MiS Preprint Repository

We have decided to discontinue the publication of preprints on our preprint server as of 1 March 2024. The publication culture within mathematics has changed so much due to the rise of repositories such as ArXiV ( that we are encouraging all institute members to make their preprints available there. An institute's repository in its previous form is, therefore, unnecessary. The preprints published to date will remain available here, but we will not add any new preprints here.

MiS Preprint

Evolving structure and function of neurocontrollers

Frank Pasemann, Ulf Dieckmann and Ulrich Steinmetz


The presented evolutionary algorithm is especially designed to generate recurrent neural networks with non-trivial internal dynamics. It is not based on genetic algorithms, and sets no constraints on the number of neurons and the architecture of a network. Network topology and parameters like synaptic weights and bias terms are developed simultaneously. It is well suited for generating neuromodules acting in sensorimotor loops, and therefore it can be used for evolution of neurocontrollers solving also nonlinear control problems. We demonstrate this capability by applying the algorithm successfully to the following task: A rotating pendulum is mounted on a cart; stabilize the rotator in an upright position, and center the cart in a given finite interval.


Related publications

1999 Repository Open Access
Frank Pasemann, Ulf Dieckmann and Ulrich Steinmetz

Evolving structure and function of neurocontrollers

In: Proceedings of the 1999 Congress on Evolutionary Computation / CEC 99, July 6 - 9, 1999
Piscataway, NJ : IEEE Service Center, 1999.