training loop

In view of the fact that an open-loop decoupling controller cannot establish an error object function and an on-line training, the paper puts forward a new closed-loop decoupling controller.

针对神经网络开环解耦无法构造目标函数与在线训练的特点，在开环解耦的基础上，提出新的闭环解耦控制方法。

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