Ted Tao Chih-Yi Huang Adaptive Fuzzy Sliding Mode Control Schemes for Tracking Time-various Trajectories. 1-5 2007 FUZZ-IEEE http://dx.doi.org/10.1109/FUZZY.2007.4295336 conf/fuzzIEEE/2007 db/conf/fuzzIEEE/fuzzIEEE2007.html#TaoH07