The generalized nonlinear predictive controller based on neural network is put forward by combining the theory of predictive control with generalized nonlinear pid method ; subsequently , the neural network inverse dynamic control method is introduced into predictive control 提出了基于神經網絡的廣義非線性預測控制器;之后考慮將神經網絡逆動態控制方法引入到預測控制中,提出了基于多步預測性能指標函數的神經網絡逆動態控制方法。