Text this: Disturbance compensation for servo-control applications using a discrete adaptive neural network feedforward method

  _  __    ______              _____             
 | |/ //  /_   _//     ___    |  ___||     ___   
 | ' //    -| ||-     /   ||  | ||__      /   || 
 | . \\    _| ||_    | [] ||  | ||__     | [] || 
 |_|\_\\  /_____//    \__ ||  |_____||    \__ || 
 `-` --`  `-----`      -|_||  `-----`      -|_|| 
                        `-`                 `-`