**7. Comparison of two methods for speed control of BLDC motor drive**

Comparing among various wavelet neural network schemes shows that the WNN-PID is a preferable method to overcome the nonlinearity in this model with high reliability, more robustness and being good with better performance than the RWNN method as shown in **Table 7**. In addition, the performance of the WNN controller in the real application tends to make the system more robust and less sensitive as well as high precision and excellent flexibility.


**Table 7.**

*Performance of speed control of BLDC motor in each methods.*
