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本文提出一种神经网络自组织控制器，并应用于非线性跟踪控制中，为了加快神经模糊控制器的在线学习，文中给出了一种变斜率的是速梯度下降学习算法．仿真结果表明，该控制是有效的。
In this paper, a neural network self-organizing controller is proposed and applied to nonlinear tracking control. In order to speed up the online learning of the neural fuzzy controller, a gradient learning algorithm is proposed in this paper. Simulation results show that the control is effective.