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For the nonlinear systems with delay output, the control performance of the system is affected by the previous output of the system, such as crawling robots of photovoltaic panels. In this paper, an improved controller design method based on echo state network with delay output (DO-ESN) is proposed for designing the controller of a class of nonlinear system. According to the internal characteristics of DO-ESN, the DO-ESN can match the system characteristics of nonlinear systems with delay output, such that the proposed controller can quickly meet the control performance of the nonlinear system. In order to ensure the stability of the controller, a sufficient condition is given for the echo state property of DO-ESN. Finally, a simulation example is used to illustrate the effectiveness of the proposed method.

Controller Design Based on Echo State Network with Delay Output for Nonlinear System