Learning How the World Works: Specifications for Predictive Networks in Robots and Brains. Werbos, P. J. In Proceedings of IEEE International Conference on Systems, Man and Cybernetics, N.Y., 1987.
bibtex   
@inproceedings{Werbos87specifications,
  author= {P. J. Werbos},
  title =  {Learning How the World Works: Specifications for Predictive Networks in Robots and Brains},
  booktitle = {Proceedings of IEEE International Conference on Systems, Man and Cybernetics, N.Y.},
  year   = 1987}

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