Improved robust control of nonlinear stochastic systems using uncertain models

Randa Herzallah, David Lowe

    Research output: Chapter in Book/Published conference outputConference publication


    We introduce a technique for quantifying and then exploiting uncertainty in nonlinear stochastic control systems. The approach is suboptimal though robust and relies upon the approximation of the forward and inverse plant models by neural networks, which also estimate the intrinsic uncertainty. Sampling from the resulting Gaussian distributions of the inversion based neurocontroller allows us to introduce a control law which is demonstrably more robust than traditional adaptive controllers.
    Original languageEnglish
    Title of host publicationProceedings of CONTOLO 2002
    Subtitle of host publication5th Portuguese conference on automatic control
    Number of pages6
    Publication statusPublished - Sept 2002
    Event5th Portuguese Conference on Automatic Control - Aveiro, Portugal
    Duration: 5 Sept 20027 Sept 2002


    Conference5th Portuguese Conference on Automatic Control
    Abbreviated titleControlo 2002


    • uncertainity
    • Neural Networks
    • Stochastic Systems
    • error bar
    • Distribution modelling


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