{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,24]],"date-time":"2025-03-24T07:24:18Z","timestamp":1742801058512},"reference-count":43,"publisher":"Springer Science and Business Media LLC","issue":"S1","license":[{"start":{"date-parts":[[2013,5,12]],"date-time":"2013-05-12T00:00:00Z","timestamp":1368316800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Neural Comput &amp; Applic"],"published-print":{"date-parts":[[2013,12]]},"DOI":"10.1007\/s00521-013-1423-x","type":"journal-article","created":{"date-parts":[[2013,5,11]],"date-time":"2013-05-11T10:11:11Z","timestamp":1368267071000},"page":"323-331","source":"Crossref","is-referenced-by-count":13,"title":["Hierarchical fuzzy CMAC control for nonlinear systems"],"prefix":"10.1007","volume":"23","author":[{"given":"Floriberto Ortiz","family":"Rodr\u00edguez","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jos\u00e9","family":"de Jes\u00fas Rubio","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Carlos R. Mariaca","family":"Gaspar","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Julio C\u00e9sar","family":"Tovar","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco A. Moreno","family":"Armend\u00e1riz","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2013,5,12]]},"reference":[{"issue":"12","key":"1423_CR1","doi-asserted-by":"crossref","first-page":"2169","DOI":"10.1080\/00207170902874033","volume":"82","author":"CF Aguilar-Iba\u00f1ez","year":"2009","unstructured":"Aguilar-Iba\u00f1ez CF (2009) The Lyapunov direct method for the stabilization of the ball on the actuated beam. Int J Control 82(12):2169\u20132178","journal-title":"Int J Control"},{"issue":"6","key":"1423_CR2","doi-asserted-by":"crossref","first-page":"801","DOI":"10.1016\/j.isatra.2012.06.015","volume":"51","author":"CF Aguilar-Iba\u00f1ez","year":"2012","unstructured":"Aguilar-Iba\u00f1ez CF, Garrido Moctezuma R, Davila J (2012) Output feedback trajectory stabilization of the uncertainty DC servomechanism system. ISA Trans 51(6):801\u2013807","journal-title":"ISA Trans"},{"issue":"2","key":"1423_CR3","doi-asserted-by":"crossref","first-page":"529","DOI":"10.1109\/TSMCB.2009.2028315","volume":"40","author":"P Angelov","year":"2010","unstructured":"Angelov P, Kordon A (2010) Adaptive inferential sensors based on evolving fuzzy models. IEEE Trans Syst Man Cybern B Cybern 40(2):529\u2013539","journal-title":"IEEE Transactions on Systems, Man and Cybernetics-Part B: Cybernetics"},{"issue":"4","key":"1423_CR4","doi-asserted-by":"crossref","first-page":"898","DOI":"10.1109\/TSMCB.2010.2098866","volume":"41","author":"P Angelov","year":"2011","unstructured":"Angelov P (2011) Fuzzily connected multimodel systems evolving autonomously from data streams. IEEE Trans Syst Man Cybern B Cybern 41(4):898\u2013910","journal-title":"IEEE Transactions on Systems, Man and Cybernetics-Part B: Cybernetics"},{"key":"1423_CR5","doi-asserted-by":"crossref","unstructured":"Albus JS (1975) A New approach to manipulator control: the cerebellar model articulation controller (CMAC). J Dyn Syst Meas Control Trans ASME 97:220\u2013227","DOI":"10.1115\/1.3426922"},{"key":"1423_CR6","unstructured":"Chen C-T (1998) Linear system theory and design, 3rd edn. Oxford University Press, Oxford, ISBN 0-19-511777-8"},{"key":"1423_CR7","doi-asserted-by":"crossref","first-page":"747","DOI":"10.1007\/s00521-010-0449-6","volume":"21","author":"C-H Chen","year":"2012","unstructured":"Chen C-H (2012) Wavelet-based adaptive robust control for a class of MIMO uncertain nonlinear systems. Neural Comput Appl 21:747\u2013762","journal-title":"Neural Comput & Applic"},{"issue":"15","key":"1423_CR8","doi-asserted-by":"crossref","first-page":"1796","DOI":"10.1049\/iet-cta.2010.0703","volume":"5","author":"C-S Chen","year":"2011","unstructured":"Chen C-S (2011) Supervisory adaptive tracking control of robot manipulators using interval type-2 TSK fuzzy logic system. IET Control Theory Appl 5(15):1796\u20131807","journal-title":"IET Control Theory Appl."},{"key":"1423_CR9","doi-asserted-by":"crossref","first-page":"297","DOI":"10.1016\/S0165-0114(03)00135-0","volume":"144","author":"X Fan","year":"2003","unstructured":"Fan X, Zhang N, Teng S (2003) Trajectory planning and tracking of ball and plate system using hierarchical fuzzy control scheme. Fuzzy Sets Syst 144:297\u2013312","journal-title":"Fuzzy Sets Syst"},{"issue":"4","key":"1423_CR10","doi-asserted-by":"crossref","first-page":"475","DOI":"10.1049\/iet-cta.2011.0250","volume":"6","author":"L-L Fan","year":"2012","unstructured":"Fan L-L, Song Y-D (2012) Neuro-adaptive model-reference fault-tolerant control with application to wind turbines. IET Control Theory Appl 6(4):475\u2013486","journal-title":"IET Control Theory Appl."},{"issue":"18","key":"1423_CR11","doi-asserted-by":"crossref","first-page":"2120","DOI":"10.1049\/iet-cta.2010.0389","volume":"5","author":"SI Han","year":"2011","unstructured":"Han SI, Lee JM (2011) Friction and uncertainty compensation of robot manipulator using optimal recurrent cerebellar model articulation controller and elasto-plastic friction observer. IET Control Theory Appl 5(18):2120\u20132141","journal-title":"IET Control Theory Appl."},{"key":"1423_CR12","doi-asserted-by":"crossref","unstructured":"Hojati M, Gazor S (2002) Hybrid adaptive fuzzy identification and control of nonlinear systems. IEEE Trans Fuzzy Syst 10(2):198\u2013210","DOI":"10.1109\/91.995121"},{"key":"1423_CR13","doi-asserted-by":"crossref","unstructured":"Isidori A (1999) Nonlinear control systems II. Springer, Berlin, ISBN 1-85233-188-7","DOI":"10.1007\/978-1-4471-0549-7"},{"issue":"7","key":"1423_CR14","doi-asserted-by":"crossref","first-page":"963","DOI":"10.1049\/iet-cta.2011.0090","volume":"6","author":"M Jimenez-Lizarraga","year":"2012","unstructured":"Jimenez-Lizarraga M, Basin M, Rodriguez-Ramirez P (2012) Robust mini\u2013max regulator for uncertain non-linear polynomial systems. IET Control Theory Appl 6(7):963\u2013970","journal-title":"IET Control Theory Appl."},{"issue":"(5(A))","key":"1423_CR15","first-page":"2941","volume":"8","author":"M Jimenez-Lizarraga","year":"2012","unstructured":"Jimenez-Lizarraga M, Basin M, Rodriguez-Ramirez P, Rubio JJ (2012) Robust control of a nonlinear electrical oscillator modeled by buffing equation. Int J Innov Comput Inf Control 8(5(A)):2941\u20132952","journal-title":"International Journal of Innovative Computing, Information and Control"},{"issue":"5","key":"1423_CR16","doi-asserted-by":"crossref","first-page":"595","DOI":"10.1002\/oca.1018","volume":"33","author":"M Jim\u00e9nez-Liz\u00e1rraga","year":"2012","unstructured":"Jim\u00e9nez-Liz\u00e1rraga M, Poznyak A (2012) Necessary conditions for Robust Stackelberg equilibrium in a multi-model differential game. Optim Control Appl Methods 33(5):595\u2013613","journal-title":"Optimal Control Applications and Methods"},{"key":"1423_CR17","first-page":"1064","volume":"2","author":"A Knuplez","year":"2003","unstructured":"Knuplez A, Chowdhury A, Svecko R (2003) Modeling and control design for the ball and plate system. IEEE Int Conf Indus Technol 2:1064\u20131067","journal-title":"IEEE International Conference on Industrial Technology"},{"issue":"2","key":"1423_CR18","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1007\/s12530-012-9050-9","volume":"3","author":"D Leite","year":"2012","unstructured":"Leite D, Ballini R, Costa P, Gomide F (2012) Evolving fuzzy granular modeling from nonstationary fuzzy data streams. Evol Syst 3(2):65\u201379","journal-title":"Evolving Systems"},{"issue":"1","key":"1423_CR19","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1109\/TFUZZ.2010.2087381","volume":"19","author":"A Lemos","year":"2011","unstructured":"Lemos A, Caminhas W, Gomide F (2011) Multivariable Gaussian evolving fuzzy modeling system. IEEE Trans Fuzzy Syst 19(1):91\u2013104","journal-title":"IEEE Trans Fuzzy Syst"},{"key":"1423_CR20","doi-asserted-by":"crossref","unstructured":"Lin C-M, Lin M-H, Yeh R-G (2012) Synchronization of unified chaotic system via adaptive wavelet cerebellar model articulation controller. Neural Comput Appl. doi: 10.1007\/s00521-012-1021-3","DOI":"10.1007\/s00521-012-1021-3"},{"issue":"2","key":"1423_CR21","doi-asserted-by":"crossref","first-page":"2057","DOI":"10.1016\/j.asoc.2010.07.003","volume":"11","author":"E Lughofer","year":"2011","unstructured":"Lughofer E, Angelov P (2011) Handling drifts and shifts in online data streams with evolving fuzzy systems. Appl Soft Comput 11(2):2057\u20132068","journal-title":"Applied Soft Computing"},{"key":"1423_CR22","doi-asserted-by":"crossref","first-page":"251","DOI":"10.1007\/s12530-012-9060-7","volume":"3","author":"E Lughofer","year":"2012","unstructured":"Lughofer E (2012) Single pass active learning with conflict and ignorance. Evol Syst 3:251\u2013271","journal-title":"Evolving Systems"},{"key":"1423_CR23","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1007\/s12530-012-9046-5","volume":"3","author":"E Lughofer","year":"2012","unstructured":"Lughofer E (2012) A dynamic split-and-merge approach for evolving cluster models. Evol Syst 3:135\u2013151","journal-title":"Evolving Systems"},{"key":"1423_CR24","doi-asserted-by":"crossref","first-page":"5","DOI":"10.1007\/s12530-011-9042-1","volume":"3","author":"L Maciel","year":"2012","unstructured":"Maciel L, Lemos A, Gomide F, Ballini R (2012) Evolving fuzzy systems for pricing fixed income options. Evol Syst 3:5\u201318","journal-title":"Evolving Systems"},{"key":"1423_CR25","doi-asserted-by":"crossref","first-page":"211","DOI":"10.1007\/s00521-010-0366-8","volume":"20","author":"CJB Macnab","year":"2011","unstructured":"Macnab CJB (2011) Neural-adaptive control using alternate weights. Neural Comput Appl 20:211\u2013221","journal-title":"Neural Comput & Applic"},{"issue":"1","key":"1423_CR26","doi-asserted-by":"crossref","first-page":"39","DOI":"10.1080\/10798587.2010.10643062","volume":"16","author":"JH P\u00e9rez-Cruz","year":"2010","unstructured":"P\u00e9rez-Cruz JH, Poznyak A (2010) Control of nuclear research reactors based on a generalized hopfield neural network. Intell Autom Soft Comput 16(1):39\u201360","journal-title":"Intell Autom Soft Comput"},{"key":"1423_CR27","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2012\/342739","volume":"2012","author":"JH P\u00e9rez Cruz","year":"2012","unstructured":"P\u00e9rez Cruz JH, Ruiz Vel\u00e1zquez E, Rubio JJ, de Alba Padilla CA (2012) Robust adaptive neurocontrol of SISO nonlinear systems preceded by unknown deadzone. Math Probl Eng 2012:1\u201323","journal-title":"Mathematical Problems in Engineering"},{"key":"1423_CR28","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2012\/471281","volume":"2012","author":"JH P\u00e9rez-Cruz","year":"2012","unstructured":"P\u00e9rez-Cruz JH, Rubio JJ, Ruiz-VelP\u00e1zquez E, Sol\u00eds-Perales G. (2012) Tracking control based on recurrent neural networks for nonlinear systems with multiple inputs and unknown deadzone. Abstr Appl Anal 2012:1\u201318","journal-title":"Abstract and Applied Analysis"},{"key":"1423_CR29","first-page":"1","volume":"2012","author":"JH P\u00e9rez-Cruz","year":"2012","unstructured":"P\u00e9rez-Cruz JH, Alanis AY, Rubio JJ, Pacheco J (2012) System identification using multilayer differential neural networks: a new result. J Appl Math 2012:1\u201320","journal-title":"Journal of Applied Mathematics"},{"key":"1423_CR30","unstructured":"P\u00e9rez-Olvera CA (2009) Control visual difuso de un sistema no-lineal, CIC-IPN, Master thesis"},{"key":"1423_CR31","first-page":"283","volume":"38","author":"CA P\u00e9rez-Olvera","year":"2008","unstructured":"P\u00e9rez-Olvera CA, Moreno-Armend\u00e1riz MA, Rubio-Espino E, Zaragoza-D\u00edaz JO (2008) Modulo de visi\u00f3n por computadora en tiempo real para el control de un sistema plano-esfera. Res Comput Sci 38:283\u2013293","journal-title":"Research in Computing Science"},{"issue":"4","key":"1423_CR32","doi-asserted-by":"crossref","first-page":"338","DOI":"10.1080\/00207170600566188","volume":"79","author":"JJ Rubio","year":"2006","unstructured":"Rubio JJ, Yu W (2006) A new discrete-time sliding-mode control with time-varying gain and neural identification. Int J Control 79(4):338\u2013348","journal-title":"Int J Control"},{"issue":"2","key":"1423_CR33","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1109\/TCSII.2006.886464","volume":"54","author":"JJ Rubio","year":"2007","unstructured":"Rubio JJ, Yu W (2007) Stability analysis of nonlinear system identification via delayed neural networks. IEEE Trans Circuits Syst II 54(2):161\u2013165","journal-title":"IEEE Transactions on Circuits and Systems-II"},{"issue":"3","key":"1423_CR34","doi-asserted-by":"crossref","first-page":"356","DOI":"10.1109\/TNN.2010.2098481","volume":"22","author":"JJ Rubio","year":"2011","unstructured":"Rubio JJ, Angelov P, Pacheco J (2011) An uniformly stable backpropagation algorithm to train a feedforward neural network. IEEE Trans Neural Netw 22(3):356\u2013366","journal-title":"IEEE Trans Neural Networks"},{"issue":"8","key":"1423_CR35","first-page":"5045","volume":"7","author":"JJ Rubio","year":"2011","unstructured":"Rubio JJ, Torres C, Aguilar C (2011) Optimal control based in a mathematical model applied to robotic arms. Int J Innov Comput Info Control 7(8):5045\u20135062","journal-title":"International Journal of Innovative Computing, Information and Control"},{"issue":"14","key":"1423_CR36","doi-asserted-by":"crossref","first-page":"2216","DOI":"10.1049\/iet-cta.2011.0322","volume":"6","author":"JJ Rubio","year":"2012","unstructured":"Rubio JJ (2012) Modified optimal control with a backpropagation network for robotic arms. IET Control Theory Appl 6(14):2216\u20132225","journal-title":"IET Control Theory Appl"},{"issue":"16","key":"1423_CR37","doi-asserted-by":"crossref","first-page":"2528","DOI":"10.1049\/iet-cta.2011.0561","volume":"6","author":"JJ Rubio","year":"2012","unstructured":"Rubio JJ, Figueroa M, P\u00e9rez-Cruz JH, Bejarano FJ (2012) Geometric approach and structure at infinite controls for the disturbance rejection. IET Control Theory Appl 6(16):2528\u20132537","journal-title":"IET Control Theory Appl"},{"issue":"2","key":"1423_CR38","first-page":"107","volume":"58","author":"JJ Rubio","year":"2012","unstructured":"Rubio JJ, Figueroa M, P\u00e9rez Cruz JH, Rumbo J (2012) Control to stabilize and mitigate disturbances in a rotatory inverted pendulum. Mexican J Phys E 58(2):107\u2013112","journal-title":"Mexican Journal of Physical E"},{"key":"1423_CR39","volume-title":"Adaptive Fuzzy Systems and Control","author":"LX Wang","year":"1994","unstructured":"Wang LX (1994) Adaptive fuzzy systems and control. Prentice-Hall, Englewood Cliffs"},{"key":"1423_CR40","doi-asserted-by":"crossref","unstructured":"Wang C, Lin Y (2012) Decentralised adaptive dynamic surface control for a class of interconnected non-linear systems. IET Control Theory Appl 6(9):1172\u20131181","DOI":"10.1049\/iet-cta.2011.0291"},{"issue":"1","key":"1423_CR41","doi-asserted-by":"crossref","first-page":"130","DOI":"10.1049\/iet-cta.2010.0750","volume":"6","author":"SJ Yoo","year":"2012","unstructured":"Yoo SJ (2012) Adaptive neural output-feedback control for a class of non-linear systems with unknown time-varying delays. IET Control Theory Appl 6(1):130\u2013140","journal-title":"IET Control Theory Appl."},{"key":"1423_CR42","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1007\/s00521-011-0615-5","volume":"21","author":"M-C Yen","year":"2012","unstructured":"Yen M-C, Hsu C-F, Chung I-H (2012) Design of a CMAC-based smooth adaptive neural controller with a saturation compensator. Neural Comput Appl 21:35\u201344","journal-title":"Neural Comput & Applic"},{"key":"1423_CR43","doi-asserted-by":"crossref","first-page":"1141","DOI":"10.1007\/s00521-010-0477-2","volume":"20","author":"W Yu","year":"2011","unstructured":"Yu W, Panuncio F, Li X (2011) Two-stage neural sliding-mode control of magnetic levitation in minimal invasive surgery. Neural Comput Appl 20:1141\u20131147","journal-title":"Neural Comput & Applic"}],"container-title":["Neural Computing and Applications"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-013-1423-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00521-013-1423-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-013-1423-x","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,29]],"date-time":"2019-05-29T02:14:52Z","timestamp":1559096092000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00521-013-1423-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,5,12]]},"references-count":43,"journal-issue":{"issue":"S1","published-print":{"date-parts":[[2013,12]]}},"alternative-id":["1423"],"URL":"https:\/\/doi.org\/10.1007\/s00521-013-1423-x","relation":{},"ISSN":["0941-0643","1433-3058"],"issn-type":[{"value":"0941-0643","type":"print"},{"value":"1433-3058","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,5,12]]}}}