Motors. Nonîinear and unkno~wn motor dynamics are identified by îising multüayer neuraî / network and the control inpuifor the motor is derived fi-om the identifıed model. The effecî of the loadlorqııe on tha control syslem is damped byfıllering the coMrol input. Simulation and experimenîal results show thaî the self-tunmg adaptive neurocontrol has a good tracking performance bul needs an adaplive filler and a paraile! PI controller design in the case of disîurbances.

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