简介：Elmannetworks'dynamicalmodelingcapabilityisdiscussedinthispaperfirstly.AccordingtoElmannetworks'uniquestructure,aweighttrainingalgorithmisdesignedandanonlinearadaptivecontrollerisconstructed.WithoutthePEpresumption,neuralnetworkscontroller'sclosed-looppropertiesarestudiedandthewholeElmannetworks'passivityisdemonstrated.
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