Continuous-time recurrent multilayer perceptrons for nonlinear system identification

In this paper continuous-time recurrent multilayer perceptrons (RMLP) are proposed to identify nonlinear systems. Using the function approximation theorem for multilayer perceptrons(MLP), we conclude that RMLP can approximate any dynamic system in any degree of accuracy. By means of a Lyapunov-like analysis, a stable learning algorithm for RMLP is determined. The suggested learning algorithm is similar to the well-known backpropagation rule of the multilayer perceptrons but with an additional term which assure the stability of identification error