Wen-Jer Chang Wei-Han Huang Wei Chang Fuzzy Control of Inverted Robot Arm with Perturbed Time-Delay Affine Takagi-Sugeno Fuzzy Model. 4380-4385 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.364154 db/conf/icra/icra2007.html#ChangHC07