Neural adaptive PID controller

neural network is the kind of general method which has the similarity ofthe way of the thinking of  the human brain.Neural network control is a important field and was developed to aim the hard control problem ,such as nonlinearity,uncertainty.Using the neural network method can provide a high performance PID controller.  there are a lot of menthod to imporve the performance of neural network control. Here this code used the single neural method to realise the PID adaptive controller.神经网络是一种通用的方法，它具有人类brain.Neural网络控制的​​思维方式的相似性是一个重要的领域，开发为目标的硬控制问题，如非线性，uncertainty.Using神经网络方法可以提供一种高性能的PID控制器。有很多方法来提高神经网络控制的性能。下面这段代码中使用的单神经元的方法来实现PID自适应控制器。