Designing non-linear controllers using connectionist networks. Sbarbaro, D., Hunt, K. J., & Gawthrop, P. J. In Proceedings IMACS World Congress on Computation and Applied Mathematics, Dublin, Ireland, 1991.
bibtex   
@inproceedings{SbaHunGaw91b,
  author = {D. Sbarbaro and K. J. Hunt and P. J. Gawthrop},
  cscauthor = {kjh,pjg},
  title = {Designing non-linear controllers using
		connectionist networks},
  booktitle = {Proceedings IMACS World Congress on Computation and
			Applied Mathematics, Dublin, Ireland},
  year = {1991}
}

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