针对仿射非线性系统，提出了一种新型的基于动态递归模糊神经网络(DRFNN)的间接自适应控制器。

A novel indirect adaptive controller based on dynamic recurrent fuzzy neural network (DRFNN) is proposed for affine nonlinear system.

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针对静态网络无法处理暂态问题，对具有递归环节的动态模糊神经网络进行了研究。

Since a static fuzzy neural network cannot deal with the temporal problem, a dynamic fuzzy neural network (DFNN) with recurrent units is proposed.

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