Because of defects of BP algorithm, a hybrid learning algorithm is applied to train and optimize the network parameters.

针对BP算法的不足，使用混合学习算法训练网络，优化了网络参数。

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Then some parameters of the controller are modulated by hybrid learning algorithm of ladder descent (LD) and least square error (LSE) so as to attain better control precision.

然后通过梯度下降法和最小二乘法相结合的混合学习算法，对控制器参数进行调整以提高其控制精度。

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