MECHATRONICS Manuscript Number : MECH-D-07-00073 R 2 Title : Identification of the pneumatic artificial muscle manipulators by MGA-based nonlinear NARX fuzzy model

This paper investigates the technique of the modeling and identification a new dynamic NARX fuzzy model by means of genetic algorithms. In conventional identification techniques, difficulties such as poor knowledge of the process, inaccurate process or complexity of the resulting mathematical model, all which limit their usefulness during dealing with dynamic nonlinear industrial processes. To overcome these difficulties, this paper proposes a novel approach by using a modified genetic algorithm (MGA) combined with the powerfully predictive capability of nonlinear ARX (NARX) model for generating the dynamic NARX Takagi-Sugeno (TS) Fuzzy model. MGA algorithm processes the experiment input-output training data from the real system and optimizes the NARX fuzzy model parameters. This is referred to perform fuzzy identification by which generates automatically the appropriate fuzzy if-then rules to characterize the dynamic nonlinear features of the real plant. The prototype pneumatic artificial muscle (PAM) manipulator, being a typical nonlinear and time-varying system is used as a test system for this novel approach. The results prove that, with this MGA-based modeling and identification, the novel NARX Fuzzy model identification approach of the PAM manipulator achieved highly outstanding performance and high precision as well. The accuracy of proposed MGA-based NARX Fuzzy model (< 1.5[deg]) proves excellent in comparison with MGA-based TS Fuzzy model (< 5[deg]) and conventional GA-based TS Fuzzy model (> 10[deg]). Dear Sir/Madam Thank you very much for reviewing our paper. The modified parts with respect to your comments are as follows: Reviewer's Comments Reviewer #1: Based on the revisions made to this new version of the paper, I concur that the authors have adequately addressed all the concerns of the reviewers. There are some grammatical and typographical errors in the paper. Please make the necessary changes. I appreciate for your reviewing my paper. According to your comments, I corrected all grammatical and typographical errors in my paper. At the same time, I sent my manuscript to E World editing for checking my manuscript and based on their checking, I corrected my paper. The change in my manuscript is shown in blue and red characters in the manuscript.