1. A computer system for controlling the dynamic output response of a nonlinear physical process, said physical process represented by a fixed model of said process, comprising: a linear controller for providing a pseudo control signal, said pseudo control signal beg based on said fixed model for said process; a second controller, connected to said liner controller, for receiving said pseudo control signal and for providing a modified pseudo control signal to correct for errors inherent in modeling of said process, mid second controller comprising a neural network for modifying said pseudo control signal based on on-line data training of said neural network, the value of said modified pseudo control signal equals the sum of value of the output of said linear controller and the value of an estimated derivative of a received command signal for a degree of freedom in said system subtracted by the value of the output of said neural network for that same degree of freedom; and a response network, connected to said second controller, for receiving said modified pseudo control signal and for providing said output response signal to a controlled device.