In practice, the back-propagation algorithm often runs very slowly, and the question naturally arises as to whether there are necessarily intrinsic computation and difficulties with training neural networks, or better training algorithms might exist. Two important issues will be investigated in this framework. One establishes a flexible structure, to construct very simple neural network for multi-input/output systems. The other issue is how to obtain the learning algorithm to achieve good performance in the training phase. In this paper, the feedforward neural network with flexible bipolar sigmoid functions (FBSFs) are investigated to learn the inverse model of the system. The FBSF has changeable shape by changing the values of its parameter according to the desired trajectory or the teaching signal. The proposed neural network is trained to learn the inverse dynamic model by using back-propagation learning algorithms. In these learning algorithms, not only the connection weights but also the sigmoid function parameters (SFPs) are adjustable. The feedback-error-learning is used as a learning method for the feedforward controller. In this case, the output of a feedback controller is fed to the neural network model. The suggested method is applied to a two-link robotic manipulator control system which is configured as a direct controller for the system to demonstrate the capability of our scheme. Also, the advantages of the proposed structure over other traditional neural network structures are discussed.