基于MFAC改进的MFAC，添加了神经网络扰动进行补偿的IMFAC，增强了原始MFAC控制算法的鲁棒性-Based on MFAC s improved MFAC, the IMFAC, which has been added to compensate for neural network disturbances, enhances the robustness of the original MFAC control algorithm