Synchronization of Memristor-Based Coupling Recurrent Neural Networks With Time-Varying Delays and Impulses

Adaptive Synchronization of Reaction-Diffusion Neural Networks With Nondifferentiable Delay via State Coupling and Spatial Coupling

In this article, master-slave synchronization of reaction-diffusion neural networks (RDNNs) with nondifferentiable delay is investigated via the adaptive control method. First, centralized and decentralized adaptive controllers with state coupling are designed, respectively, and a new analytical method by discussing the size of adaptive gain is proposed to prove the convergence of the adaptively controlled error system with general delay. Then, spatial coupling with adaptive gains depending on the diffusion information of the state is first proposed to achieve the master-slave synchronization of delayed RDNNs, while this coupling structure was regarded as a negative effect in most of the existing works. Finally, numerical examples are given to show the effectiveness of the proposed adaptive controllers. In comparison with the existing adaptive controllers, the proposed adaptive controllers in this article are still effective even if the network parameters are unknown and the delay is nonsmooth, and thus have a wider range of applications.

Fixed-time synchronization of delayed memristive neural networks with impulsive effects via novel fixed-time stability theorem

In this study, the fixed-time synchronization (FXTS) of delayed memristive neural networks (MNNs) with hybrid impulsive effects is explored. To investigate the FXTS mechanism, we first propose a novel theorem about the fixed-time stability (FTS) of impulsive dynamical systems, where the coefficients are extended to functions and the derivatives of Lyapunov function (LF) are allowed to be indefinite. After that, we obtain some new sufficient conditions for achieving FXTS of the system within a settling-time using three different controllers. At last, to verify the correctness and effectiveness of our results, a numerical simulation was conducted. Significantly, the impulse strength studied in this paper can take different values at different points, so it can be regarded as a time-varying function, unlike those in previous studies (the impulse strength takes the same value at different points). Hence, the mechanisms in this article are of more practical applicability.

Event-triggered control for robust exponential synchronization of inertial memristive neural networks under parameter disturbance

Synchronization of memristive neural networks (MNNs) by using network control scheme has been widely and deeply studied. However, these researches are usually restricted to traditional continuous-time control methods for synchronization of the first-order MNNs. In this paper, we study the robust exponential synchronization of inertial memristive neural networks (IMNNs) with time-varying delays and parameter disturbance via event-triggered control (ETC) scheme. First, the delayed IMNNs with parameter disturbance are changed into first-order MNNs with parameter disturbance by constructing proper variable substitutions. Next, a kind of state feedback controller is designed to the response IMNN with parameter disturbance. Based on feedback controller, some ETC methods are provided to largely decrease the update times of controller. Then, some sufficient conditions are provided to realize robust exponential synchronization of delayed IMNNs with parameter disturbance via ETC scheme. Moreover, the Zeno behavior will not happen in all ETC conditions shown in this paper. Finally, numerical simulations are given to verify the advantages of the obtained results such as anti-interference performance and good reliability.

A general framework for robust stability analysis of neural networks with discrete time delays

Robust stability of different types of dynamical neural network models including time delay parameters have been extensively studied, and many different sets of sufficient conditions ensuring robust stability of these types of dynamical neural network models have been presented in past decades. In conducting stability analysis of dynamical neural systems, some basic properties of the employed activation functions and the forms of delay terms included in the mathematical representations of dynamical neural networks are of crucial importance in obtaining global stability criteria for dynamical neural systems. Therefore, this research article will examine a class of neural networks expressed by a mathematical model that involves the discrete time delay terms, the Lipschitz activation functions and possesses the intervalized parameter uncertainties. This paper will first present a new and alternative upper bound value of the second norm of the class of interval matrices, which will have an important impact on obtaining the desired results for establishing robust stability of these neural network models. Then, by exploiting wellknown Homeomorphism mapping theory and basic Lyapunov stability theory, we will state a new general framework for determining some novel robust stability conditions for dynamical neural networks possessing discrete time delay terms. This paper will also make a comprehensive review of some previously published robust stability results and show that the existing robust stability results can be easily derived from the results given in this paper.

Multiple Mismatched Synchronization for Coupled Memristive Neural Networks With Topology-Based Probability Impulsive Mechanism on Time Scales

This article is concerned with the exponential synchronization of coupled memristive neural networks (CMNNs) with multiple mismatched parameters and topology-based probability impulsive mechanism (TPIM) on time scales. To begin with, a novel model is designed by taking into account three types of mismatched parameters, including: 1) mismatched dimensions; 2) mismatched connection weights; and 3) mismatched time-varying delays. Then, the method of auxiliary-state variables is adopted to deal with the novel model, which implies that the presented novel model can not only use any isolated system (regard as a node) in the coupled system to synchronize the states of CMNNs but also can use an external node, that is, not affiliated to the coupled system to synchronize the states of CMNNs. Moreover, the TPIM is first proposed to efficiently schedule information transmission over the network, possibly subject to a series of nonideal factors. The novel control protocol is more robust against these nonideal factors than the traditional impulsive control mechanism. By means of the Lyapunov-Krasovskii functional, robust analysis approach, and some inequality processing techniques, exponential synchronization conditions unifying the continuous-time and discrete-time systems are derived on the framework of time scales. Finally, a numerical example is provided to illustrate the effectiveness of the main results.

Multistability of Dynamic Memristor Delayed Cellular Neural Networks With Application to Associative Memories

Recently, dynamic memristor (DM)-cellular neural networks (CNNs) have received widespread attention due to their advantage of low power consumption. The previous works showed that DM-CNNs have at most 318 equilibrium points (EPs) with n=16 cells. Since time delay is unavoidable during the process of information transmission, the goal of this article is to research the multistability of DM-CNNs with time delay, and, meanwhile, to increase the storage capacity of DM-delay (D)CNNs. Depending on the different constitutive relations of memristors, two cases of the multistability for DM-DCNNs are discussed. After determining the constitutive relations, the number of EPs of DM-DCNNs is increased to 3ⁿ with n cells by means of the appropriate state-space decomposition and the Brouwer's fixed point theorem. Furthermore, the enlarged attraction domains of EPs can be obtained, and 2ⁿ of these EPs are locally exponentially stable in two cases. Compared with standard CNNs, the dynamic behavior of DM-DCNNs shows an outstanding merit. That is, the value of voltage and current approach to zero when the system becomes stable, and the memristor provides a nonvolatile memory to store the computation results. Finally, two numerical simulations are presented to illustrate the effectiveness of the theoretical results, and the applications of associative memories are shown at the end of this article.

Quasisynchronization of Memristive Neural Networks With Communication Delays via Event-Triggered Impulsive Control

This article considers the quasisynchronization of memristive neural networks (MNNs) with communication delays via event-triggered impulsive control (ETIC). In view of the limited communication and bandwidth, we adopt a novel switching event-triggered mechanism (ETM) that not only decreases the times of controller update and the amount of data sent out but also eliminates the Zeno behavior. By using an appropriate Lyapunov function, several algebraic conditions are given for quasisynchronization of MNNs with communication delays. More important, there is no restriction on the derivation of the Lyapunov function, even if it is an increasing function over a period of time. Then, we further propose a switching ETM depending on communication delays and aperiodic sampling, which is more economical and practical and can directly avoid Zeno behavior. Finally, two simulations are presented to validate the effectiveness of the proposed results.

Complex Oscillations of Chua Corsage Memristor with Two Symmetrical Locally Active Domains

This paper proposes a modified Chua Corsage Memristor endowed with two symmetrical locally active domains. Under the DC bias voltage in the locally active domains, the memristor with an inductor can construct a second-order circuit to generate periodic oscillation. Based on the theories of the edge of chaos and local activity, the oscillation mechanism of the symmetrical periodic oscillations of the circuit is revealed. The third-order memristor circuit is constructed by adding a passive capacitor in parallel with the memristor in the second-order circuit, where symmetrical periodic oscillations and symmetrical chaos emerge either on or near the edge of chaos domains. The oscillation mechanisms of the memristor-based circuits are analyzed via Domains distribution maps, which include the division of locally passive domains, locally active domains, and the edge of chaos domains. Finally, the symmetrical dynamic characteristics are investigated via theory and simulations, including Lyapunov exponents, bifurcation diagrams, and dynamic maps.

Synchronization Analysis for Complex Dynamical Networks With Coupling Delay via Event-Triggered Delayed Impulsive Control

This article deals with the exponential synchronization problem for complex dynamical networks (CDNs) with coupling delay by means of the event-triggered delayed impulsive control (ETDIC) strategy. This novel ETDIC strategy combining delayed impulsive control with the event-triggering mechanism is formulated based on the quadratic Lyapunov function. Among them, the event-triggering instants are generated whenever the ETDIC strategy is violated and delayed impulsive control is implemented only at event-triggering instants, which allows the existence of some network problems, such as packet loss, misordering, and retransmission. By employing the Lyapunov-Razumikhin (L-R) technique and impulsive control theory, some sufficient conditions with less conservatism are proposed in terms of linear matrix inequalities (LMIs), which indicates that the ETDIC strategy can guarantee the achievement of the exponential synchronization and eliminate the Zeno phenomenon. Finally, a numerical example and its simulations are presented to verify the effectiveness of the proposed ETDIC strategy.

Dynamical and static multisynchronization analysis for coupled multistable memristive neural networks with hybrid control

This paper investigates the dynamical multisynchronization (DMS) and static multisynchronization (SMS) problems for a class of delayed coupled multistable memristive neural networks (DCMMNNs) via a novel hybrid controller which includes delayed impulsive control and state feedback control. Based on the state-space partition method and the geometrical properties of the activation function, each subnetwork has multiple locally exponential stable equilibrium states. By employing a new Halanay-type inequality and the impulsive control theory, some new linear matrix inequalities (LMIs)-based sufficient conditions are proposed. It is shown that the delayed impulsive control with suitable impulsive interval and allowable time-varying delay can still guarantee the DMS and SMS of DCMMNNs. Finally, a numerical example is presented to illustrate the effectiveness of the hybrid controller.

Pinning control of complex networks with time-varying inner and outer coupling

This paper addresses the pinning synchronization of nonlinear multiple time-varying coupling complex networks. Time-varying inner coupling in the single node state space and time-varying outer coupling among nodes in an entire complex network are taken into consideration. The main contribution is to propose some pinning synchronization criterion by which time-varying complex networks can be synchronized to the desired state. Besides, different parameters of linear controllers, adaptive controllers and adaptive coupling strength on the synchronization have been investigated. It is found that complex networks can achieve global synchronization by adaptively adjusting the coupling strength or controllers. Finally, simulation examples of random networks are given to verify the theoretical results.

Synchronization of memristive neural networks with unknown parameters via event-triggered adaptive control

This paper considers the drive-response synchronization of memristive neural networks (MNNs) with unknown parameters, where the unbounded discrete and bounded distributed time-varying delays are involved. Aiming at the unknown parameters of MNNs, the updating law of weight in response system and the gain of adaptive controller are proposed to realize the synchronization of delayed MNNs. In view of the limited communication and bandwidth, the event-triggered mechanism is introduced to adaptive control, which not only decreases the times of controller update and the amount of data sending out but also enables synchronization when parameters of MNNs are unknown. In addition, a relative threshold strategy, which is relative to fixed threshold strategy, is proposed to increase the inter-execution intervals and to improve the control effect. When the parameters of MNNs are known, the algebraic criteria of synchronization are established via event-triggered state feedback control by exploiting inequality techniques and calculus theorems. Finally, one simulation is presented to validate the effectiveness of the proposed results.

Synchronization of Nonidentical Neural Networks With Unknown Parameters and Diffusion Effects via Robust Adaptive Control Techniques

This paper considers the self-synchronization and tracking synchronization issues for a class of nonidentically coupled neural networks model with unknown parameters and diffusion effects. Using the special structure of neural networks with global Lipschitz activation function, nonidentical terms are treated as external disturbances, which can then be compensated via robust adaptive control techniques. For the case where no common reference trajectory is given in advance, a distributed adaptive controller is proposed to drive the synchronization error to an adjustable bounded area. For the case where a reference trajectory is predesigned, two distributed adaptive controllers are proposed, respectively, to address the tracking synchronization problem with bounded and unbounded reference trajectories, different decomposition methods are given to extract the heterogeneous characteristics. To avoid the appearance of global information, such as the spectrum of the coupling matrix, corresponding adaptive designs on coupling strengths are also provided for both cases. Moreover, the upper bounds of the final synchronization errors can be gradually adjusted according to the parameters of the adaptive designs. Finally, numerical examples are given to test the effectiveness of the control algorithms.

Periodic Event-Triggered Synchronization of Multiple Memristive Neural Networks With Switching Topologies and Parameter Mismatch

This article investigates the synchronization problem of multiple memristive neural networks (MMNNs) in the case of switching communication topologies and parameter mismatch. First, the distributed event-triggered control under continuous sampling conditions is studied. Then, a periodic event-triggered control (PETC) model is proposed to substantially reduce control consumption. Using the Lyapunov method, the properties of M -matrix, and some inequalities, the sufficient criteria of synchronous control are derived. The results can be used in the analysis of other multiagent nonlinear systems. A norm-based threshold function is given to determine the update time of the controller, and it is proved that the trigger condition excludes the Zeno behavior. Subject to parameter mismatch, a quasisynchronous control strategy is proposed, which can be extended to complete synchronization provided that the system mismatch or disturbance disappears. It is worth mentioning that this article introduces the signal function into the controller, so that the theoretical error can be limited to an arbitrarily small range. Furthermore, this new controller is used in the PETC strategy which automatically avoids the Zeno behavior. Finally, one example is given to illustrate our results.

Exponential synchronization of stochastic delayed memristive neural networks via a novel hybrid control

This paper investigates the exponential synchronization issue of stochastic delayed memristive neural networks (SDMNNs) via a novel hybrid control (HC), where impulsive instants are determined by the state-dependent trigger condition. The switching and quantification strategies are applied to the event-based impulsive controller to cope with the challenges induced concurrently by interval parameters, impulses, stochastic disturbance and time-varying delays. Furthermore, the control costs can be reduced and communication channels and bandwidths can be saved by using this designed controller. Then, novel Lyapunov functions and new analytical methods are constructed, which can be used to realize the exponential synchronization of SDMNNs via HC. Finally, a numerical simulation is provided to demonstrate our theoretical results.

Synchronization of Memristive Complex-Valued Neural Networks With Time Delays via Pinning Control Method

This article concentrates on the synchronization problem of memristive complex-valued neural networks (CVNNs) with time delays via the pinning control method. Different from general control schemes, the pinning control is beneficial to reduce the control cost by pinning the fractional nodes instead of all ones. By separating the complex-valued system into two equivalent real-valued systems and employing the Lyapunov functional as well as some inequality techniques, the asymptotic synchronization criterion is given to guarantee the realization of synchronization of memristive CVNNs. Meanwhile, sufficient conditions for exponential synchronization of the considered systems is also proposed. Finally, the validity of our proposed results is verified by a numerical example.

A Switched Operation Approach to Sampled-Data Control Stabilization of Fuzzy Memristive Neural Networks With Time-Varying Delay

This paper investigates the issue of sampled-data stabilization for Takagi-Sugeno fuzzy memristive neural networks (FMNNs) with time-varying delay. First, the concerned FMNNs are transformed into the tractable fuzzy NNs based on the excitatory and inhibitory of memristive synaptic weights using a new convex combination technique. Meanwhile, a switched fuzzy sampled-data controller is employed for the first time to tackle stability problems related to FMNNs. Then, the novel stabilization criteria of the FMNNs are established using the fuzzy membership functions (FMFs)-dependent Lyapunov-Krasovskii functional. This sufficiently utilizes information from not only the delayed state and the actual sampling pattern but also the FMFs. Two simulation examples are presented to demonstrate the feasibility and validity of the proposed method.

Event-Based Synchronization Control for Memristive Neural Networks With Time-Varying Delay

In this paper, we investigate the global synchronization control problem for memristive neural networks (MNNs) with time-varying delay. A novel event-triggered controller is introduced with the linear diffusive term and discontinuous sign term. In order to greatly reduce the computation cost of the controller under certain event-triggering condition, two event-based control schemes are proposed with static event-triggering condition and dynamic event-triggering condition. Some sufficient conditions are derived by these control schemes to ensure the response MNN to be synchronized with the driving one. Furthermore, under certain event-triggering conditions, a positive lower bound is achieved for the interexecution time to guarantee that Zeno behavior cannot be executed. Finally, numerical simulations are provided to substantiate the effectiveness of the proposed theoretical results.

Synchronization of Multiple Reaction-Diffusion Neural Networks With Heterogeneous and Unbounded Time-Varying Delays

The synchronization problem of multiple/coupled reaction-diffusion neural networks with time-varying delays is investigated. Differing from the existing considerations, state delays among distinct neurons and coupling delays among different subnetworks are included in the proposed model, the assumptions posed on the arisen delays are very weak, time-varying, heterogeneous, even unbounded delays are permitted. To overcome the difficulties from this kind of delay as well as diffusion effects, a comparison-based approach is applied to this model and a series of algebraic criteria are successfully obtained to verify the global asymptotical synchronization. By specifying the existing delays, some M -matrix-based criteria are derived to justify the power-rate synchronization and exponential synchronization. In addition, new criterion on synchronization of general connected neural networks without diffusion effects is also given. Finally, two simulation examples are given to verify the effectiveness of the obtained theoretical results and provide a comparison with the existing criterion.

Effects of State-Dependent Impulses on Robust Exponential Stability of Quaternion-Valued Neural Networks Under Parametric Uncertainty

This paper addresses the state-dependent impulsive effects on robust exponential stability of quaternion-valued neural networks (QVNNs) with parametric uncertainties. In view of the noncommutativity of quaternion multiplication, we have to separate the concerned quaternion-valued models into four real-valued parts. Then, several assumptions ensuring every solution of the separated state-dependent impulsive neural networks intersects each of the discontinuous surface exactly once are proposed. In the meantime, by applying the B -equivalent method, the addressed state-dependent impulsive models are reduced to fixed-time ones, and the latter can be regarded as the comparative systems of the former. For the subsequent analysis, we proposed a novel norm inequality of block matrix, which can be utilized to analyze the same stability properties of the separated state-dependent impulsive models and the reduced ones efficaciously. Afterward, several sufficient conditions are well presented to guarantee the robust exponential stability of the origin of the considered models; it is worth mentioning that two cases of addressed models are analyzed concretely, that is, models with exponential stable continuous subsystems and destabilizing impulses, and models with unstable continuous subsystems and stabilizing impulses. In addition, an application case corresponding to the stability problem of models with unstable continuous subsystems and stabilizing impulses for state-dependent impulse control to robust exponential synchronization of QVNNs is considered summarily. Finally, some numerical examples are proffered to illustrate the effectiveness and correctness of the obtained results.

Multistability of Delayed Hybrid Impulsive Neural Networks With Application to Associative Memories

The important topic of multistability of continuous-and discrete-time neural network (NN) models has been investigated rather extensively. Concerning the design of associative memories, multistability of delayed hybrid NNs is studied in this paper with an emphasis on the impulse effects. Arising from the spiking phenomenon in biological networks, impulsive NNs provide an efficient model for synaptic interconnections among neurons. Using state-space decomposition, the coexistence of multiple equilibria of hybrid impulsive NNs is analyzed. Multistability criteria are then established regrading delayed hybrid impulsive neurodynamics, for which both the impulse effects on the convergence rate and the basins of attraction of the equilibria are discussed. Illustrative examples are given to verify the theoretical results and demonstrate an application to the design of associative memories. It is shown by an experimental example that delayed hybrid impulsive NNs have the advantages of high storage capacity and high fault tolerance when used for associative memories.

Dynamical and Static Multisynchronization of Coupled Multistable Neural Networks via Impulsive Control

This paper investigates the dynamical multisynchronization and static multisynchronization problem for delayed coupled multistable neural networks with fixed and switching topologies. To begin with, a class of activation functions as well as several sufficient conditions are introduced to ensure that every subnetwork has multiple equilibrium states. By constructing an appropriate Lyapunov function and by employing impulsive control theory and the average impulsive interval method, several sufficient conditions for multisynchronization in terms of linear matrix inequalities (LMIs) are obtained. Moreover, a unified impulsive controller is designed by means of the established LMIs. Finally, a numerical example is presented to demonstrate the effectiveness of the presented impulsive control strategy.

A Comparison of Regularization Techniques in Deep Neural Networks

Artificial neural networks (ANN) have attracted significant attention from researchers because many complex problems can be solved by training them. If enough data are provided during the training process, ANNs are capable of achieving good performance results. However, if training data are not enough, the predefined neural network model suffers from overfitting and underfitting problems. To solve these problems, several regularization techniques have been devised and widely applied to applications and data analysis. However, it is difficult for developers to choose the most suitable scheme for a developing application because there is no information regarding the performance of each scheme. This paper describes comparative research on regularization techniques by evaluating the training and validation errors in a deep neural network model, using a weather dataset. For comparisons, each algorithm was implemented using a recent neural network library of TensorFlow. The experiment results showed that an autoencoder had the worst performance among schemes. When the prediction accuracy was compared, data augmentation and the batch normalization scheme showed better performance than the others.

Dynamic Analysis of Hybrid Impulsive Delayed Neural Networks With Uncertainties

Neural networks (NNs) have emerged as a powerful illustrative diagram for the brain. Unveiling the mechanism of neural-dynamic evolution is one of the crucial steps toward understanding how the brain works and evolves. Inspired by the universal existence of impulses in many real systems, this paper formulates a type of hybrid NNs (HNNs) with impulses, time delays, and interval uncertainties, and studies its global dynamic evolution by a robust interval analysis. The HNNs incorporate both continuous-time implementation and impulsive jump in mutual activations, where time delays and interval uncertainties are represented simultaneously. By constructing a Banach contraction mapping, the existence and uniqueness of the equilibrium of the HNN model are proved and analyzed in detail. Based on nonsmooth Lyapunov functions and delayed impulsive differential equations, new criteria are derived for ensuring the global robust exponential stability of the HNNs. Convergence analysis together with illustrative examples show the effectiveness of the theoretical results.

Event-Based Impulsive Control of Continuous-Time Dynamic Systems and Its Application to Synchronization of Memristive Neural Networks

This paper investigates exponential stabilization of continuous-time dynamic systems (CDSs) via event-based impulsive control (EIC) approaches, where the impulsive instants are determined by certain state-dependent triggering condition. The global exponential stability criteria via EIC are derived for nonlinear and linear CDSs, respectively. It is also shown that there is no Zeno-behavior for the concerned closed loop control system. In addition, the developed event-based impulsive scheme is applied to the synchronization problem of master and slave memristive neural networks. Furthermore, a self-triggered impulsive control scheme is developed to avoid continuous communication between the master system and slave system. Finally, two numerical simulation examples are presented to illustrate the effectiveness of the proposed event-based impulsive controllers.

New Conditions for Global Asymptotic Stability of Memristor Neural Networks

Recent papers in the literature introduced a class of neural networks (NNs) with memristors, named dynamic-memristor (DM) NNs, such that the analog processing takes place in the charge-flux domain, instead of the typical current-voltage domain as it happens for Hopfield NNs and standard cellular NNs. One key advantage is that, when a steady state is reached, all currents, voltages, and power of a DM-NN drop off, whereas the memristors act as nonvolatile memories that store the processing result. Previous work in the literature addressed multistability of DM-NNs, i.e., convergence of solutions in the presence of multiple asymptotically stable equilibrium points (EPs). The goal of this paper is to study a basically different dynamical property of DM-NNs, namely, to thoroughly investigate the fundamental issue of global asymptotic stability (GAS) of the unique EP of a DM-NN in the general case of nonsymmetric neuron interconnections. A basic result on GAS of DM-NNs is established using Lyapunov method and the concept of Lyapunov diagonally stable matrices. On this basis, some relevant classes of nonsymmetric DM-NNs enjoying the property of GAS are highlighted.

Finite-Time State Estimation for Recurrent Delayed Neural Networks With Component-Based Event-Triggering Protocol

This paper deals with the event-based finite-time state estimation problem for a class of discrete-time stochastic neural networks with mixed discrete and distributed time delays. In order to mitigate the burden of data communication, a general component-based event-triggered transmission mechanism is proposed to determine whether the measurement output should be released to the estimator at certain time-point according to a specific triggering condition. A new concept of finite-time boundedness in the mean square is put forward to quantify the estimation performance by introducing a settling-like time function. The objective of the addressed problem is to construct an event-based state estimator to estimate the neuron states such that, in the presence of both mixed time delays and external noise disturbances, the dynamics of the estimation error is finite-time bounded in the mean square with a prescribed error upper bound. Sufficient conditions are established, via stochastic analysis techniques, to guarantee the desired estimation performance. By solving an optimization problem with some inequality constraints, the explicit expression of the estimator gain matrix is characterized to minimize the settling-like time. Finally, a numerical simulation example is exploited to demonstrate the effectiveness of the proposed estimator design scheme.