Remarks on "Comments on a neural network compensator for uncertainties of robotics manipulators", with reply

In the comments on the original paper (see ibid., vol. 9, no. 6, 1993), a technique using an internal model control (IMC) structure was proposed for compensating structured and unstructured uncertainties in robot control. Here, the author argues that it should be pointed out that the proposed control law is not well posed. The reply of the authors of the original paper is also presented.