Ir Rusdhianto EAK, MT
3d. dll
a. Linier, y = z
= learning gain
y
-zmin z
zmax
c. Hard Limiter
y = sign (Z)
y
+1
-1
d. Unipolar sigmoid
1
y
1 exp( Z )
1/2
e. Bipolar sigmoid
y = tanh(z)
y
-1
input
layer x2 y2
output
layer
xN yN
x1 y1
input
layer x2 y2
output
layer
xN yN
hidden layer
x1 y1
x2 y2
xN yN
feedback link
model yang
diinginkan
+
learning signal
training + JST
signal kontroler plant
plant
+
training learning signal
signal
-
JST
e(k-1) k
u(k)
Z-1
e(k-2)
u(k-2)
w(j,k)
Z-1
w(i,j)
u(k-1)
Z-1
ym(s)
N(s)
D(s) +
learning signal
yr + JST
kontroler plant
y hj f j ( Z hj )
m
Z w jl y jh
l
0
j 1
yl0 ul f h ( Z l0 )
fj dan fl fungsi aktivasi
Pelatihan PC-Based Control
Prosedur Desain
- Formulasi backward (revisi bobot)
- Revisi bobot neuron hidden ke output
y p (k ) y p (k 1)
( k ) y f
w jl (k 1) w jl m (k ) y p (k ) l
u (k 1) u (k 2) z
l
l