Hybrid Recurrent Laguerre-Orthogonal-Polynomial NN Control System Applied in V-Belt Continuously Variable Transmission System Using Particle Swarm Optimization

Table 1

Performances comparison of control systems.

Performance	Control system and three test cases
	Well-known PI controller
	188.4 rad/s case under the lumped nonlinear external disturbances with parameter variation	376.8 rad/s case under the lumped nonlinear external disturbances with twice parameter variations	With adding load under  Nm load torque disturbance
Maximum error of	5.1 rad/s (49 rpm)	10.1 rad/s (96.3 rpm)	32 rad/s (306 rpm)
RMS error of	0.96 rad/s (9 rpm)	2.5 rad/s (24 rpm)	4.9 rad/s (47 rpm)
Performance	Control system and three test cases
	Hybrid recurrent Laguerre-orthogonal-polynomial NN control system
	188.4 rad/s case under the lumped nonlinear external disturbances with parameter variation	376.8 rad/s case under the lumped nonlinear external disturbances with twice parameter variations	With adding load under  Nm load torque disturbance
Maximum error of	2.3 rad/s (22 rpm)	5.5 rad/s (53 rpm)	11 rad/s (105 rpm)
RMS error of	0.5 rad/s (5 rpm)	0.6 rad/s (6 rpm)	2.5 rad/s (24 rpm)