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

Table 5

Prediction performance of the DRNN and proposed HCDRNN.

NN	DRNN		HCDRNN
Prediction error	Training	Test	Training	Test
Step1
Step2
Step3