# An Improved PID Controller for the Compliant Constant-Force Actuator Based on BP Neural Network and Smith Predictor

> Research article (Applied Sciences, 2021) · cited 30× · AI/ML

**Wikidata**: [openalex:W3139421256](https://www.wikidata.org/wiki/openalex:W3139421256)  
**Source**: https://4ort.xyz/entity/an-improved-pid-controller-for-the-compliant-constant-force-actuator-based-on-bp-neural-network-and-smith-predictor