A MATLAB toolbox for training and implementing physics-guided neural network-based feedforward controllers

Physics-guided neural networks (PGNNs) enable accurate identification of inverse system dynamics by effectively embedding a known physical model within a neural network (NN), and thereby achieve high performance when implemented as feedforward controllers. However, training PGNNs using existing NN toolboxes is complicated. Therefore, this paper presents a MATLAB toolbox that systematically implements, trains, and validates PGNNs. Dedicated functions implement recent results that have been proposed in literature, i.e., we ensure that the PGNN converges to a value of the cost function that is strictly upperbounded by the value obtained when using only the physical model, while also imposing a form of graceful degradation when the trained PGNN is used on data that was not present in the training data. The toolbox is available at:https://github.com/mbolderman/PGNN-Toolbox/