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