This paper presents a study to predict the pressures in the cylinder chambers of a variable-
speed pump controlled hydraulic system using structured recurrent neural network
topologies where the rotational speed of the pumps, the position and the average velocity of
the hydraulic actuator are used as their inputs. The paper elaborates the properties of such
networks in extended time periods through detailed simulation-and experimental studies
where black-box modeling approaches generally fail to yield acceptable performance. As …