Self-Organizing Fuzzy Cerebella Model Articulation Controller (SOFCMAC) neural network is used to correct the nonlinear system inversion error due to modeling uncertainties and disturbances.

• 对由于建模误差、不确定性因素等引起的非线性系统逆误差，通过自组织模糊小脑模型关节控制器(SOFCMAC)神经网络在线进行修正。