Single node recursions in Adaptive Neuro-Fuzzy Controller

In this paper the analysis of possible implementations of single node recursions in Adaptive Neuro Fuzzy Controller has been made. By single node recursions we mean using as additional input signal for certain nodes being functions of this nodes existing signals from previous algorithm iterations. Papers presents ANFC structure and possible recursions implementations. Theoretical considerations are followed by simulation experiments using Sim Power System library and Matlab - Simulink software. As control object cascade control structure for DC motor system has been modeled.