Title: Model-Free Control of Dynamical Systems with Deep Reservoir Computing

Abstract: We propose and demonstrate a nonlinear control method that can be applied to unknown, complex systems where the controller is based on a type of artificial neural network known as a reservoir computer. In contrast to many modern neural-network-based control techniques, which are robust to system uncertainties but require a model nonetheless, our technique requires no prior knowledge of the system and is thus model-free. Further, our approach does not require an initial system identification step, resulting in a relatively simple and efficient learning process. Reservoir computers are well-suited to the control problem because they require small training data sets and remarkably low training times. By iteratively training and adding layers of reservoir computers to the controller, a precise and efficient control law is identified quickly. With examples on both numerical and high-speed experimental systems, we demonstrate that our approach is capable of controlling highly complex dynamical systems that display deterministic chaos to nontrivial target trajectories.