First, a study of a sliding mode controller under on off training is made and then the on line learning algorithm using a gradient decent method is designed.
首先研究了离线训练的滑模控制器，然后，给出了利用梯度下降法的在线训练方法。
The gradient decent learning with momentum is introduced, and analysis is described why it can speed up learning speed. Further more, two experiments are presented to verify previous views.
提出了“惯性校正法”，对其能加速学习的原因进行了理论分析，并结合岩性分类和字母识别两个实验，对理论观点进行了验证。
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