Artificial neural networks, back propagation, and the Kelley–Bryson gradient procedure. Dreyfus, S. E. J. Guidance, Control, and Dynamics, 13:926–928, 1990.
bibtex   
@article{Dreyfus:1990,
	author = "Dreyfus, Stuart E.",
	year = "1990",
	title = "Artificial neural networks, back propagation, and the {K}elley--{B}ryson gradient procedure",
	journal = "J. Guidance, Control, and Dynamics",
	volume = "13",
	pages = "926--928"
}

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