Poznyak Alex Poznyak & Sanchez Edgar N Sanchez 
Differential Neural Networks For Robust Nonlinear Control: Identification, State Estimation And Trajectory Tracking [PDF ebook] 

This book deals with continuous time dynamic neural networks theory applied to the solution of basic problems in robust control theory, including identification, state space estimation (based on neuro-observers) and trajectory tracking. The plants to be identified and controlled are assumed to be a priori unknown but belonging to a given class containing internal unmodelled dynamics and external perturbations as well. The error stability analysis and the corresponding error bounds for different problems are presented. The effectiveness of the suggested approach is illustrated by its application to various controlled physical systems (robotic, chaotic, chemical, etc.).