Chun-Hsien Tsai Hung-Yuan Chung Fang-Ming Yu Neuro-sliding mode control with its applications to seesaw systems. 124-134 2004 15 IEEE Transactions on Neural Networks 1 http://doi.ieeecomputersociety.org/10.1109/TNN.2003.811560 db/journals/tnn/tnn15.html#TsaiCY04