The generalized nonlinear predictive controller based on neural network is put forward by combining the theory of predictive control with generalized nonlinear pid method ; subsequently , the neural network inverse dynamic control method is introduced into predictive control 提出了基于神经网络的广义非线性预测控制器；之后考虑将神经网络逆动态控制方法引入到预测控制中，提出了基于多步预测性能指标函数的神经网络逆动态控制方法。
