针对非线性的时滞系统 ,采用一种将PID控制规律融进神经元网络的控制器 ,并应用基于最小二乘递推算法的最小方差预测值来克服时滞误差 .运用Lyapunov稳定性定理 ,确定了系统稳定时控制器权系数的范围 Aiming at the nonlinear time-delay system, a controller that integrates the PID control law into the neural network is adopted and the minimum variance prediction based on the least square recursive algorithm is used to overcome the time delay error. By using the Lyapunov stability theorem, Determine the range of the controller weight coefficient when the system is stable