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The novel features of an adaptive PID-like neurocontrol scheme for nonlinear plants are presented. The controller tuning is based on an estimate of the command-error on its output by using a neural predictive model. A robust online learning algorithm, based on the direct use of sliding mode control (SMC) theory is applied. The proposed approach allows handling of the plant-model mismatches, uncertainties and parameters changes. The results show that both the plant model and the controller inherit some of the advantages of SMC, such as high speed of learning and robustness