HCDRNN-NMPC: A New Approach to Design Nonlinear Model Predictive Control (NMPC) Based on the Hyper Chaotic Diagonal Recurrent Neural Network (HCDRNN)

Algorithm 1

Details of HCDRNN-NMPC scheme.

	Step 1. Determine and , such that .
	Step 2. Get , , and in each control step, such that:
(i)	is the desired values for next steps.
(ii)	is the last optimal sequence of the predicted control signal.
(iii)	is the delayed input-output vector of nonlinear system.
	Step 3. Predict the outputs of the system for next steps by the proposed HCDRNN.
	Step 4. Calculate by equation (17).
	Step 5. Compute and by equations (15) and (16), respectively.
	Step 6. Apply as the first element of vector to the nonlinear system, and go back to Step 2 for the next sample time.