WNN controller with the idea of neural networks inverse control is applied. Using multi-step predictive index function to train the weights of controller.

采用神经网络逆控制的思想设计小波神经网络控制器，引入多步预测性能指标函数对控制器权值进行在线训练。

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The paper addresses a nonlinear controller design approach for multi-input nonlinear systems based on step-by-step transformation.

研究多输入非线性系统基于分步变换及设计思想的非线性控制器设计问题。

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The controller can control many step-motor systems in the meantime, and made motor run in multi-curve including speed-up, speed-down, orientation and direction's change.

该控制器可同时控制多台步进电机按曲线方式运行，包括加减速、定位及换向功能等。

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