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Tustin neural networks: a class of recurrent nets for adaptive MPC of mechanical systems [article]

Simone Pozzoli, Marco Gallieri, Riccardo Scattolini
2019 arXiv   pre-print
For these systems, a new recurrent neural network is proposed: Tustin-Net.  ...  The use of recurrent neural networks to represent the dynamics of unstable systems is difficult due to the need to properly initialize their internal states, which in most of the cases do not have any  ...  TUSTIN-NETS Mechanical systems have a certain number of degrees of freedom (DOF), for example joints' angles or translations, each one represented by two states: its position θ and its velocityθ .  ... 
arXiv:1911.01310v1 fatcat:moyed5aloregzmjibzzzto5hay