In this paper, an orthogonal functions neural network is used to achieve the control of nonlinear systems. The adaptive controller is constructed by using Chebyshev orthogonal polynomials neural network, which has advantages such as simple stru

并在Labview上实现了滑模控制器，利用roboRIO可实现对2自由度脚踝康复机器人的实时控制。(The sliding mode controller is implemented on Labview, and the real-time control of the 2 degree of freedom ankle rehabilitation robot can be realized by using roboRIO.)