Searching Optimal Values of Identification and Controller Design Horizon Lengths, and Regularization Parameters in NARMA Based Online Learning Controller Design

Toprak T., ŞAHİN S., Soydemir M. U., Bulucu P., KOCAOĞLU A., Guzelis C.

11th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, Turkey, 28 - 30 November 2019, pp.800-804 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.23919/eleco47770.2019.8990520
  • City: Bursa
  • Country: Turkey
  • Page Numbers: pp.800-804
  • Dokuz Eylül University Affiliated: Yes


This paper presents an analysis on searching the optimal values of the system identification and tracking window lengths, and regularization parameter for the online learning NARMA controller algorithm. Both window lengths and regularization parameter are generally determined with exhaustive searches by researchers. Although the estimation of plant and controller parameters plays the essential role in online learning control algorithms, using non-optimal values of the window lengths and regularization parameter may deteriorate badly the estimation and so the performance of the controller. In the paper, the effects of the window lengths and the regularization parameter on the tracking performance of the NARMA based online learning controller are analyzed with a search method. The considered NARMA based online learning control method is performed on a rotary inverted pendulum model. While the effect of the regularization parameter is examined in the batch mode, the effects of identification and tracking error window lengths are studied for the online mode of the controller learning algorithm. The developed search method can provide the optimum values of the plant identification and tracking horizon lengths, and regularization parameter when a sufficiently large class of possible input, output and reference signals are taken into account in the search. The presented study may be extended, as future research in the direction of developing intelligent control systems, by determining the horizon window lengths and regularization parameter, in an automatic way, with efficient learning algorithms.