This paper presents the design of neural network controllers for the electro-hydraulically driven positioning system of an industrial manipulator. The manipulator is represented by an unloading machine that extracts the billets from a rotary hearth furnace. The design of a Narma-L2 controller and a Model-reference controller is presented. Neural network controllers can be used for the modeling and control of dynamical systems as long as a suitable neural network is chosen. The obtained controllers are compared on the basis of overall performances. The assessment of the results is done by means of simulation.
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