Software Design for Neurocontrol Code

Abstract

This paper discusses software engineering aspects of neurocontrol algorithm design. Cutting edge algorithm development often outstrips the capability of routinely available software packages. Hence, it is difficult to perform adequate algorithm validation and verification (algorithm V & V). The basic building blocks of a software neurocontroller (data sampling, state prediction and control selection) are developed. The underlying artificial neural architecture used here is the CMAC, although much of the discussion is fairly generic. Code fragments are provided that illus trate implementation details for the CMAC architecture, the sampling of the data stream, local con troller estimates and so forth.