how to create direct inverse neural network control in matlab ?

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i would like to create dc motor speed control using direct inverse neural network control.
initially i created system identification using narx time series prediction. it works well except initial points.
but when i did inverse mapping using NARX the RMSE error is 1.
i couldn't make exact prediction and control. herewith i attached my simulink file. i tried many times. it doesnt work.

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