Real-Time Output Feedback Neurolinearization

 An adaptive input-output linearization method for general nonlinear systems is developed without using states of the system. Another key feature of this structure is the fact that, it does not need model of the system. In this scheme, neurolinearizer has few weights, so it is practical in adaptive situations.  Online training of neurolinearizer is compared to model predictive recurrent training. Relationships between this controller and neural network based model reference adaptive controller are established. A CSTR reactor and pH control in a neutralization process illustrate performance of this method. Simulation studies show a superior performance with respect to a PI controller.