The Development of Neural Network Based System Identification ...

146 CHAPTER 5 NN BASED SYSTEM IDENTIFICATION: RESULTS AND DISCUSSION
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Figure 5.19 The comparison of the MLP network trained by off-line Levenberg-Marquardt (LM)
method and MLP network trained with recursive Gauss-Newton (rGN) method against roll rate
measurement. (a) NN model 1 (NN1) is trained with off-line LM algorithm. NN1 model structure is
set with n y = 1 and n u = 2 with 4 hidden neurons (b) NN model 2 (NN2) is trained with recursive
Gauss-Newton algorithm. NN2 model structure is set with n y = 1 and n u = 2 with 4 hidden neurons;
and (c) NN model 3 (NN3) is trained with recursive Gauss-Newton algorithm. NN3 model structure is
set with optimised structure from k-fold cross validation (n y = 3 and n u = 1 with 4 hidden neurons).