Autonomous learning cerebellum model articulation controller

Introduces an intelligent controller named autonomous learning cerebellum model articulation controller (ALCMAC). This controller has the ability to learn its control function incrementally and autonomously from direct interaction with the environment. It combines two features, first there is no need for the system mathematical modeling and second it learns its control function autonomously from direct interaction with the environment. To illustrate its capabilities, it is used to control a two-joint robot arm to track a preplanned trajectory