{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,18]],"date-time":"2026-05-18T23:22:35Z","timestamp":1779146555192,"version":"3.51.4"},"reference-count":33,"publisher":"Springer Science and Business Media LLC","issue":"18","license":[{"start":{"date-parts":[[2020,5,14]],"date-time":"2020-05-14T00:00:00Z","timestamp":1589414400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,5,14]],"date-time":"2020-05-14T00:00:00Z","timestamp":1589414400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Neural Comput &amp; Applic"],"published-print":{"date-parts":[[2020,9]]},"DOI":"10.1007\/s00521-020-04965-w","type":"journal-article","created":{"date-parts":[[2020,5,14]],"date-time":"2020-05-14T13:02:52Z","timestamp":1589461372000},"page":"14483-14495","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Extreme learning machine-based super-twisting repetitive control for aperiodic disturbance, parameter uncertainty, friction, and backlash compensations of a brushless DC servo motor"],"prefix":"10.1007","volume":"32","author":[{"given":"Raymond","family":"Chuei","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhenwei","family":"Cao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2020,5,14]]},"reference":[{"key":"4965_CR1","doi-asserted-by":"crossref","unstructured":"Inoue T, Nakano M, Iwai S (1981) High accuracy control of a proton synchrotron magnet power supply. In: Proceedings of 8th world congress IFAC, Kyoto, August 1981, pp 3137\u20133142","DOI":"10.1016\/S1474-6670(17)63938-7"},{"issue":"2","key":"4965_CR2","doi-asserted-by":"publisher","first-page":"170","DOI":"10.1007\/BF01447855","volume":"2","author":"BA Francis","year":"1975","unstructured":"Francis BA, Wonham WM (1975) The internal model principle for linear multivariable regulators. Appl Math Optim 2(2):170\u2013194","journal-title":"Appl Math Optim"},{"issue":"7","key":"4965_CR3","doi-asserted-by":"publisher","first-page":"659","DOI":"10.1109\/9.1274","volume":"33","author":"S Hara","year":"1988","unstructured":"Hara S, Yamamoto Y, Omata T, Nakano M (1988) Repetitive control system: a new type servo system for periodic exogenous signals. IEEE Trans Autom Control 33(7):659\u2013666","journal-title":"IEEE Trans Autom Control"},{"issue":"5","key":"4965_CR4","doi-asserted-by":"publisher","first-page":"574","DOI":"10.1049\/iet-pel.2008.0149","volume":"2","author":"S Chen","year":"2009","unstructured":"Chen S, Lai YM, Tan SC, Tse CK (2009) Fast response low harmonic distortion control scheme for voltage source inverters. IET Power Electron 2(5):574\u2013584. \nhttps:\/\/doi.org\/10.1049\/iet-pel.2008.0149","journal-title":"IET Power Electron"},{"issue":"6","key":"4965_CR5","doi-asserted-by":"publisher","first-page":"2834","DOI":"10.1109\/TIE.2013.2276033","volume":"61","author":"E Kurniawan","year":"2014","unstructured":"Kurniawan E, Cao Z, Man Z (2014) Design of robust repetitive control with time-varying sampling periods. IEEE Trans Industr Electron 61(6):2834\u20132841. \nhttps:\/\/doi.org\/10.1109\/TIE.2013.2276033","journal-title":"IEEE Trans Industr Electron"},{"issue":"4","key":"4965_CR6","doi-asserted-by":"publisher","first-page":"3433","DOI":"10.1109\/TIE.2016.2606086","volume":"64","author":"AHM Sayem","year":"2017","unstructured":"Sayem AHM, Cao Z, Man Z (2017) Model free ESO-based repetitive control for rejecting periodic and aperiodic disturbances. IEEE Trans Industr Electron 64(4):3433\u20133441. \nhttps:\/\/doi.org\/10.1109\/TIE.2016.2606086","journal-title":"IEEE Trans Industr Electron"},{"key":"4965_CR7","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-016-0415-x","author":"R Chuei","year":"2017","unstructured":"Chuei R, Cao Z, Man Z (2017) Super twisting observer based repetitive control for aperiodic disturbance rejection in a brushless DC servo motor. Int J Control Autom Syst. \nhttps:\/\/doi.org\/10.1007\/s12555-016-0415-x","journal-title":"Int J Control Autom Syst"},{"issue":"2","key":"4965_CR8","doi-asserted-by":"publisher","first-page":"331","DOI":"10.1007\/s00521-017-3144-z","volume":"30","author":"MF Hamza","year":"2018","unstructured":"Hamza MF, Yap HJ, Choudhury IA, Chiroma H, Kumbasar T (2018) A survey on advancement of hybrid type 2 fuzzy sliding mode control. Neural Comput Appl 30(2):331\u2013353. \nhttps:\/\/doi.org\/10.1007\/s00521-017-3144-z","journal-title":"Neural Comput Appl"},{"issue":"1","key":"4965_CR9","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1007\/s00521-012-1327-1","volume":"23","author":"X Yuan","year":"2013","unstructured":"Yuan X, Yang Y, Wang H, Wang Y (2013) Genetic algorithm-based adaptive fuzzy sliding mode controller for electronic throttle valve. Neural Comput Appl 23(1):209\u2013217. \nhttps:\/\/doi.org\/10.1007\/s00521-012-1327-1","journal-title":"Neural Comput Appl"},{"key":"4965_CR10","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-018-3413-5","author":"C-F Hsu","year":"2018","unstructured":"Hsu C-F, Kao W-F (2018) Perturbation wavelet neural sliding mode position control for a voice coil motor driver. Neural Comput Appl. \nhttps:\/\/doi.org\/10.1007\/s00521-018-3413-5","journal-title":"Neural Comput Appl"},{"issue":"6","key":"4965_CR11","doi-asserted-by":"publisher","first-page":"1247","DOI":"10.1080\/00207179308923053","volume":"58","author":"A Levant","year":"1993","unstructured":"Levant A (1993) Sliding order and sliding accuracy in sliding mode control. Int J Control 58(6):1247\u20131263. \nhttps:\/\/doi.org\/10.1080\/00207179308923053","journal-title":"Int J Control"},{"key":"4965_CR12","doi-asserted-by":"publisher","unstructured":"Chuei R, Cao Z, Man Z (2016) Design of super twisting repetitive control. In: 2016 IEEE 11th conference on industrial electronics and applications (ICIEA), 5\u20137 June 2016, pp 758\u2013762. \nhttps:\/\/doi.org\/10.1109\/iciea.2016.7603683","DOI":"10.1109\/iciea.2016.7603683"},{"issue":"10","key":"4965_CR13","doi-asserted-by":"publisher","first-page":"1633","DOI":"10.1016\/S0005-1098(02)00047-X","volume":"38","author":"M Nordin","year":"2002","unstructured":"Nordin M, Gutman PO (2002) Controlling mechanical systems with backlash\u2014a survey. Automatica 38(10):1633\u20131649. \nhttps:\/\/doi.org\/10.1016\/S0005-1098(02)00047-X","journal-title":"Automatica"},{"key":"4965_CR14","unstructured":"Coulomb damping. \nhttps:\/\/en.wikipedia.org\/wiki\/Coulomb_damping\n\n. Accessed 14 Sept 2017"},{"key":"4965_CR15","doi-asserted-by":"publisher","unstructured":"Acho L, Iurian C, Ikhouane F, Rodellar J (2007) Robust-adaptive control of mechanical systems with friction: application to an industrial emulator. In: Proceedings of 2007 American control conference, 9\u201313 July 2007, pp 5970\u20135974. \nhttps:\/\/doi.org\/10.1109\/acc.2007.4282379","DOI":"10.1109\/acc.2007.4282379"},{"issue":"7","key":"4965_CR16","doi-asserted-by":"publisher","first-page":"565","DOI":"10.1007\/s00521-016-2540-0","volume":"29","author":"M Cai","year":"2018","unstructured":"Cai M, Xiang Z (2018) Adaptive finite-time control of a class of non-triangular nonlinear systems with input saturation. Neural Comput Appl 29(7):565\u2013576. \nhttps:\/\/doi.org\/10.1007\/s00521-016-2540-0","journal-title":"Neural Comput Appl"},{"issue":"1","key":"4965_CR17","doi-asserted-by":"publisher","first-page":"261","DOI":"10.1007\/s00521-013-1355-5","volume":"23","author":"Y Li","year":"2013","unstructured":"Li Y, Tong S, Li T (2013) Adaptive fuzzy output feedback control of nonlinear uncertain systems with unknown backlash-like hysteresis based on modular design. Neural Comput Appl 23(1):261\u2013270. \nhttps:\/\/doi.org\/10.1007\/s00521-013-1355-5","journal-title":"Neural Comput Appl"},{"issue":"2","key":"4965_CR18","doi-asserted-by":"publisher","first-page":"1029","DOI":"10.1007\/s00521-017-3068-7","volume":"31","author":"M \u00c7etin","year":"2019","unstructured":"\u00c7etin M, Bahtiyar B, Beyhan S (2019) Adaptive uncertainty compensation-based nonlinear model predictive control with real-time applications. Neural Comput Appl 31(2):1029\u20131043. \nhttps:\/\/doi.org\/10.1007\/s00521-017-3068-7","journal-title":"Neural Comput Appl"},{"key":"4965_CR19","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-34816-7","volume-title":"Radial basis function (RBF) neural network control for mechanical systems: design, analysis and matlab simulation","author":"J Liu","year":"2013","unstructured":"Liu J (2013) Radial basis function (RBF) neural network control for mechanical systems: design, analysis and matlab simulation. Springer, Berlin"},{"issue":"7","key":"4965_CR20","doi-asserted-by":"publisher","first-page":"1575","DOI":"10.1007\/s00521-014-1819-2","volume":"26","author":"H Wang","year":"2015","unstructured":"Wang H, Xu Z, Do MT, Zheng J, Cao Z, Xie L (2015) Neural-network-based robust control for steer-by-wire systems with uncertain dynamics. Neural Comput Appl 26(7):1575\u20131586. \nhttps:\/\/doi.org\/10.1007\/s00521-014-1819-2","journal-title":"Neural Comput Appl"},{"issue":"1","key":"4965_CR21","doi-asserted-by":"publisher","first-page":"907","DOI":"10.1007\/s00521-016-2362-0","volume":"28","author":"\u0130 Eski","year":"2017","unstructured":"Eski \u0130, Y\u0131ld\u0131r\u0131m \u015e (2017) Neural network-based fuzzy inference system for speed control of heavy duty vehicles with electronic throttle control system. Neural Comput Appl 28(1):907\u2013916. \nhttps:\/\/doi.org\/10.1007\/s00521-016-2362-0","journal-title":"Neural Comput Appl"},{"issue":"1","key":"4965_CR22","doi-asserted-by":"publisher","first-page":"145","DOI":"10.1007\/s00521-015-2043-4","volume":"28","author":"H Yan","year":"2017","unstructured":"Yan H, Li Y (2017) Adaptive NN prescribed performance control for nonlinear systems with output dead zone. Neural Comput Appl 28(1):145\u2013153. \nhttps:\/\/doi.org\/10.1007\/s00521-015-2043-4","journal-title":"Neural Comput Appl"},{"issue":"3","key":"4965_CR23","doi-asserted-by":"publisher","first-page":"273","DOI":"10.1007\/bf00994018","volume":"20","author":"C Cortes","year":"1995","unstructured":"Cortes C, Vapnik V (1995) Support-vector networks. Mach Learn 20(3):273\u2013297. \nhttps:\/\/doi.org\/10.1007\/bf00994018","journal-title":"Mach Learn"},{"issue":"1","key":"4965_CR24","doi-asserted-by":"publisher","first-page":"489","DOI":"10.1016\/j.neucom.2005.12.126","volume":"70","author":"G-B Huang","year":"2006","unstructured":"Huang G-B, Zhu Q-Y, Siew C-K (2006) Extreme learning machine: theory and applications. Neurocomputing 70(1):489\u2013501. \nhttps:\/\/doi.org\/10.1016\/j.neucom.2005.12.126","journal-title":"Neurocomputing"},{"issue":"3","key":"4965_CR25","doi-asserted-by":"publisher","first-page":"577","DOI":"10.1007\/s00521-011-0805-1","volume":"22","author":"H-J Rong","year":"2013","unstructured":"Rong H-J, Zhao G-S (2013) Direct adaptive neural control of nonlinear systems with extreme learning machine. Neural Comput Appl 22(3):577\u2013586. \nhttps:\/\/doi.org\/10.1007\/s00521-011-0805-1","journal-title":"Neural Comput Appl"},{"issue":"5","key":"4965_CR26","doi-asserted-by":"publisher","first-page":"969","DOI":"10.1007\/s00521-011-0789-x","volume":"22","author":"Y Yang","year":"2013","unstructured":"Yang Y, Wang Y, Yuan X, Chen Y, Tan L (2013) Neural network-based self-learning control for power transmission line deicing robot. Neural Comput Appl 22(5):969\u2013986. \nhttps:\/\/doi.org\/10.1007\/s00521-011-0789-x","journal-title":"Neural Comput Appl"},{"issue":"8","key":"4965_CR27","doi-asserted-by":"publisher","first-page":"2398","DOI":"10.1109\/TSMC.2017.2676022","volume":"47","author":"C Yang","year":"2017","unstructured":"Yang C, Huang K, Cheng H, Li Y, Su C (2017) Haptic Identification by ELM-controlled uncertain manipulator. IEEE Trans Syst Man Cybern: Syst 47(8):2398\u20132409. \nhttps:\/\/doi.org\/10.1109\/TSMC.2017.2676022","journal-title":"IEEE Trans Syst Man Cybern: Syst"},{"key":"4965_CR28","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-019-04446-9","author":"Y Hu","year":"2019","unstructured":"Hu Y et al (2019) Extreme-learning-machine-based FNTSM control strategy for electronic throttle. Neural Comput Appl. \nhttps:\/\/doi.org\/10.1007\/s00521-019-04446-9","journal-title":"Neural Comput Appl"},{"issue":"3","key":"4965_CR29","doi-asserted-by":"publisher","first-page":"323","DOI":"10.1049\/ip-cta:20045217","volume":"153","author":"TY Doh","year":"2006","unstructured":"Doh TY, Ryoo JR, Chung MJ (2006) Design of a repetitive controller: an application to the track-following servo system of optical disk drives. IEE Proc Control Theory Appl 153(3):323\u2013330","journal-title":"IEE Proc Control Theory Appl"},{"key":"4965_CR30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-20907-9","volume-title":"Advanced sliding mode control for mechanical systems","author":"J Liu","year":"2011","unstructured":"Liu J, Wang X (2011) Advanced sliding mode control for mechanical systems. Springer, Berlin"},{"issue":"3","key":"4965_CR31","doi-asserted-by":"publisher","first-page":"379","DOI":"10.1016\/S0005-1098(97)00209-4","volume":"34","author":"A Levant","year":"1998","unstructured":"Levant A (1998) Robust exact differentiation via sliding mode technique. Automatica 34(3):379\u2013384","journal-title":"Automatica"},{"key":"4965_CR32","unstructured":"Manual For Model 220 Industrial Emulator\/Servo Trainer (1995), 2.3 edn. Educational Control Products, Bell Canyon, CA"},{"issue":"3","key":"4965_CR33","doi-asserted-by":"publisher","first-page":"931","DOI":"10.1109\/TII.2017.2734686","volume":"14","author":"X Meng","year":"2018","unstructured":"Meng X, Rozycki P, Qiao J, Wilamowski BM (2018) Nonlinear system modeling using RBF networks for industrial application. IEEE Trans Ind Inf 14(3):931\u2013940. \nhttps:\/\/doi.org\/10.1109\/TII.2017.2734686","journal-title":"IEEE Trans Ind Inf"}],"container-title":["Neural Computing and Applications"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-020-04965-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00521-020-04965-w\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-020-04965-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,10,5]],"date-time":"2020-10-05T15:55:26Z","timestamp":1601913326000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00521-020-04965-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5,14]]},"references-count":33,"journal-issue":{"issue":"18","published-print":{"date-parts":[[2020,9]]}},"alternative-id":["4965"],"URL":"https:\/\/doi.org\/10.1007\/s00521-020-04965-w","relation":{},"ISSN":["0941-0643","1433-3058"],"issn-type":[{"value":"0941-0643","type":"print"},{"value":"1433-3058","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,5,14]]},"assertion":[{"value":"26 February 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 April 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"14 May 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with ethical standards"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}