Intelligent controller using CMACs with self-organized structure and its application for a process system

Cerebellar model articulation controller (CMAC) has been proposed as one of artificial neural networks. This paper describes a design scheme of intelligent control system consisting of some CMACs. Each CMAC is trained for the specified command signal. A new CMAC is generated for unspecified command signals, and the CMAC whose command signal is nearest for the new command signal, is eliminated. Therefore, since the command signals are removed from the input signals of the CMAC, the proposed intelligent controller can be designed with relatively small memories.