A self optimizing control method based on the smith prediction control structure is presented for the control problem of time lag , non - fixed and nonlinear system . it combines the fuzzy control with artificial neural networks 针对时滞不确定非线性系统的控制问题，讨论了一种基于史密施预估补偿控制结构的模糊控制与人工神经网络相结合的自优化控制方法。
