**8. Conclusion**

In this chapter, the WNN is used with the PID controller to make an adapted controller named as the WNN-PID controller. This controller is utilized to control the speed of BLDC motor in an extensive range and can stock preferable performance than a traditional controller. Two schemes of wavelet neural network are modified for speed control of BLDC motor such as WNN and RWNN. PSO algorithm is utilized for tuning and learning the parameters of the two controllers. The two methods are implemented and tested for different conditions and the performance is compared as shown in **Table 7**. From the simulation results, one can conclude that the proposed WNN controller with PID controller is the best scheme in performance and stability. In addition, using the proposed WNN controller to control the speed of BLDC motor gives better results compared to traditional methods.

*Automation and Control*
