Intro; Foreword; Preface; Acknowledgements; Contents; Notation; Symbols; Operators; Abbreviations; List of Figures; List of Tables; 1 Introduction; 1.1 Scope of the Book; 1.2 The Structure of the Book; References; 2 Neural Networks; 2.1 Introduction; 2.2 Static Models; 2.2.1 The Model of an Artificial Neuron; 2.2.2 Feed-Forward Multilayer Networks; 2.2.3 Radial Basis Networks; 2.2.4 A Kohonen Network; 2.2.5 A Learning Vector Quantization; 2.2.6 Deep-Belief Networks; 2.2.7 A Neural Network Ensemble; 2.2.8 Probabilistic Networks; 2.3 Dynamic Models; 2.3.1 Neural Networks with External Dynamics

2.3.2 Fully Recurrent Networks2.3.3 Partially Recurrent Networks; 2.3.4 Locally Recurrent Networks; 2.3.5 State-Space Neural Networks; 2.3.6 Spiking Neural Networks; 2.3.7 A Long Short-Term Memory; 2.4 Developing Models; 2.4.1 Forward Modelling; 2.4.2 Inverse Modelling; 2.5 Robust Models; 2.5.1 Nonlinear Set-Membership Identification; 2.5.2 Model Error Modelling; 2.5.3 Statistical Bounds; 2.6 Conclusions; References; 3 Robust and Fault-Tolerant Control; 3.1 The Context of Control Systems; 3.1.1 Control Based on Neural Networks; 3.2 Robust Control; 3.2.1 Uncertainty Description

3.3 Fault-Tolerant Control3.4 Conclusions; References; 4 Model Predictive Control; 4.1 Introduction; 4.2 Nonlinear Model Predictive Control; 4.2.1 System Modelling; 4.2.2 Uncertainty Handling; 4.2.3 Stability Analysis; 4.2.4 Nonlinear Optimization with Constraints; 4.2.5 Terminal Constraints Handling; 4.2.6 A Complete Optimization Procedure; 4.2.7 Model Linearization; 4.3 Fault-Tolerant MPC; 4.3.1 A Fault-Diagnosis Unit; 4.3.2 Sensor Fault Size Estimation; 4.4 An Experimental Study
A Tank Unit; 4.4.1 A Tank Unit; 4.4.2 Plant Modelling; 4.4.3 Control; 4.4.4 Fault Diagnosis

4.4.5 Fault Tolerance4.5 Robust MPC; 4.5.1 Robust Stability; 4.6 An Experimental Study
A Pneumatic Servo; 4.6.1 The Fundamental Model; 4.6.2 Constrained MPC; 4.6.3 Robust Performance; 4.6.4 Uncertainty Modelling; 4.6.5 Robust MPC; 4.6.6 Stability Considerations; 4.7 Robust MPC via Statistical Bounds; 4.8 An Experimental Study
The Pneumatic Servo Revisited; 4.8.1 Modelling; 4.8.2 Uncertainty Modelling; 4.8.3 Control; 4.9 Concluding Remarks; References; 5 Control Reconfiguration; 5.1 Introduction; 5.2 Problem Formulation; 5.3 Process Modelling; 5.3.1 A Model of the Process

5.3.2 A Nonlinear Observer5.3.3 A Linearization of the State-Space Model; 5.4 Fault Detection; 5.5 Stability Analysis; 5.5.1 P Controller; 5.5.2 PI Controller; 5.5.3 Sufficient Conditions for Stability; 5.6 An Experimental Study
The Tank Unit Revisited; 5.6.1 Process Modelling; 5.6.2 Model Error Modelling; 5.6.3 Fault Compensation; 5.6.4 Stability Analysis; 5.7 An Experimental Study
A Two-Tank Laboratory System; 5.7.1 The System Assumptions and Configuration; 5.7.2 Modelling; 5.7.3 Fault Detection; 5.7.4 Fault Compensation; 5.7.5 Stability Analysis; 5.8 Conclusions; References