然后，基于某型小卫星的姿态控制问题，设计了高精度定向阶段的神经网络补偿控制器。

Then, base on the problem of attitude control of a satellite under development, we design a NN compensation controller for high accuracy orientation phase.

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其次，论文设计了两种用于入口匝道控制的神经网络控制器——直接型和积分型。

Secondly, two neural networks controllers for the ramp control are developed, which are the direct controller and the PI controller.

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本文以传统PID控制器为基础，结合神经网络与预测控制，针对非线性系统提出了在PI D型预测性能指标函数下的控制方法。

In this paper, by utilizing the conventional PID controller and predictive control theory, the method is proposed under the PID-type predictive cost function.

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