Generally speaking, the CMAC is first trained from an existed controller;then the CMAC can be used to instead of the original controller for achieving a fast operating system performance.

• 在控制领域设计中，较简易直觉的作法是不需经过学习的过程而能使控制系统即可在忍受范围内工作，进一步藉由辅助修正机制优化原系统参数达到线上学习的需求。