated by observers
(identifiers). Kawato has applied a neural network to the parallel
controller shown in Fig. 1 [4]. His controller uses the neural network
as a feedforward block. At the beginning of learning, the feedback
block guarantees stability. After learning, the system is mainly
controlled by the neural network. With the controller shown in Fig. 2,
the feedforward block acts as a dynamic filter of the desired value for
control. One typical example is that the feedforward block is used as
an inverse kinematics solver of robot manipulators. Although many
studies have been concerned with the feedforward feedback control
scheme, we can realize a neural network feedforward controller
without a feedback block [7], [8]. There have been many attempts
to design a controller using a neural network, but the characteristics
and stability of neural network observers have not yet been clarified.
As PDP type neural networks are trained to minimize error energy
functions, observers (identifiers) using neural networks are classified
into two types by definition of their error energy functions. One type
is trained to minimize the squared error (energy function) between a
neural network output and a plant output. Fig. 3 shows this type of
observer that is defined as a direct transfer function identifier in this
paper. In this type of identifier, the neural network output converges
with the plant output after learning and the direct transfer function
of the plant is composed in the neural network. The other type is
trained to minimize the squared error (error energy function) between
the neural network output and the plant input. Fig. 4 shows this type
of observer that is defined as an inverse transfer function identifier.
In this type of identifier, the neural network output converges with
the plant input after learning and the inverse transfer function of the
plant is composed in the neural network.

0018-9472/93$03.00 0 1993 IEEE

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Plant

Position

Actual Position
'I'ocess

Trajectory

Neural
Network

Time
Fig. 6 . Concept of learning type

Fig. 3. Scheme of direct transfer function identifiet

- Y

Plant

I *

Neural
Network

Fig. 7. Concept of cost function type.

i
Fig. 4. Scheme of inverse transfer function identifier.

Position

,Actual Position
/Desired
Trajectory

Time
Fig. 5. Concept of adaptive type.

Observers are also classified into two types by learning method

[lo].One type learns at every sampling time. Fig. 5 shows this type
of observer that we call the adaptive type. As shown in Fig. 5, the
neural network output converges with the teaching signal within one
trial. The other type learns at every trial period. Fig. 6 shows this
type of observer that we call the learning type. As shown in Fig. 6,
the neural network output converges with the teaching signal after
several trials. As the converging speed is of no importance in this
observer, a cost function type identifier can be realized because a
cost function needs much calculation. Fig. 7 shows one example of
the learning type, which can operate as a self-tuning controller.
In particular, this paper proposes practical design methods for both
direct and inverse transfer function identifiers using neural networks
and confirms their characteristics.
111. BASICCONCEPT

A neural network design based on a PDF' model is selected with

a view to control systems application [ll]. There have been many
studies on the PDP model with regard to such problems as clustering

and logical function. However, no studies on neural networks as

servolevel controllers have yet been completed. When we attempt to
realize a servolevel controller using neural networks, the following
points must be considered.
It is necessary to use a neural network that can deal with analog
signals because both plant input and output are analog.
It has been proved that a neural network can express any
nonlinear logical function if the neural network is assumed to
have infinite neurons [12]. However, it is difficult for an actual
system to satisfy this assumption. Thus, the required size of
the neural network has to be determined.
A neural network has a nonlinear sigmoid function in order to
achieve a nonlinear mapping ability. This makes it very difficult
to analyze the neural network.
When a neural network estimates an unknown plant, it needs
the input and output of the plant for the teaching signal and the
neural network input. However, it is impossible to predetermine
the spectra of the input and output of an unknown plant. Thus,
it is necessary to establish a practical design method, in which
learning results do not depend on the input and output spectra
of the plant.
to point l), signals in the neural network are assumed to be
analog. Regarding point 2), the required size of a neural network
is defined as the minimum size in which the weights between the
neurons are such that the neural network output matches the teaching
signal. With regard to point 3), the dominant part of the object plant
is assumed to be linear so that we can design the neural network
for a linear system. In this semi-linear approach, we can analyze the
main characteristics of the neural network theoretically. The nonlinear
effect is studied on the basis of the linear neural network in addition
to the nonlinear sigmoid function by use of both simulation and
experiment. Regarding point 4), a teaching signal (which is the plant
output for the direct transfer function identifier and the plant input
for the inverse case) is divided into the parameter of an unknown
plant and a signal vector, based on assumption 3). The unknown
plant parameter is learned.

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These are the basic assumptions of the practical design methods.

Based on assumption 4),the teaching signal T is divided into both
the unknown vector a and the signal vector I by the following:

The teaching signal Y(k)(the plant output) is divided into both the
unknown vector a of the plant and the signal vector I(k) as (8)

Y(k)= a T I ( k )
T = aTI.

(1)

This signal vector I is the neural network input vector. If we use

the assumption that the neural network is linear, we can divide the
neural network output Noutinto both weight matrix W and neural
network input vector I by the following:

Nout= W T I .
Thus, error
given by

(2)

between the neural network and the actual plant is

= (T

- Nout)
= (aT - W T ) I .

(3)

As mentioned previously by using the linear assumption, we can

prove the existence of the neural network weights, which can be
obtained independent of the input signal I, where the error E is zero.
A suitable input vector I is discussed in the following section.

IV. CONTROLLER
DESIGN
METHOD
This section describes general design methods for both the direct and inverse transfer function identifiers. The object plant is a
predominantly linear SISO plant system. The leaming is performed
every sampling time. Since we assume that the dominant part of the
plant is linear, the neural network identifiers are designed for a linear
system. The basic neural network structure is a three layer, linear
PDP type. As to the nonlinear effect, the sigmoid function is added
to the designed linear neural network. The transfer function of the
object plant is assumed to be expressed as

A(2-l) =

+
*=1
m
..

B(z-') = 1

+ 1b , C i

+ +

where I ( k ) and a are w[= n m

11 order vectors. On the other
hand, when the neural network is linear, the neural network output
y,(k)iS

YN(k) w T ( k ) W ( k ) r ( k )

(4)

(9)

where the weights between neurons w ( k ) and W ( k ) are w x 1

order vector and u x w order matrix, respectively. The error ~ ( k =
)
Y(k)- YN(k)is revised as
E(k)

= Y ( k )- YN(k)
= a T I ( k ) - wT(k)W(k)I(k)
= {a* - W T ( k ) W ( k ) } I ( k ) .

(10)

Equation (10) indicates that the error ~ ( k )becomes zero when

the relation aT = w T ( k ) W ( k ) is satisfied. This fact implies the
existence of a neural network weight matrix that makes the error
~ ( kzero.
) As shown in (lo),the selection of the weight matrix can
be performed independent of both the plant input and output when the
signal vector defined by (6) is used as the neural network input. The
relation aT = w T ( k ) W ( k )indicates the existence of infinite weight
matrixes w ( k ) and W(k),
which satisfy this relation. This means that
the weight matrixes w ( k ) and W ( k )directly correspond with vector
a of the unknown parameter. To cause the weights w T ( k ) W ( k ) to
converge with a*, the learning is undertaken every sampling time
using the S rule as follows [ll].

W(k
w(k

A(t-')Y(k)
=~-~Gol?(z-~)U(k)

(8)

+ 1) = W ( k )+ qAW(k)
+ 1) = w ( k ) + qAw(k)

A W ( k )= - d E / d W ( k )
Aw(k) = - d E / d w ( k )
E = E2(k)

(11)
(12)

(13)
(14)

i=l

where q is the parameter related to the converging speed.

Fig. 8 shows a block diagram of the direct transfer function
identifier, which is applied to an n = 2, m = 1, d = 1 plant.
Due to the result of (6), the neural network input is composed of
both the plant input and output information. The neural network
using the error E between the
learning is performed with (11H14)
n
plant output and the neural network output. The broken line in Fig.
Y(k)= - xa,Y(k- i) +Go
8 is a feedback loop to stabilihe the system during learning, which
z=1
also guarantees the finiteness of the neural network input. If the plant
m
output is finite without the feedback loop, this feedback loop is not
U(k - d)
b,U(k - i - d )
(5) necessary. Although the previous design method is applied to a linear
i=l
system, the neural network can be extended into the nonlinear field
when the nonlinear sigmoid function is added to this linear neural
A. Direct Transfer Function Identifier
network framework. A detailed investigation of the nonlinear sigmoid
When the plant input is used as the neural network input, and function is presented in Section V.
the neural network output Y N ( ~converges
)
with the plant output,
A nonlinear simulator that uses the result of the direct transfer
the direct transfer function of the unknown plant is composed in the function identifier can be obtained when the object plant has nonlinear
neural network. In this identifier, the plant output Y (k) becomes the and parasite terms. Fig. 9 shows a block diagram of a nonlinear
teaching signal. By using the result of (5), both the neural network simulator applied to an n = 2, m = 1,d = 1 plant. This plant
input vector I ( k ) and the unknown parameter vector a are defined simulator uses the result of the trained identifier shown in Fig. 8
by the following equations:
without learning. The broken line of Fig. 9 is necessary when the
identifier shown in Fig. 8 uses a feedback loop. As shown here,
I T @ ) = [U(k-d),Y(kl),...,Y(k-n),
we can obtain a nonlinear neural network simulator that can not be
U ( k - d - 1) , U ( k m - d ) ]
(6) obtained through the use of a conventional method such as adaptive
aT = [Go,al,...,a,,Gobl,...,Gob,]
.
(7) control.
where a, and b, are unknown parameters and d is dead-time. This is
analyzed using the following assumptions
1. The upper limit orders of the object plant n,m are known, and
2. The dead-time of the object plant d is known.
The plant output Y ( k )can be expressed by the following.

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207

r----------- 1
I

Fig. 10. Block diagram of inverse transfer function identifier.

Fig. 8. Block diagram of direct transfer function identifier.

- - - - - - - - - - --- - 1

Fig. 9. Block diagram of simulator.

B. Inverse Transfer Function Identifier

When the plant output I'(k) is used as the neural network input
and the neural network output I" ( k ) converges with the plant input,
the inverse transfer function of the unknown plant is obtained in the
neural network. Thus, we select the plant input 1 7 ( k )as the teaching
signal. We can obtain the following (15) using (2)
n

111

U(k-d) =(l/Go)~(k)+Ca,l'(k-i)-GoCb,I-k-/-d.
2=1
,=1
(15)
Both the neural network input vector I ( k ) and the unknown
parameter vector cy are defined in the same way as the direct transfer
function identifier:

[ 1 7 ( k ) , I ' ( k - 1 ): . ' . I ' ( k - n ) .

l r ( k - 1- d ) .. . . l - ( k - m - d ) ]
aT = l / G o [ l , a l ;... a , . G o b l .....Gob,,,].

IT(k)=

(16)
(17)

The teaching signal L ' ( k ) (the plant input) is divided into both
unknown vector a and the signal vector I ( k ) . ( [ - ( k - d )= n ' l ( k ) ) .
On the other hand, when the neural network is linear, its output
U N ( ~is) obtained by

l - , v ( k )= d J T ( k ) W ( k ) I ( k ) .

(18)

The output error ~ ( k=) U ( k - d ) - l * v ( k ) is revised by the following

equation.

&(IC) = U ( k - d - r v ( k )
= c r T I ( k )- w T ( k ) W ( k ) l ( k )
= {a' - J ( k ) W ( k ) } 1 ( k ) .

(19)

When the relation aT = w T ( k ) W ( k )is satisfied, the error ~ ( k

becomes zero. This fact implies the existence of a neural network
weight matrix that makes the error ~ ( kzero.
)
The weight matrix

selection can be performed independent of both the plant input and

output when the signal vector defined by (16) is used as the neural
network input. In order to make the weights , ( k ) ' W - ( k ) converge
with n T ,the learning is undertaken every sampling time using the 5
rule following (1 lF(14). Fig. 10 shows a block diagram of the inverse
transfer function identifier applied to an 11 = 2, m = 1, d = 1 plant.
As seen here, the neural network input is composed of both the plant
input and output information. Neural network learning is performed in
order to minimize the error c between the plant input C ( k - d ) and the
neural network output 1 - x ( k ) .The broken line in Fig. 10 is a feedback
loop to stabilize the system. This feedback loop also guarantees the
finiteness of the neural network input. If the plant output is finite
without the feedback loop, this loop is unnecessary. As mentioned
above, we can realize an inverse transfer function identifier.
The most important application of the identified inverse transfer
function result is in the direct controller [SI. Only the local convergence of the weight matrix is guaranteed for the direct controller
[SI. Thus, when the neural network begins to learn through the use of
some initial weight matrixes, the error sometimes does not reach zero
even after learning because of the local minimums problem. To avoid
this problem, it is necessary to learn from initial weight matrixes in
which the output error is nearly zero. If the direct controller uses the
learning results of the inverse transfer function identifier as the initial
weights, it is expected that the convergence of the direct controller
will be guaranteed. This is because the initial weights stay within
the local convergence condition. Therefore, the convergence of the
neural network direct controller is guaranteed and the output error of
the direct controller achieves zero.
V. SIMULATION
In this section, both direct and inverse transfer function identifiers
are simulated using a second-order plant in order to confirm their realization and to discuss their characteristics. The differential equation
of the second-order plant for this simulation is as follows:

where n3 and C,,,,,,

are the coefficients of the parasite and nonlinear
terms, respectively. In this simulation, we choose a1 = -1.3. a2 =
0.3 and b = 0.7.
A . Simulation of Direct Transfer Function Identifier
Fig. 11 shows the learning results of the direct transfer function
identifier whose block diagram is shown in Fig. 8. In this simulation,
the plant is linear ( a = 0 , C,,,= 0) and the neural network does
not use the nonlinear sigmoid function. As shown in Fig. 11, the
) neural network output I r v ( k )converges with the plant output Y ( k )
as learning progresses. This result indicates that the direct transfer
function identifier can be realized. Fig. 12 shows a learning result

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208

- Netwbrk

c,

xg=20

4-

output

a
P
c,
a

c,

*g

*s

0
E

g=o.1

- Network output
---Plant output

c,

0
c,

(A

q=0.3
0

100

200

h
0

200

100
Sampling number

Sampling number
Fig. 11. Learning process of direct transfer function identifier.

' Fig. 13. Learning process of direct transfer function identifier applied
to nonlinear plant.

10

q=o.1
h

w-

+.
w

z o

a
output
---- Network
Plant output
0

100

-10
-10

10

Input x
Fig. 14. Input-output relationship of nonlinear function.

200

Sampling number
Fig. 12. Learning process of direct transfer function identifier using different
initial value.

using different initial weights under the same simulation conditions.

As shown in Fig. 12, the output error decreases as learning progresses

even if different initial weights are used. However, a relatively large
output error remains after the learning has stopped. It is supposed
that the neural network enters the local minimum state and leaming
is stopped. The converged weights wT W in the Fig. 12 simulation
are very different from the plant parameter a. This result means
that the conventional control theories such as adaptive control can
not use the leamed neural network weights as the identified plant
parameters. This is because the leamed weights are different from
the true plant parameters if inadequate initial weights are used. Fig.
13 shows the simulation result for a nonlinear plant where a3 = 0.05
and C,,, = 0.1 in (20). Only the hidden layer of the neural network
has a nonlinear input-output function as follows.

Parameter X g changes the shape of the nonlinear function whose

input-output relationship is shown in Fig. l.4. As shown in Fig. 14,
when X g ---* 00, the nonlinear function (21) is equal to the linear
function f(z) = z [7],[8]. The learning result in Fig. 13 shows
that the nonlinear neural network output converges with the plant
output after learning though the plant includes both the nonlinear and
parasite terms.
The follawing discussion is concerned with a nonlinear simulator
that uses the result of the direct transfer function identifier. Fig. 15

100

200

Sampling number
Fig. 15. Nonlinear simulator ushg results of direct transfer function
identifier.

shows the relation between the true plant output and the nonlinear
simulator output using the identified result from Fig. 13. The feedback
loop is used to stabilize the system with h'p = 0.2 in this simulator.
Although the nonlinear simulator output exhibits similar behavior to
the plant output, a relatively small error between the nonlinear output
and the plant output remains. This is because both the nonlinear
and parasite terms prevent perfect identification. Fig. 16 shows
the relation between the nonlinear simulator output and the true
plant output where the weight matrixes are the same as those in
Fig. 15 with a different feedback gain K p = 0.4. Both outputs

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- Plant output
I

+-

x9=20

---- Simulator (Network) output

Neural

P
c
3

-1

+E

m
n
U
c
m

Fig. 18. Direct controller using results of inverse transfer function identifier.

-cm

iij

100

200

-Plant output

---- Desired value

K,=O

Sampling number
Fig. 16. Nonlinear simulator using results of direct transfer function
identifier.

q=0.75

- Network output
- _ - _Plant input
0

200

400

Sampling number
Fig. 19. Simulation result of direct controller.

100

2 10

Sampling number
Fig. 17. Process of inverse transfer function of identifier.

+-

P
c
3
.
0

+r

are different from those in Fig. 15 because of the difference in

the feedback gain lip. However, the nonlinear simulator exhibits
behavior similar to that of the true plant though the feedback gain
is different. This result indicates the usefulness of the proposed
nonlinear simulator.

B. Simulation of Inverse Transfer Function Identifier

Fig. 17 shows the learning result of the inverse transfer function
identifier where both the plant and the neural network are linear.
As shown in Fig. 17, the neural network output converges with
the plant input as learning progresses. This result means that the
proposed inverse transfer function identifier can be realized. As
mentioned in Section IV, we can use the learned weights of the
inverse transfer function identifier as the initial weights of the direct
controller. Fig. 18 shows a block diagram of the direct controller
without learning. In such a case, a proportional control feedback
loop is added to compensate for the identification error. Fig. 19
shows the relation between the plant output and the desired value
As shown in Fig. 19,
where the feedback gain l<p = 0.
the error between the plant output and the desired value remains
because no direct controller learning is performed. Fig. 20 shows

200

400

Sampling number
Fig. 20. Simulation result of direct controller.

the telation between the plant output and the desired value where
the feedback gain l i p = 0.3. The error in Fig. 20 is larger than
that in Fig. 19. Fig. 21 shows the relation between the feedback
loop output and the neural network output under the same conditions
as those of Fig. 20. Since the sign of the feedback loop output is
the same as that of the neural network output, the feedback loop
increases the error. This result shows that there is a possibility of
increasing the output error by adding the direct controller with the
feedback loop in order to compensate for the identification error.
This phenomenon is caused by using past plant output as the neural
network input.

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210

xg=7

tl =0.03

El
1.0
Y

LL

'b--

0.51

Plant output

--- Neural network output

0
1000
0

25

50

1100
Sampling nuniber

Sampling number

Fig. 23. Expenmentd results.

Fig. 21. Feedback loop output and neural network output.

x 10-3
1.5894
b

1.5892

Sensor

Amp.

xg

Fig. 22. Experimental setup.

Fig. 24. Effect of nonlinear function.

VI. EXPERIMENT
The realization of identifiers in an actual system is confirmed
experimentally for a one freedom force control system. Fig. 22 shows
the experimental setup. In this control system, the contact force can
not be accurately controlled using the motor current because of the
friction of the harmonic drive. Thus, it is necessary to estimate the
stiffness of the contact object using adaptive contlol or leaming
control. We can approximately express the transfer function G ( z )
of the one freedom force control system as follows.

xg=7

El

1.0

---- Simulator output

Q)

2 0.51

LL
o

bp,

-True plant output

v
Y

0
1000

1100

Sampling number
where T, is the sampling period, h-,,,
is the gain of the system, T, is
the time constant of the system and K e is the stiffness of the contact
object. Fig. 23 shows the experimental result for the direct transfer
function identifier. As shown in Fig. 23, the neural network output
converges with the actual plant output. This result confirms that the
proposed direct transfer function identifier is very useful in an actual
system. Fig. 24 shows the effect of the lionlinear function of (21).
The vertical axis of Fig. 24 is the root mean squared error of 500
sampling errors after learning. As shown in Fig. 24, this is minimum
at about Xg = 7. Since the actual control system has a nonlinear
effect, the result in Fig. 24 indicates the existence of an optimum
nonlinear sigmoid function shape. Fig. 25 shows the experimental

Fig. 25. Nonlinear simulator output.

result for the nonlinear simulator using the results from Fig. 24. As
shown in Fig. 25, the simulator behaves similarly to an actual plant.
This result confirms that the proposed nonlinear simulator is very
useful in an actual system.

VII. DISCUSSION
As shown in Section V, the direct transfer function identifier has
a local minimum because the 5 rule is used as the leaming laws.
This local minimum causes the weight matrix u T w to converge
with a value different form that of the unknown parameter vector

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Therefore, conventional control such as adaptive control can

not use the identified results by obtained neural networks as the
estimated true plant parameters. This characteristic is a weakness
of the identifier using neural networks. This is because adaptive
control can identify the true plant parameters if the plant is linear.
However, the neural network direct transfer function identifier has
other good characteristics. That is, its nonlinear mapping capability
can realize a nonlinear simulator that cannot be realized through the
use of conventional control theories such as adaptive control.
Although the simulation results also confirm that the inverse
transfer function identifier can be realized, it has a local minimum
problem because it uses the 5 learning rule. Thus, there is the
possibility that output error remains after learning. As shown in the
simulation result, the feedback loop in combination with the neural
network direct controller increases the output error caused by this
remaining identification error. This phenomenon is caused by a phase
lag effect between the neural network and feedback loop outputs
because of dead-time in the plant. It is necessary to obtain a perfect
plant model in order to eliminate this phase lag. However, this is
impossible in practice. Therefore, for practical purposes, the learning
of the neural network direct controller is useful. That is, the direct
controller uses the learned weights of the inverse transfer identifier
in order to avoid the initial dangerous condition, and our proposed
direct controller learning method reduces the remaining error caused
by the identification error [8].
CY.

T. Yamada and T. Yabuta, Direct controller using neural network,

Trans. Inst. Electron., Inform. Commun. Eng. (to be submitted, in
Japanese).
__ , Some remarks on characteristics of direct neuro-controller with
regard to adaptive control, Trans. SOC.Instrument Contr. Eng., vol. 27,
no. 7, pp. 784-791, 1991 (in Japanese).
M. I. Jordan, Generic constraints on underspecified target trajectories,
in Proc. IJCNN89, Washington, DC, June 1989.
T. Yabuta and T. Yamada, Possibility of neural network controller for
robot manipulators, in Proc. Int. Conf: Robotics Automat., Cincinnati,
OH, 1990, pp. 1686-1691.
Rumelhart, McClelland and PDP Research Group, Parallel Distributed
Processing. Cambridge, MA: MIT Press, 1988.
K. Funahashi, On the approximate realization of identity mappings
by three-layer neural networks, The Inst. Electron., Inform. Commum.
Eng., vol. J73-A, no. 1, pp. 139-145, 1990.

Optimization of Detection Networks: Part 11-Tree

Structures
Z.-B. Tang, K. R. Pattipati, and D. L. Kleinman
Abstract-A

distributed binary detection problem with multimessage

( 2 1 bit) communications is considered, wherein the nodes (sensors,

VIII. CONCLUSION
This paper proposed practical design methods for the identification
of both the direct and inverse transfer functions of a dynamic system
through the use of a neural network. Simulation and experimental
results showed that these identifications can be successfully realized.
As a practical application, the identification result of the direct
transfer function was applied to a nonlinear simulator and that of the
inverse transfer function was applied to a direct controller through
the matrix information.
ACKNOWLEDGMENT

The authors wish to express their thanks to Dr. Shimada and

Dr. Ishihara, N T I Transmission Systems Labs., for their continued
encouragement.

REFERENCES
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C. A. Niznik, W. Hoss and C. Watts, Modeling robot cerebellar neural
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Neural Networks, vol. IV, San Diego, 1987, pp. 583-591.
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Workshop on Machine Intell. and Esion, Apr. 1989, pp. 76-81.

decision makers (DMs)) of the system are organized in the form of a

tree with multiple root nodes. A numerical algorithm is developed for
determining the optimal decision rule at each node assuming monotone
cost functions imposed only on the root nodes. It is assumed that the
observations of each node are conditionally independent of those of
the other nodes. It is shown that the problem is equivalent to solving
a nonlinear optimal control problem, and the necessary conditions of
optimality using Bayes risk as the optimization criterion are derived.
The optimal control approach provides an interpretation of certain
functions of the co-state variables in terms of thresholds, and leads to
a computationally efficient min-H algorithm to solve for the optimal
decision rule at each node. The numerical algorithm provides a tool
to investigate the organizational issues of adaptation, structure, and
robustness.

I. INTRODUCTION
Information-processing in most large scale systems is effected
by a network of geographically or functionally distributed decision
makers (DMs) with limited communications. These problems arise
naturally in a wide variety of contexts, including weather forecasting, military command and control (C2), air-traffic control, electric
power networks, surveillance systems, oil prospecting, emergency
management, product distribution and supply, and medical diagnosis.
Each DM (variously referred to as a node, a sensor, a commander, etc.
depending on the problem context) has access to only a portion of the
information available to the network of DMs. Moreover, even the total
information set is generally incomplete and is characterized by a high
level of uncertainty due to lax updating, missed detection of events,
Manuscript received March 30, 1991; revised April 10, 1992. This work was
supported in part by NSF Grant #IRI-8902755 and in part by ONR Contract
#N00014-90-3-1753.
2.-B. Tang was with the Department of Electrical and Systems Engineering,
University of Connecticut, Storrs, CT 06269-3157 and is now with the
Division of Applied Sciences, Harvard University, Cambridge, MA 02138.
K. R. Pattipati and D. L. Kleinman are with the Department of Electrical
and Systems Engineering, University of Connecticut, Storrs, CT 06269-3157.
IEEE Log Number 9202124.

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