  In this paper, construction of a neural-network based, closed-loop control of
a discontinuous capsule drive is analyzed. The foundation of the designed
controller is an optimized open-loop control function. A neural network is used
to determine the dependence between the open-loop controller's output and the
system's state. Robustness of the neural controller with respect to variation
of parameters of the controlled system is analyzed and compared with the
original, optimized open-loop control. It is expected that the presented method
can facilitate construction of closed-loop controllers of systems, for which
other methods are not effective, such as non-smooth or discontinuous ones.
