Wen-Jer Chang Wei-Han Huang Wei Chang Fuzzy Control of Inverter Pendulum Robot via Perturbed Time-Delay Affine T-S Fuzzy Models. 233-238 2008 RAM http://dx.doi.org/10.1109/RAMECH.2008.4681346 conf/ram/2008 db/conf/ram/ram2008.html#ChangHC08