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In this paper, a novel adaptive tuning method of PID neural network (PIDNN)controller for nonlinear process is proposed. The method utilizes an improvedgradient descent method to adjust PIDNN parameters where the margin stabilitywill be employed to get high tracking performance and robustness with regard toexternal load disturbance and parameter variation. Simulation results show theeffectiveness of the proposed algorithm compared with other well-known learningmethods.

A New PID Neural Network Controller Design for Nonlinear Processes