Controller Design Based on Echo State Network with Delay Output for Nonlinear System

Table 1

Comparison of error precision and iterations for BPNN, RBFNN, ESN, and DO-ESN.

Iterations	Hidden	Error precision
	Size	0.025	0.01	5E-4	E-10
BPNN [7]	20	145	212	462	–
RBFNN [9]	15	105	123	245	–
ESN [15]	25	60	74	125	359
DO-ESN	25