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A particular form of neural network called CMAC has been shown to have many characteristics well-suited to real time control problems. In this paper, the CMAC concept is applied to a time optimal control problem. An example system (DC servomotor) is analyzed using both simulation and real-time laboratory experiments. The neural network based controller is capable of handling both linear and nonlinear systems, is very efficient in real-time operation and the results extend to higher order systems.