Why is the size of my "narx_net_closed.IW{1}" different from the size of my "mrac_net.LW{3,2}" ? I am refering to Reference Model Controller with MATLAB Script

% [u,y] = [ouputdata,inputdata];
a=outputdata'  %get from the outputdata.mat  file attachment

Unrecognized function or variable 'outputdata'.

[r,c]=size(a)
u={}
for w = 1:c
    u{w}=[a(1,w);a(2,w);a(3,w)]
end
b=inputdata'
[r1,c1]=size(b)
y={}
for x = 1:c1
    y{x}=[b(1,x);b(2,x);b(3,x);b(4,x);b(5,x);b(6,x);b(7,x);b(8,x);b(9,x);b(10,x);b(11,x);b(12,x)]
end
% [X,T] = simpleseries_dataset;
% [u,y] = robotarm_dataset;
% u=[1,2,3];
% y=[4,5,6];
d1 = [1:2];
d2 = [1:2];
S1 = 5;
narx_net = narxnet(d1,d2,S1);
narx_net.divideFcn = '';
narx_net.inputs{1}.processFcns = {};
narx_net.inputs{2}.processFcns = {};
narx_net.outputs{2}.processFcns = {};
narx_net.trainParam.min_grad = 1e-10;
[p,Pi,Ai,t] = preparets(narx_net,u,{},y);
narx_net = train(narx_net,p,t,Pi);
narx_net_closed = closeloop(narx_net);
view(narx_net_closed)
mrac_net = feedforwardnet([S1 1 S1]);
mrac_net.layerConnect = [0 1 0 1;1 0 0 0;0 1 0 1;0 0 1 0];
mrac_net.outputs{4}.feedbackMode = 'closed';
mrac_net.layers{2}.transferFcn = 'purelin';
mrac_net.layerWeights{3,4}.delays = 1:2;
mrac_net.layerWeights{3,2}.delays = 1:2;
mrac_net.layerWeights{3,2}.learn = 0;
mrac_net.layerWeights{3,4}.learn = 0;
mrac_net.layerWeights{4,3}.learn = 0;
mrac_net.biases{3}.learn = 0;
mrac_net.biases{4}.learn = 0;
mrac_net.divideFcn = '';
mrac_net.inputs{1}.processFcns = {};
mrac_net.outputs{4}.processFcns = {};
mrac_net.name = 'Model Reference Adaptive Control Network';
mrac_net.layerWeights{1,2}.delays = 1:2;
mrac_net.layerWeights{1,4}.delays = 1:2;
mrac_net.inputWeights{1}.delays = 1:2;
% [refin,refout] = refmodel_dataset;
p=error'
[r3,c3]=size(p)
refin={}
for k = 1:c2
    refin{k}=[p(1,k);p(2,k);p(3,k);p(4,k);p(5,k);p(6,k);p(7,k);p(8,k);p(9,k);p(10,k);p(11,k);p(12,k)] 
end
f=modelref'
[r2,c2]=size(f)
refout={}
for m = 1:c2
    refout{m}=[f(1,m);f(2,m);f(3,m);f(4,m);f(5,m);f(6,m);f(7,m);f(8,m);f(9,m);f(10,m);f(11,m);f(12,m)] 
end
ind = 1:length(refin);
plot(ind,cell2mat(refin),ind,cell2mat(refout))
mrac_net = configure(mrac_net,refin,refout);
mrac_net.LW{3,2} = narx_net_closed.IW{1};    %cause of the problem and why i am asking 
mrac_net.LW{3,4} = narx_net_closed.LW{1,2};
mrac_net.b{3} = narx_net_closed.b{1};
mrac_net.LW{4,3} = narx_net_closed.LW{2,1};
mrac_net.b{4} = narx_net_closed.b{2};

Answer 1

[Neha]

Hi Andrew,

I understand that you are facing an error as the size of input weights for the closed NARX network differs from the size of the layer weights pertaining to the MRAC network.

The size of narx_net_closed.IW{1} is 5x6 and the size of mrac_net.LW{3,2} is 5x2.

You can refer to the following documentation link on how the sizes of the weights are calculated:

https://www.mathworks.com/help/deeplearning/ug/neural-network-object-properties.html#:~:text=and%20bias%20vectors.-,net.IW,net.layerWeights%7Bi%2Cj%7D.size,-net.b

Since the number of columns in the layer weights of MRAC is essentially the delays associated with layerWeights{3,2}, you can change the number of delays in line 37 from 2 to 6 to ensure that it is equal to the number of columns in narx_net_closed.IW{1}.

mrac_net.layerWeights{3,2}.delays = 1:6;

Hope this helps!