本論文提出一強健型小波類神經網路控制器(robust wavelet-based adaptive neural control, RWANC)，其包含一類神經控制器與一強健控制器，所提出之PI學習法則可以有效地加速控制收斂性，經由模擬結果發現所設計之方法可以比以發表之學習法則獲得更加之收斂效果。 In this paper, a robust wavelet-based adaptive neural control (RWANC) with a PI type learning algorithm is proposed. The proposed RWANC system is composed of a wavelet neural controller and a fuzzy compensation controller. The wavelet neural control is ut
