In this work, we study the structure regulator for the perturbations attenuation which is based on the infinite structure regulator. The structure regulator is able to attenuate the perturbations if the transfer function of the departures and perturbations has a numerical value almost equal to zero, and it does not require the perturbations to attenuate them. We apply the structure regulator and the infinite structure regulator to a quadrotor which maintains the horizontal position with respect to the earth for the step and sine perturbations.INDEX TERMS Quadrotor, perturbations attenuation, model, roll and pitch angles. I. INTRODUCTION

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The modified backpropagation algorithm based on the backpropagation with momentum is used for the parameters updating of a radial basis mapping (RBM) network, where it requires of the best hyper-parameters for more precise modeling. Seeking of the best hyper-parameters in a model it is not an easy task. In this article, a genetic algorithm is used to seek of the best hyper-parameters in the modified backpropagation for the parameters updating of a RBM network, and this RBM network is used for more precise electricity consumption modeling in a city. The suggested approach is called genetic algorithm with a RBM network. Additionally, since the genetic algorithm with a RBM network starts from the modified backpropagation, we compare both approaches for the electricity consumption modeling in a city.

The steepest descent method is frequently used for neural network tuning. Mini-batches are commonly used to get better tuning of the steepest descent in the neural network. Nevertheless, steepest descent with mini-batches could be delayed in reaching a minimum. The Hessian could be quicker than the steepest descent in reaching a minimum, and it is easier to achieve this goal by using the Hessian with mini-batches. In this article, the Hessian is combined with mini-batches for neural network tuning. The discussed algorithm is applied for electrical demand prediction.

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